diff --git "a/data/valid_data/valid_unseen_table_seq.jsonl" "b/data/valid_data/valid_unseen_table_seq.jsonl" new file mode 100644--- /dev/null +++ "b/data/valid_data/valid_unseen_table_seq.jsonl" @@ -0,0 +1,821 @@ +{"id": "trial_T20190908_073749_086690-0", "input": "Put a slice of green apple in the trash can near 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, 0.5, 0, 270, 0, [SEP] 1, Vase, 0.861, 0.109, -1.892, 0, 0, 0, 64 [SEP] 2, Potato, 0.966, 1.673, 0.967, 0, 270, 0, 82 [SEP] 3, CreditCard, -1.229, 0.930, -0.643, 0, 0, 0, 59 [SEP] 4, CreditCard, 0.859, 0.908, -1.879, 0, 0, 0, 65 [SEP] 5, CellPhone, 0.875, 0.492, -0.607, 0, 270, 0, 63 [SEP] 6, CellPhone, -0.550, 0.930, -1.308, 0, 0, 0, 59 [SEP] 7, DishSponge, -1.778, 0.553, 2.615, 0, 0, 0, 85 [SEP] 8, ButterKnife, 0.773, 0.911, -0.729, 0, 0, 0, 60 [SEP] 9, Glassbottle, 1.194, 1.667, -0.337, 0, 270, 0, 68 [SEP] 10, Fork, 0.833, 0.154, -0.650, 0, 270, 0, 62 [SEP] 11, Spoon, 0.944, 0.912, 0.139, 0, 270, 0, 60 [SEP] 12, Spoon, 0.834, 0.704, -0.648, 0, 270, 0, 57 [SEP] 13, Knife, -0.624, 0.957, -1.386, 0, 0, 0, 59 [SEP] 14, Cup, -0.587, 0.777, -0.918, 0, 90, 0, 80 [SEP] 15, Cup, -0.550, 0.930, -1.618, 0, 0, 0, 59 [SEP] 16, Plate, -0.642, 0.783, -0.659, 0, 90, 0, 80 [SEP] 17, Tomato, -0.477, 0.974, 0.315, 0, 0, 0, 59 [SEP] 18, SoapBottle, 1.199, 0.911, -1.879, 0, 0, 0, 65 [SEP] 19, Bowl, 1.148, 1.669, -0.593, 0, 270, 0, 68 [SEP] 20, Bowl, 1.056, 1.669, -0.401, 0, 270, 0, 68 [SEP] 21, SaltShaker, 0.956, 0.490, -0.565, 0, 270, 0, 63 [SEP] 22, Bread, 0.965, 0.944, 1.444, 0, 270, 0, 82 [SEP] 23, Apple, 0.688, 0.961, 0.139, 0, 0, 0, 60 [SEP] 24, Apple, 0.944, 0.961, -1.879, 0, 0, 0, 65 [SEP] 25, Statue, -0.846, 0.936, 0.239, 0, 0, 0, 59 [SEP] 26, Glassbottle, -0.912, 0.177, 0.641, 0, 180, 0, 79 [SEP] 27, Bread, 0.859, 0.992, -0.381, 0, 0, 0, 60 [SEP] 28, CreditCard, 0.794, 0.699, -0.648, 0, 270, 0, 57 [SEP] 29, CellPhone, -1.363, 0.550, 2.822, 0, 0, 0, 85 [SEP] 30, Potato, 0.905, 1.432, 1.540, 0, 270, 0, 82 [SEP] 31, Knife, 1.029, 0.934, -0.207, 0, 0, 0, 60 [SEP] 32, Fork, -1.104, 0.934, -0.905, 0, 0, 0, 59 [SEP] 33, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 53 [SEP] 34, Lettuce, 1.114, 0.988, -0.381, 0, 0, 0, 60 [SEP] 35, Plate, 0.844, 0.866, 1.158, 0, 270, 0, 82 [SEP] 36, Apple, -0.550, 0.983, -1.154, 0, 0, 0, 59 [SEP] 37, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 55 [SEP] 38, Spatula, -0.698, 0.948, -0.143, 0, 0, 0, 59 [SEP] 39, PaperTowelRoll, -1.007, 0.283, 0.641, 0, 180, 0, 79 [SEP] 40, Tomato, 1.026, 1.442, 1.063, 0, 270, 0, 82 [SEP] 41, Egg, -1.229, 0.971, 0.144, 0, 0, 0, 59 [SEP] 42, SaltShaker, 0.833, 0.150, -0.611, 0, 270, 0, 62 [SEP] 43, PepperShaker, -1.674, 0.550, 2.667, 0, 0, 0, 85 [SEP] 44, Vase, 0.688, 0.911, 0.313, 0, 0, 0, 60 [SEP] 45, ButterKnife, -1.292, 0.933, -1.167, 0, 0, 0, 59 [SEP] 46, SoapBottle, -1.571, 0.882, 2.719, 0, 0, 0, 86 [SEP] 47, Vase, 1.169, 2.209, -1.299, 0, 270, 0, 66 [SEP] 48, Bowl, 0.905, 1.405, 1.349, 0, 270, 0, 82 [SEP] 49, DishSponge, -0.587, 0.780, -0.486, 0, 90, 0, 80 [SEP] 50, Spoon, -1.355, 0.934, -0.380, 0, 0, 0, 59 [SEP] 51, Cup, 0.844, 1.640, 1.444, 0, 270, 0, 82 [SEP] 52, Mug, 1.199, 0.906, -0.208, 0, 180, 0, 60 [SEP] 53, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 54, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 55, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 56, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 57, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 58, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 59, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 60, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 61, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 62, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 63, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 64, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 65, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 66, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 67, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 68, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 69, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 70, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 71, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 72, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 73, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 74, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 75, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 76, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 77, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 78, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 79, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 80, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 81, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 82, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 83, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 84, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 85, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 86, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 87, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 88, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 89, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 90, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 91, NorthWall, , , , , , , [SEP] 92, EastWall, , , , , , , [SEP] 93, SouthWall, , , , , , , [SEP] 94, WestWall, , , , , , , ", "output": ["STEP 1: Walk 1 step to the left and turn around to face the counter top with a bread on top of it. | STEP 2: Pick up the knife that is in front of the white cup. | STEP 3: Go slightly to the left to be in front of the white vase. | STEP 4: Cut the green apple which is next to the white vase. | STEP 5: While holding the knife, walk to the left, turn left and turn left again to face the black trash can. | STEP 6: Put the knife in the trash can. | STEP 7: Go back to the counter top with the green apple that you just cut. | STEP 8: Pick up a slice of apple from on top of the counter top. | STEP 9: Walk to the right and turn left to go to the stove. Look up to the microwave. | STEP 10: Open the microwave, put the slice of apple in, heat it for a few seconds, pick it up again and close the microwave | STEP 11: Go to the left, turn left near the fridge to go back to the trash can again. | STEP 12: Put the slice of apple in the trash can. | END"]} +{"id": "trial_T20190908_073749_086690-1", "input": "To heat a piece of an apple and place it in a black 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, 270, 0, [SEP] 1, Vase, 0.861, 0.109, -1.892, 0, 0, 0, 64 [SEP] 2, Potato, 0.966, 1.673, 0.967, 0, 270, 0, 82 [SEP] 3, CreditCard, -1.229, 0.930, -0.643, 0, 0, 0, 59 [SEP] 4, CreditCard, 0.859, 0.908, -1.879, 0, 0, 0, 65 [SEP] 5, CellPhone, 0.875, 0.492, -0.607, 0, 270, 0, 63 [SEP] 6, CellPhone, -0.550, 0.930, -1.308, 0, 0, 0, 59 [SEP] 7, DishSponge, -1.778, 0.553, 2.615, 0, 0, 0, 85 [SEP] 8, ButterKnife, 0.773, 0.911, -0.729, 0, 0, 0, 60 [SEP] 9, Glassbottle, 1.194, 1.667, -0.337, 0, 270, 0, 68 [SEP] 10, Fork, 0.833, 0.154, -0.650, 0, 270, 0, 62 [SEP] 11, Spoon, 0.944, 0.912, 0.139, 0, 270, 0, 60 [SEP] 12, Spoon, 0.834, 0.704, -0.648, 0, 270, 0, 57 [SEP] 13, Knife, -0.624, 0.957, -1.386, 0, 0, 0, 59 [SEP] 14, Cup, -0.587, 0.777, -0.918, 0, 90, 0, 80 [SEP] 15, Cup, -0.550, 0.930, -1.618, 0, 0, 0, 59 [SEP] 16, Plate, -0.642, 0.783, -0.659, 0, 90, 0, 80 [SEP] 17, Tomato, -0.477, 0.974, 0.315, 0, 0, 0, 59 [SEP] 18, SoapBottle, 1.199, 0.911, -1.879, 0, 0, 0, 65 [SEP] 19, Bowl, 1.148, 1.669, -0.593, 0, 270, 0, 68 [SEP] 20, Bowl, 1.056, 1.669, -0.401, 0, 270, 0, 68 [SEP] 21, SaltShaker, 0.956, 0.490, -0.565, 0, 270, 0, 63 [SEP] 22, Bread, 0.965, 0.944, 1.444, 0, 270, 0, 82 [SEP] 23, Apple, 0.688, 0.961, 0.139, 0, 0, 0, 60 [SEP] 24, Apple, 0.944, 0.961, -1.879, 0, 0, 0, 65 [SEP] 25, Statue, -0.846, 0.936, 0.239, 0, 0, 0, 59 [SEP] 26, Glassbottle, -0.912, 0.177, 0.641, 0, 180, 0, 79 [SEP] 27, Bread, 0.859, 0.992, -0.381, 0, 0, 0, 60 [SEP] 28, CreditCard, 0.794, 0.699, -0.648, 0, 270, 0, 57 [SEP] 29, CellPhone, -1.363, 0.550, 2.822, 0, 0, 0, 85 [SEP] 30, Potato, 0.905, 1.432, 1.540, 0, 270, 0, 82 [SEP] 31, Knife, 1.029, 0.934, -0.207, 0, 0, 0, 60 [SEP] 32, Fork, -1.104, 0.934, -0.905, 0, 0, 0, 59 [SEP] 33, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 53 [SEP] 34, Lettuce, 1.114, 0.988, -0.381, 0, 0, 0, 60 [SEP] 35, Plate, 0.844, 0.866, 1.158, 0, 270, 0, 82 [SEP] 36, Apple, -0.550, 0.983, -1.154, 0, 0, 0, 59 [SEP] 37, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 55 [SEP] 38, Spatula, -0.698, 0.948, -0.143, 0, 0, 0, 59 [SEP] 39, PaperTowelRoll, -1.007, 0.283, 0.641, 0, 180, 0, 79 [SEP] 40, Tomato, 1.026, 1.442, 1.063, 0, 270, 0, 82 [SEP] 41, Egg, -1.229, 0.971, 0.144, 0, 0, 0, 59 [SEP] 42, SaltShaker, 0.833, 0.150, -0.611, 0, 270, 0, 62 [SEP] 43, PepperShaker, -1.674, 0.550, 2.667, 0, 0, 0, 85 [SEP] 44, Vase, 0.688, 0.911, 0.313, 0, 0, 0, 60 [SEP] 45, ButterKnife, -1.292, 0.933, -1.167, 0, 0, 0, 59 [SEP] 46, SoapBottle, -1.571, 0.882, 2.719, 0, 0, 0, 86 [SEP] 47, Vase, 1.169, 2.209, -1.299, 0, 270, 0, 66 [SEP] 48, Bowl, 0.905, 1.405, 1.349, 0, 270, 0, 82 [SEP] 49, DishSponge, -0.587, 0.780, -0.486, 0, 90, 0, 80 [SEP] 50, Spoon, -1.355, 0.934, -0.380, 0, 0, 0, 59 [SEP] 51, Cup, 0.844, 1.640, 1.444, 0, 270, 0, 82 [SEP] 52, Mug, 1.199, 0.906, -0.208, 0, 180, 0, 60 [SEP] 53, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 54, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 55, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 56, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 57, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 58, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 59, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 60, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 61, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 62, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 63, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 64, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 65, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 66, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 67, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 68, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 69, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 70, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 71, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 72, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 73, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 74, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 75, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 76, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 77, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 78, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 79, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 80, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 81, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 82, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 83, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 84, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 85, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 86, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 87, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 88, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 89, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 90, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 91, NorthWall, , , , , , , [SEP] 92, EastWall, , , , , , , [SEP] 93, SouthWall, , , , , , , [SEP] 94, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and face the counter above the dishwasher. | STEP 2: Pick up the knife to the left of the bread. | STEP 3: Move to the counter with the toaster on it. | STEP 4: Slice the green apple to the right of the white vase. | STEP 5: Turn and walk to the sculpture on the counter, look down at the black bin. | STEP 6: Place the knife inside of the black bin. | STEP 7: Walk back over to the apple. | STEP 8: Pick up a piece of green apple. | STEP 9: Turn right and walk to the stove, look up at the microwave. | STEP 10: Place the piece of apple inside of the microwave, heat it up, take the piece out of the microwave and close the door. | STEP 11: Walk back over to the black bin on the floor. | STEP 12: Place the piece of apple in the black bin. | END"]} +{"id": "trial_T20190908_073749_086690-2", "input": "Put a piece of cooked apple 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, 0.25, 0.900, 0.5, 0, 270, 0, [SEP] 1, Vase, 0.861, 0.109, -1.892, 0, 0, 0, 64 [SEP] 2, Potato, 0.966, 1.673, 0.967, 0, 270, 0, 82 [SEP] 3, CreditCard, -1.229, 0.930, -0.643, 0, 0, 0, 59 [SEP] 4, CreditCard, 0.859, 0.908, -1.879, 0, 0, 0, 65 [SEP] 5, CellPhone, 0.875, 0.492, -0.607, 0, 270, 0, 63 [SEP] 6, CellPhone, -0.550, 0.930, -1.308, 0, 0, 0, 59 [SEP] 7, DishSponge, -1.778, 0.553, 2.615, 0, 0, 0, 85 [SEP] 8, ButterKnife, 0.773, 0.911, -0.729, 0, 0, 0, 60 [SEP] 9, Glassbottle, 1.194, 1.667, -0.337, 0, 270, 0, 68 [SEP] 10, Fork, 0.833, 0.154, -0.650, 0, 270, 0, 62 [SEP] 11, Spoon, 0.944, 0.912, 0.139, 0, 270, 0, 60 [SEP] 12, Spoon, 0.834, 0.704, -0.648, 0, 270, 0, 57 [SEP] 13, Knife, -0.624, 0.957, -1.386, 0, 0, 0, 59 [SEP] 14, Cup, -0.587, 0.777, -0.918, 0, 90, 0, 80 [SEP] 15, Cup, -0.550, 0.930, -1.618, 0, 0, 0, 59 [SEP] 16, Plate, -0.642, 0.783, -0.659, 0, 90, 0, 80 [SEP] 17, Tomato, -0.477, 0.974, 0.315, 0, 0, 0, 59 [SEP] 18, SoapBottle, 1.199, 0.911, -1.879, 0, 0, 0, 65 [SEP] 19, Bowl, 1.148, 1.669, -0.593, 0, 270, 0, 68 [SEP] 20, Bowl, 1.056, 1.669, -0.401, 0, 270, 0, 68 [SEP] 21, SaltShaker, 0.956, 0.490, -0.565, 0, 270, 0, 63 [SEP] 22, Bread, 0.965, 0.944, 1.444, 0, 270, 0, 82 [SEP] 23, Apple, 0.688, 0.961, 0.139, 0, 0, 0, 60 [SEP] 24, Apple, 0.944, 0.961, -1.879, 0, 0, 0, 65 [SEP] 25, Statue, -0.846, 0.936, 0.239, 0, 0, 0, 59 [SEP] 26, Glassbottle, -0.912, 0.177, 0.641, 0, 180, 0, 79 [SEP] 27, Bread, 0.859, 0.992, -0.381, 0, 0, 0, 60 [SEP] 28, CreditCard, 0.794, 0.699, -0.648, 0, 270, 0, 57 [SEP] 29, CellPhone, -1.363, 0.550, 2.822, 0, 0, 0, 85 [SEP] 30, Potato, 0.905, 1.432, 1.540, 0, 270, 0, 82 [SEP] 31, Knife, 1.029, 0.934, -0.207, 0, 0, 0, 60 [SEP] 32, Fork, -1.104, 0.934, -0.905, 0, 0, 0, 59 [SEP] 33, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 53 [SEP] 34, Lettuce, 1.114, 0.988, -0.381, 0, 0, 0, 60 [SEP] 35, Plate, 0.844, 0.866, 1.158, 0, 270, 0, 82 [SEP] 36, Apple, -0.550, 0.983, -1.154, 0, 0, 0, 59 [SEP] 37, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 55 [SEP] 38, Spatula, -0.698, 0.948, -0.143, 0, 0, 0, 59 [SEP] 39, PaperTowelRoll, -1.007, 0.283, 0.641, 0, 180, 0, 79 [SEP] 40, Tomato, 1.026, 1.442, 1.063, 0, 270, 0, 82 [SEP] 41, Egg, -1.229, 0.971, 0.144, 0, 0, 0, 59 [SEP] 42, SaltShaker, 0.833, 0.150, -0.611, 0, 270, 0, 62 [SEP] 43, PepperShaker, -1.674, 0.550, 2.667, 0, 0, 0, 85 [SEP] 44, Vase, 0.688, 0.911, 0.313, 0, 0, 0, 60 [SEP] 45, ButterKnife, -1.292, 0.933, -1.167, 0, 0, 0, 59 [SEP] 46, SoapBottle, -1.571, 0.882, 2.719, 0, 0, 0, 86 [SEP] 47, Vase, 1.169, 2.209, -1.299, 0, 270, 0, 66 [SEP] 48, Bowl, 0.905, 1.405, 1.349, 0, 270, 0, 82 [SEP] 49, DishSponge, -0.587, 0.780, -0.486, 0, 90, 0, 80 [SEP] 50, Spoon, -1.355, 0.934, -0.380, 0, 0, 0, 59 [SEP] 51, Cup, 0.844, 1.640, 1.444, 0, 270, 0, 82 [SEP] 52, Mug, 1.199, 0.906, -0.208, 0, 180, 0, 60 [SEP] 53, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 54, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 55, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 56, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 57, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 58, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 59, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 60, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 61, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 62, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 63, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 64, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 65, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 66, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 67, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 68, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 69, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 70, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 71, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 72, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 73, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 74, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 75, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 76, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 77, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 78, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 79, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 80, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 81, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 82, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 83, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 84, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 85, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 86, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 87, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 88, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 89, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 90, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 91, NorthWall, , , , , , , [SEP] 92, EastWall, , , , , , , [SEP] 93, SouthWall, , , , , , , [SEP] 94, WestWall, , , , , , , ", "output": ["STEP 1: Turn left, go forward, turn left at the dishwasher. | STEP 2: Take the large knife to the let of the bread on the counter. | STEP 3: Turn left, go forward, turn right at the toaster on the counter. | STEP 4: Cut the apple to the right of the vase into pieces. | STEP 5: Turn left, go forward a step, turn left, go forward, turn left at the black bin. | STEP 6: Put the knife in the black bin. | STEP 7: Turn left, go forward to the fridge, turn right, go forward, turn left to the counter with the cut apple. Go to the counter. | STEP 8: Take a piece of apple from the counter. | STEP 9: Turn right, go forward, turn left at the oven. | STEP 10: Cook the apple in the microwave. Take the apple from the microwave. | STEP 11: Turn left, go forward, turn left at the fridge, go forward, turn left at the black bin. | STEP 12: Put the apple in the bin. | END"]} +{"id": "trial_T20190907_144323_122735-0", "input": "Put the cup from the microwave in the sink with a fork in it. 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, 0.0, 0, 90, 0, [SEP] 1, Potato, 0.944, 0.941, -0.555, 0, 0, 0, 61 [SEP] 2, Potato, 0.688, 0.941, -0.208, 0, 90, 0, 61 [SEP] 3, CreditCard, 0.944, 0.908, -0.034, 0, 0, 0, 61 [SEP] 4, CreditCard, -1.469, 0.878, 2.692, 0, 0, 0, 87 [SEP] 5, CellPhone, 0.875, 0.491, -0.690, 0, 270, 0, 64 [SEP] 6, CellPhone, 0.688, 0.908, -1.879, 0, 0, 0, 66 [SEP] 7, DishSponge, 0.944, 0.910, -1.793, 0, 0, 0, 66 [SEP] 8, ButterKnife, 1.114, 0.911, -0.381, 0, 0, 0, 61 [SEP] 9, ButterKnife, -0.846, 0.933, -1.386, 0, 0, 0, 60 [SEP] 10, Glassbottle, 1.056, 1.667, -0.273, 0, 270, 0, 69 [SEP] 11, Glassbottle, -1.054, 0.179, 0.543, 0, 180, 0, 80 [SEP] 12, Spatula, 0.834, 0.509, -0.731, 0, 90, 0, 64 [SEP] 13, Knife, -0.550, 0.957, -0.143, 0, 0, 0, 60 [SEP] 14, Knife, 0.859, 0.934, -0.729, 0, 0, 0, 61 [SEP] 15, Plate, 1.194, 1.669, -1.961, 0, 270, 0, 59 [SEP] 16, Plate, 1.169, 2.211, -1.299, 0, 270, 0, 67 [SEP] 17, Tomato, 0.844, 0.903, 1.063, 0, 270, 0, 83 [SEP] 18, Tomato, -0.642, 0.821, -0.745, 0, 90, 0, 81 [SEP] 19, SoapBottle, -0.912, 0.177, 0.543, 0, 180, 0, 80 [SEP] 20, SaltShaker, -1.674, 0.878, 2.719, 0, 0, 0, 87 [SEP] 21, PepperShaker, -0.550, 0.929, -1.154, 0, 0, 0, 60 [SEP] 22, Lettuce, 1.026, 1.720, 1.254, 0, 270, 0, 83 [SEP] 23, Mug, 1.060, 1.790, -1.339, 0, 270, 0, 82 [SEP] 24, Apple, -0.808, 0.830, -0.573, 0, 90, 0, 81 [SEP] 25, Apple, -0.587, 0.830, -0.400, 0, 90, 0, 81 [SEP] 26, Statue, -1.104, 0.936, -0.380, 0, 0, 0, 60 [SEP] 27, Glassbottle, 1.101, 1.667, 0.216, 0, 270, 0, 68 [SEP] 28, Bread, 0.905, 1.216, 1.158, 0, 270, 0, 83 [SEP] 29, CreditCard, 0.833, 0.150, -0.571, 0, 270, 0, 63 [SEP] 30, CellPhone, -1.363, 0.550, 2.615, 0, 0, 0, 86 [SEP] 31, Potato, -0.753, 0.807, -0.486, 0, 270, 0, 81 [SEP] 32, Knife, -0.772, 0.957, -0.143, 0, 0, 0, 60 [SEP] 33, Fork, -0.753, 0.781, -0.832, 0, 180, 0, 81 [SEP] 34, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 54 [SEP] 35, Lettuce, -1.292, 1.010, -0.905, 0, 0, 0, 60 [SEP] 36, Plate, 0.861, 0.111, -2.212, 0, 0, 0, 65 [SEP] 37, Apple, -0.753, 0.826, -0.745, 0, 90, 0, 81 [SEP] 38, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 56 [SEP] 39, Spatula, -1.104, 0.948, 0.144, 0, 0, 0, 60 [SEP] 40, PaperTowelRoll, 0.944, 1.015, -0.381, 0, 0, 0, 61 [SEP] 41, Tomato, 1.199, 0.952, -1.793, 0, 0, 0, 66 [SEP] 42, Egg, -0.818, 0.214, 0.575, 0, 180, 0, 80 [SEP] 43, SaltShaker, 1.101, 1.662, -0.038, 0, 270, 0, 68 [SEP] 44, PepperShaker, 0.914, 0.150, -0.769, 0, 270, 0, 63 [SEP] 45, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 86 [SEP] 46, ButterKnife, -0.624, 0.933, -1.231, 0, 0, 0, 60 [SEP] 47, SoapBottle, -1.571, 0.882, 2.692, 0, 0, 0, 87 [SEP] 48, Vase, -1.363, 0.555, 2.822, 0, 0, 0, 86 [SEP] 49, Bowl, 0.905, 0.866, 1.444, 0, 270, 0, 83 [SEP] 50, DishSponge, 1.055, 1.665, -2.097, 0, 270, 0, 59 [SEP] 51, Spoon, -1.355, 0.934, -0.380, 0, 0, 0, 60 [SEP] 52, Cup, 1.060, 1.780, -1.236, 0, 270, 0, 82 [SEP] 53, Mug, 1.199, 0.906, 0.313, 0, 180, 0, 61 [SEP] 54, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 55, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 56, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 57, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 58, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 59, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 60, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 61, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 62, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 63, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 64, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 65, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 66, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 67, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 68, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 69, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 70, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 71, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 72, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 73, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 74, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 75, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 76, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 77, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 78, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 79, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 80, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 81, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 82, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 83, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 84, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 85, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 86, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 87, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 88, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 89, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 90, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 91, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 92, NorthWall, , , , , , , [SEP] 93, EastWall, , , , , , , [SEP] 94, SouthWall, , , , , , , [SEP] 95, WestWall, , , , , , , ", "output": ["STEP 1: Move to the stove on the other side of the island. | STEP 2: Pick up the cup inside the microwave above the stove before closing the door. | STEP 3: Turn around to the sink behind you. | STEP 4: Place the cup inside the sink. | STEP 5: Pick up the fork from inside the sink. | STEP 6: Put the fork inside the cup in the sink. | END"]} +{"id": "trial_T20190907_144323_122735-1", "input": "cleaning up the kitchen. 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, 0.0, 0, 90, 0, [SEP] 1, Potato, 0.944, 0.941, -0.555, 0, 0, 0, 61 [SEP] 2, Potato, 0.688, 0.941, -0.208, 0, 90, 0, 61 [SEP] 3, CreditCard, 0.944, 0.908, -0.034, 0, 0, 0, 61 [SEP] 4, CreditCard, -1.469, 0.878, 2.692, 0, 0, 0, 87 [SEP] 5, CellPhone, 0.875, 0.491, -0.690, 0, 270, 0, 64 [SEP] 6, CellPhone, 0.688, 0.908, -1.879, 0, 0, 0, 66 [SEP] 7, DishSponge, 0.944, 0.910, -1.793, 0, 0, 0, 66 [SEP] 8, ButterKnife, 1.114, 0.911, -0.381, 0, 0, 0, 61 [SEP] 9, ButterKnife, -0.846, 0.933, -1.386, 0, 0, 0, 60 [SEP] 10, Glassbottle, 1.056, 1.667, -0.273, 0, 270, 0, 69 [SEP] 11, Glassbottle, -1.054, 0.179, 0.543, 0, 180, 0, 80 [SEP] 12, Spatula, 0.834, 0.509, -0.731, 0, 90, 0, 64 [SEP] 13, Knife, -0.550, 0.957, -0.143, 0, 0, 0, 60 [SEP] 14, Knife, 0.859, 0.934, -0.729, 0, 0, 0, 61 [SEP] 15, Plate, 1.194, 1.669, -1.961, 0, 270, 0, 59 [SEP] 16, Plate, 1.169, 2.211, -1.299, 0, 270, 0, 67 [SEP] 17, Tomato, 0.844, 0.903, 1.063, 0, 270, 0, 83 [SEP] 18, Tomato, -0.642, 0.821, -0.745, 0, 90, 0, 81 [SEP] 19, SoapBottle, -0.912, 0.177, 0.543, 0, 180, 0, 80 [SEP] 20, SaltShaker, -1.674, 0.878, 2.719, 0, 0, 0, 87 [SEP] 21, PepperShaker, -0.550, 0.929, -1.154, 0, 0, 0, 60 [SEP] 22, Lettuce, 1.026, 1.720, 1.254, 0, 270, 0, 83 [SEP] 23, Mug, 1.060, 1.790, -1.339, 0, 270, 0, 82 [SEP] 24, Apple, -0.808, 0.830, -0.573, 0, 90, 0, 81 [SEP] 25, Apple, -0.587, 0.830, -0.400, 0, 90, 0, 81 [SEP] 26, Statue, -1.104, 0.936, -0.380, 0, 0, 0, 60 [SEP] 27, Glassbottle, 1.101, 1.667, 0.216, 0, 270, 0, 68 [SEP] 28, Bread, 0.905, 1.216, 1.158, 0, 270, 0, 83 [SEP] 29, CreditCard, 0.833, 0.150, -0.571, 0, 270, 0, 63 [SEP] 30, CellPhone, -1.363, 0.550, 2.615, 0, 0, 0, 86 [SEP] 31, Potato, -0.753, 0.807, -0.486, 0, 270, 0, 81 [SEP] 32, Knife, -0.772, 0.957, -0.143, 0, 0, 0, 60 [SEP] 33, Fork, -0.753, 0.781, -0.832, 0, 180, 0, 81 [SEP] 34, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 54 [SEP] 35, Lettuce, -1.292, 1.010, -0.905, 0, 0, 0, 60 [SEP] 36, Plate, 0.861, 0.111, -2.212, 0, 0, 0, 65 [SEP] 37, Apple, -0.753, 0.826, -0.745, 0, 90, 0, 81 [SEP] 38, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 56 [SEP] 39, Spatula, -1.104, 0.948, 0.144, 0, 0, 0, 60 [SEP] 40, PaperTowelRoll, 0.944, 1.015, -0.381, 0, 0, 0, 61 [SEP] 41, Tomato, 1.199, 0.952, -1.793, 0, 0, 0, 66 [SEP] 42, Egg, -0.818, 0.214, 0.575, 0, 180, 0, 80 [SEP] 43, SaltShaker, 1.101, 1.662, -0.038, 0, 270, 0, 68 [SEP] 44, PepperShaker, 0.914, 0.150, -0.769, 0, 270, 0, 63 [SEP] 45, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 86 [SEP] 46, ButterKnife, -0.624, 0.933, -1.231, 0, 0, 0, 60 [SEP] 47, SoapBottle, -1.571, 0.882, 2.692, 0, 0, 0, 87 [SEP] 48, Vase, -1.363, 0.555, 2.822, 0, 0, 0, 86 [SEP] 49, Bowl, 0.905, 0.866, 1.444, 0, 270, 0, 83 [SEP] 50, DishSponge, 1.055, 1.665, -2.097, 0, 270, 0, 59 [SEP] 51, Spoon, -1.355, 0.934, -0.380, 0, 0, 0, 60 [SEP] 52, Cup, 1.060, 1.780, -1.236, 0, 270, 0, 82 [SEP] 53, Mug, 1.199, 0.906, 0.313, 0, 180, 0, 61 [SEP] 54, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 55, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 56, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 57, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 58, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 59, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 60, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 61, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 62, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 63, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 64, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 65, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 66, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 67, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 68, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 69, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 70, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 71, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 72, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 73, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 74, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 75, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 76, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 77, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 78, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 79, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 80, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 81, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 82, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 83, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 84, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 85, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 86, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 87, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 88, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 89, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 90, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 91, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 92, NorthWall, , , , , , , [SEP] 93, EastWall, , , , , , , [SEP] 94, SouthWall, , , , , , , [SEP] 95, WestWall, , , , , , , ", "output": ["STEP 1: turn right, walk to the wall, turn left and head into the kitchen. Turn left in the kitchen and stop at the stove to your right. | STEP 2: open the microwave above the stove and take out the green cup. | STEP 3: turn to your left and go to the sink behind you. | STEP 4: put the green cup in the sink. | STEP 5: grab the fork out of the sink. | STEP 6: put the fork in the green cup that is in the sink | END"]} +{"id": "trial_T20190907_144323_122735-2", "input": "Put the fork into the green 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, -3.5, 0.900, 0.0, 0, 90, 0, [SEP] 1, Potato, 0.944, 0.941, -0.555, 0, 0, 0, 61 [SEP] 2, Potato, 0.688, 0.941, -0.208, 0, 90, 0, 61 [SEP] 3, CreditCard, 0.944, 0.908, -0.034, 0, 0, 0, 61 [SEP] 4, CreditCard, -1.469, 0.878, 2.692, 0, 0, 0, 87 [SEP] 5, CellPhone, 0.875, 0.491, -0.690, 0, 270, 0, 64 [SEP] 6, CellPhone, 0.688, 0.908, -1.879, 0, 0, 0, 66 [SEP] 7, DishSponge, 0.944, 0.910, -1.793, 0, 0, 0, 66 [SEP] 8, ButterKnife, 1.114, 0.911, -0.381, 0, 0, 0, 61 [SEP] 9, ButterKnife, -0.846, 0.933, -1.386, 0, 0, 0, 60 [SEP] 10, Glassbottle, 1.056, 1.667, -0.273, 0, 270, 0, 69 [SEP] 11, Glassbottle, -1.054, 0.179, 0.543, 0, 180, 0, 80 [SEP] 12, Spatula, 0.834, 0.509, -0.731, 0, 90, 0, 64 [SEP] 13, Knife, -0.550, 0.957, -0.143, 0, 0, 0, 60 [SEP] 14, Knife, 0.859, 0.934, -0.729, 0, 0, 0, 61 [SEP] 15, Plate, 1.194, 1.669, -1.961, 0, 270, 0, 59 [SEP] 16, Plate, 1.169, 2.211, -1.299, 0, 270, 0, 67 [SEP] 17, Tomato, 0.844, 0.903, 1.063, 0, 270, 0, 83 [SEP] 18, Tomato, -0.642, 0.821, -0.745, 0, 90, 0, 81 [SEP] 19, SoapBottle, -0.912, 0.177, 0.543, 0, 180, 0, 80 [SEP] 20, SaltShaker, -1.674, 0.878, 2.719, 0, 0, 0, 87 [SEP] 21, PepperShaker, -0.550, 0.929, -1.154, 0, 0, 0, 60 [SEP] 22, Lettuce, 1.026, 1.720, 1.254, 0, 270, 0, 83 [SEP] 23, Mug, 1.060, 1.790, -1.339, 0, 270, 0, 82 [SEP] 24, Apple, -0.808, 0.830, -0.573, 0, 90, 0, 81 [SEP] 25, Apple, -0.587, 0.830, -0.400, 0, 90, 0, 81 [SEP] 26, Statue, -1.104, 0.936, -0.380, 0, 0, 0, 60 [SEP] 27, Glassbottle, 1.101, 1.667, 0.216, 0, 270, 0, 68 [SEP] 28, Bread, 0.905, 1.216, 1.158, 0, 270, 0, 83 [SEP] 29, CreditCard, 0.833, 0.150, -0.571, 0, 270, 0, 63 [SEP] 30, CellPhone, -1.363, 0.550, 2.615, 0, 0, 0, 86 [SEP] 31, Potato, -0.753, 0.807, -0.486, 0, 270, 0, 81 [SEP] 32, Knife, -0.772, 0.957, -0.143, 0, 0, 0, 60 [SEP] 33, Fork, -0.753, 0.781, -0.832, 0, 180, 0, 81 [SEP] 34, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 54 [SEP] 35, Lettuce, -1.292, 1.010, -0.905, 0, 0, 0, 60 [SEP] 36, Plate, 0.861, 0.111, -2.212, 0, 0, 0, 65 [SEP] 37, Apple, -0.753, 0.826, -0.745, 0, 90, 0, 81 [SEP] 38, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 56 [SEP] 39, Spatula, -1.104, 0.948, 0.144, 0, 0, 0, 60 [SEP] 40, PaperTowelRoll, 0.944, 1.015, -0.381, 0, 0, 0, 61 [SEP] 41, Tomato, 1.199, 0.952, -1.793, 0, 0, 0, 66 [SEP] 42, Egg, -0.818, 0.214, 0.575, 0, 180, 0, 80 [SEP] 43, SaltShaker, 1.101, 1.662, -0.038, 0, 270, 0, 68 [SEP] 44, PepperShaker, 0.914, 0.150, -0.769, 0, 270, 0, 63 [SEP] 45, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 86 [SEP] 46, ButterKnife, -0.624, 0.933, -1.231, 0, 0, 0, 60 [SEP] 47, SoapBottle, -1.571, 0.882, 2.692, 0, 0, 0, 87 [SEP] 48, Vase, -1.363, 0.555, 2.822, 0, 0, 0, 86 [SEP] 49, Bowl, 0.905, 0.866, 1.444, 0, 270, 0, 83 [SEP] 50, DishSponge, 1.055, 1.665, -2.097, 0, 270, 0, 59 [SEP] 51, Spoon, -1.355, 0.934, -0.380, 0, 0, 0, 60 [SEP] 52, Cup, 1.060, 1.780, -1.236, 0, 270, 0, 82 [SEP] 53, Mug, 1.199, 0.906, 0.313, 0, 180, 0, 61 [SEP] 54, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 55, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 56, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 57, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 58, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 59, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 60, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 61, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 62, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 63, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 64, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 65, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 66, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 67, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 68, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 69, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 70, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 71, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 72, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 73, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 74, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 75, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 76, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 77, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 78, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 79, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 80, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 81, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 82, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 83, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 84, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 85, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 86, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 87, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 88, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 89, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 90, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 91, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 92, NorthWall, , , , , , , [SEP] 93, EastWall, , , , , , , [SEP] 94, SouthWall, , , , , , , [SEP] 95, WestWall, , , , , , , ", "output": ["STEP 1: Walk around the kitchen island to the stove | STEP 2: Open the microwave above the stove and remove the green cup | STEP 3: Turn around and go to the kitchen sink | STEP 4: Put the cup into the sink | STEP 5: Pick up the fork from the sink | STEP 6: Put the fork into the green cup | END"]} +{"id": "trial_T20190907_144323_122735-3", "input": "Put the cup with the fork 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, -3.5, 0.900, 0.0, 0, 90, 0, [SEP] 1, Potato, 0.944, 0.941, -0.555, 0, 0, 0, 61 [SEP] 2, Potato, 0.688, 0.941, -0.208, 0, 90, 0, 61 [SEP] 3, CreditCard, 0.944, 0.908, -0.034, 0, 0, 0, 61 [SEP] 4, CreditCard, -1.469, 0.878, 2.692, 0, 0, 0, 87 [SEP] 5, CellPhone, 0.875, 0.491, -0.690, 0, 270, 0, 64 [SEP] 6, CellPhone, 0.688, 0.908, -1.879, 0, 0, 0, 66 [SEP] 7, DishSponge, 0.944, 0.910, -1.793, 0, 0, 0, 66 [SEP] 8, ButterKnife, 1.114, 0.911, -0.381, 0, 0, 0, 61 [SEP] 9, ButterKnife, -0.846, 0.933, -1.386, 0, 0, 0, 60 [SEP] 10, Glassbottle, 1.056, 1.667, -0.273, 0, 270, 0, 69 [SEP] 11, Glassbottle, -1.054, 0.179, 0.543, 0, 180, 0, 80 [SEP] 12, Spatula, 0.834, 0.509, -0.731, 0, 90, 0, 64 [SEP] 13, Knife, -0.550, 0.957, -0.143, 0, 0, 0, 60 [SEP] 14, Knife, 0.859, 0.934, -0.729, 0, 0, 0, 61 [SEP] 15, Plate, 1.194, 1.669, -1.961, 0, 270, 0, 59 [SEP] 16, Plate, 1.169, 2.211, -1.299, 0, 270, 0, 67 [SEP] 17, Tomato, 0.844, 0.903, 1.063, 0, 270, 0, 83 [SEP] 18, Tomato, -0.642, 0.821, -0.745, 0, 90, 0, 81 [SEP] 19, SoapBottle, -0.912, 0.177, 0.543, 0, 180, 0, 80 [SEP] 20, SaltShaker, -1.674, 0.878, 2.719, 0, 0, 0, 87 [SEP] 21, PepperShaker, -0.550, 0.929, -1.154, 0, 0, 0, 60 [SEP] 22, Lettuce, 1.026, 1.720, 1.254, 0, 270, 0, 83 [SEP] 23, Mug, 1.060, 1.790, -1.339, 0, 270, 0, 82 [SEP] 24, Apple, -0.808, 0.830, -0.573, 0, 90, 0, 81 [SEP] 25, Apple, -0.587, 0.830, -0.400, 0, 90, 0, 81 [SEP] 26, Statue, -1.104, 0.936, -0.380, 0, 0, 0, 60 [SEP] 27, Glassbottle, 1.101, 1.667, 0.216, 0, 270, 0, 68 [SEP] 28, Bread, 0.905, 1.216, 1.158, 0, 270, 0, 83 [SEP] 29, CreditCard, 0.833, 0.150, -0.571, 0, 270, 0, 63 [SEP] 30, CellPhone, -1.363, 0.550, 2.615, 0, 0, 0, 86 [SEP] 31, Potato, -0.753, 0.807, -0.486, 0, 270, 0, 81 [SEP] 32, Knife, -0.772, 0.957, -0.143, 0, 0, 0, 60 [SEP] 33, Fork, -0.753, 0.781, -0.832, 0, 180, 0, 81 [SEP] 34, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 54 [SEP] 35, Lettuce, -1.292, 1.010, -0.905, 0, 0, 0, 60 [SEP] 36, Plate, 0.861, 0.111, -2.212, 0, 0, 0, 65 [SEP] 37, Apple, -0.753, 0.826, -0.745, 0, 90, 0, 81 [SEP] 38, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 56 [SEP] 39, Spatula, -1.104, 0.948, 0.144, 0, 0, 0, 60 [SEP] 40, PaperTowelRoll, 0.944, 1.015, -0.381, 0, 0, 0, 61 [SEP] 41, Tomato, 1.199, 0.952, -1.793, 0, 0, 0, 66 [SEP] 42, Egg, -0.818, 0.214, 0.575, 0, 180, 0, 80 [SEP] 43, SaltShaker, 1.101, 1.662, -0.038, 0, 270, 0, 68 [SEP] 44, PepperShaker, 0.914, 0.150, -0.769, 0, 270, 0, 63 [SEP] 45, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 86 [SEP] 46, ButterKnife, -0.624, 0.933, -1.231, 0, 0, 0, 60 [SEP] 47, SoapBottle, -1.571, 0.882, 2.692, 0, 0, 0, 87 [SEP] 48, Vase, -1.363, 0.555, 2.822, 0, 0, 0, 86 [SEP] 49, Bowl, 0.905, 0.866, 1.444, 0, 270, 0, 83 [SEP] 50, DishSponge, 1.055, 1.665, -2.097, 0, 270, 0, 59 [SEP] 51, Spoon, -1.355, 0.934, -0.380, 0, 0, 0, 60 [SEP] 52, Cup, 1.060, 1.780, -1.236, 0, 270, 0, 82 [SEP] 53, Mug, 1.199, 0.906, 0.313, 0, 180, 0, 61 [SEP] 54, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 55, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 56, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 57, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 58, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 59, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 60, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 61, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 62, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 63, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 64, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 65, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 66, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 67, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 68, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 69, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 70, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 71, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 72, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 73, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 74, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 75, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 76, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 77, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 78, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 79, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 80, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 81, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 82, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 83, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 84, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 85, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 86, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 87, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 88, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 89, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 90, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 91, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 92, NorthWall, , , , , , , [SEP] 93, EastWall, , , , , , , [SEP] 94, SouthWall, , , , , , , [SEP] 95, WestWall, , , , , , , ", "output": ["STEP 1: Walk around the counter, walk in front of the stove. | STEP 2: Take the green cup out of the microwave above the stove. | STEP 3: Turn around, go to the sink. | STEP 4: Put the green cup in the sink. | STEP 5: Pick up the fork next to the tomato. | STEP 6: Put the fork in the green cup. | END"]} +{"id": "trial_T20190907_144323_122735-4", "input": "Put 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, -3.5, 0.900, 0.0, 0, 90, 0, [SEP] 1, Potato, 0.944, 0.941, -0.555, 0, 0, 0, 61 [SEP] 2, Potato, 0.688, 0.941, -0.208, 0, 90, 0, 61 [SEP] 3, CreditCard, 0.944, 0.908, -0.034, 0, 0, 0, 61 [SEP] 4, CreditCard, -1.469, 0.878, 2.692, 0, 0, 0, 87 [SEP] 5, CellPhone, 0.875, 0.491, -0.690, 0, 270, 0, 64 [SEP] 6, CellPhone, 0.688, 0.908, -1.879, 0, 0, 0, 66 [SEP] 7, DishSponge, 0.944, 0.910, -1.793, 0, 0, 0, 66 [SEP] 8, ButterKnife, 1.114, 0.911, -0.381, 0, 0, 0, 61 [SEP] 9, ButterKnife, -0.846, 0.933, -1.386, 0, 0, 0, 60 [SEP] 10, Glassbottle, 1.056, 1.667, -0.273, 0, 270, 0, 69 [SEP] 11, Glassbottle, -1.054, 0.179, 0.543, 0, 180, 0, 80 [SEP] 12, Spatula, 0.834, 0.509, -0.731, 0, 90, 0, 64 [SEP] 13, Knife, -0.550, 0.957, -0.143, 0, 0, 0, 60 [SEP] 14, Knife, 0.859, 0.934, -0.729, 0, 0, 0, 61 [SEP] 15, Plate, 1.194, 1.669, -1.961, 0, 270, 0, 59 [SEP] 16, Plate, 1.169, 2.211, -1.299, 0, 270, 0, 67 [SEP] 17, Tomato, 0.844, 0.903, 1.063, 0, 270, 0, 83 [SEP] 18, Tomato, -0.642, 0.821, -0.745, 0, 90, 0, 81 [SEP] 19, SoapBottle, -0.912, 0.177, 0.543, 0, 180, 0, 80 [SEP] 20, SaltShaker, -1.674, 0.878, 2.719, 0, 0, 0, 87 [SEP] 21, PepperShaker, -0.550, 0.929, -1.154, 0, 0, 0, 60 [SEP] 22, Lettuce, 1.026, 1.720, 1.254, 0, 270, 0, 83 [SEP] 23, Mug, 1.060, 1.790, -1.339, 0, 270, 0, 82 [SEP] 24, Apple, -0.808, 0.830, -0.573, 0, 90, 0, 81 [SEP] 25, Apple, -0.587, 0.830, -0.400, 0, 90, 0, 81 [SEP] 26, Statue, -1.104, 0.936, -0.380, 0, 0, 0, 60 [SEP] 27, Glassbottle, 1.101, 1.667, 0.216, 0, 270, 0, 68 [SEP] 28, Bread, 0.905, 1.216, 1.158, 0, 270, 0, 83 [SEP] 29, CreditCard, 0.833, 0.150, -0.571, 0, 270, 0, 63 [SEP] 30, CellPhone, -1.363, 0.550, 2.615, 0, 0, 0, 86 [SEP] 31, Potato, -0.753, 0.807, -0.486, 0, 270, 0, 81 [SEP] 32, Knife, -0.772, 0.957, -0.143, 0, 0, 0, 60 [SEP] 33, Fork, -0.753, 0.781, -0.832, 0, 180, 0, 81 [SEP] 34, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 54 [SEP] 35, Lettuce, -1.292, 1.010, -0.905, 0, 0, 0, 60 [SEP] 36, Plate, 0.861, 0.111, -2.212, 0, 0, 0, 65 [SEP] 37, Apple, -0.753, 0.826, -0.745, 0, 90, 0, 81 [SEP] 38, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 56 [SEP] 39, Spatula, -1.104, 0.948, 0.144, 0, 0, 0, 60 [SEP] 40, PaperTowelRoll, 0.944, 1.015, -0.381, 0, 0, 0, 61 [SEP] 41, Tomato, 1.199, 0.952, -1.793, 0, 0, 0, 66 [SEP] 42, Egg, -0.818, 0.214, 0.575, 0, 180, 0, 80 [SEP] 43, SaltShaker, 1.101, 1.662, -0.038, 0, 270, 0, 68 [SEP] 44, PepperShaker, 0.914, 0.150, -0.769, 0, 270, 0, 63 [SEP] 45, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 86 [SEP] 46, ButterKnife, -0.624, 0.933, -1.231, 0, 0, 0, 60 [SEP] 47, SoapBottle, -1.571, 0.882, 2.692, 0, 0, 0, 87 [SEP] 48, Vase, -1.363, 0.555, 2.822, 0, 0, 0, 86 [SEP] 49, Bowl, 0.905, 0.866, 1.444, 0, 270, 0, 83 [SEP] 50, DishSponge, 1.055, 1.665, -2.097, 0, 270, 0, 59 [SEP] 51, Spoon, -1.355, 0.934, -0.380, 0, 0, 0, 60 [SEP] 52, Cup, 1.060, 1.780, -1.236, 0, 270, 0, 82 [SEP] 53, Mug, 1.199, 0.906, 0.313, 0, 180, 0, 61 [SEP] 54, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 55, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 56, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 57, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 58, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 59, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 60, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 61, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 62, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 63, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 64, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 65, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 66, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 67, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 68, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 69, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 70, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 71, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 72, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 73, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 74, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 75, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 76, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 77, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 78, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 79, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 80, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 81, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 82, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 83, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 84, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 85, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 86, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 87, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 88, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 89, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 90, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 91, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 92, NorthWall, , , , , , , [SEP] 93, EastWall, , , , , , , [SEP] 94, SouthWall, , , , , , , [SEP] 95, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and go to the right of the island. Go to the stove. | STEP 2: Open the microwave. Grab the green cup that is to the left of the white one. Shut the microwave door. | STEP 3: With the green cup in hand turn all the way around to go to the sink. | STEP 4: Place the cup in the sink to the left of the fork. | STEP 5: Pick up the fork that is in the sink and to the left of the tomato. | STEP 6: Place the fork in the cup that is in the sink. | END"]} +{"id": "trial_T20190908_123311_648354-0", "input": "Put a plate with a bottle on top of 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, -0.5, 0.900, 2.25, 0, 0, 0, [SEP] 1, Potato, 0.995, 1.825, -1.339, 0, 270, 0, 76 [SEP] 2, CreditCard, 0.754, 0.491, -0.690, 0, 270, 0, 58 [SEP] 3, CellPhone, 1.029, 0.908, -0.034, 0, 0, 0, 55 [SEP] 4, ButterKnife, 0.834, 0.494, -0.648, 0, 270, 0, 58 [SEP] 5, ButterKnife, -0.772, 0.933, -1.231, 0, 0, 0, 54 [SEP] 6, Glassbottle, -1.104, 0.934, -0.380, 0, 0, 0, 54 [SEP] 7, Glassbottle, -1.418, 0.934, -0.380, 0, 0, 0, 54 [SEP] 8, Spatula, -1.229, 0.948, -0.643, 0, 0, 0, 54 [SEP] 9, Knife, -1.104, 0.957, -1.167, 0, 90, 0, 54 [SEP] 10, Knife, -0.772, 0.957, -0.143, 0, 0, 0, 54 [SEP] 11, Egg, -0.920, 0.971, 0.315, 0, 0, 0, 54 [SEP] 12, Egg, -0.697, 0.814, -0.745, 0, 90, 0, 75 [SEP] 13, Tomato, -0.587, 0.821, -0.659, 0, 90, 0, 75 [SEP] 14, Tomato, 1.026, 1.175, 1.158, 0, 270, 0, 77 [SEP] 15, SoapBottle, 1.039, 2.208, -1.626, 0, 270, 0, 61 [SEP] 16, SoapBottle, 0.688, 0.911, -0.381, 0, 0, 0, 55 [SEP] 17, Bowl, 0.905, 0.866, 1.254, 0, 270, 0, 77 [SEP] 18, Lettuce, -0.624, 1.010, -1.308, 0, 0, 0, 54 [SEP] 19, Lettuce, 1.026, 1.212, 1.349, 0, 270, 0, 77 [SEP] 20, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 54 [SEP] 21, Glassbottle, -1.467, 0.554, 2.718, 0, 0, 0, 80 [SEP] 22, Bread, -1.292, 1.014, 0.144, 0, 0, 0, 54 [SEP] 23, CreditCard, -1.674, 0.878, 2.746, 0, 0, 0, 81 [SEP] 24, CellPhone, 1.114, 0.908, 0.139, 0, 0, 0, 55 [SEP] 25, Potato, 0.844, 0.893, 0.967, 0, 270, 0, 77 [SEP] 26, Knife, 0.868, 0.700, -0.600, 90, 315, 0, 52 [SEP] 27, Fork, -0.624, 0.934, 0.239, 0, 0, 0, 54 [SEP] 28, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 48 [SEP] 29, Lettuce, -0.846, 1.010, -1.540, 0, 0, 0, 54 [SEP] 30, Plate, 1.147, 1.669, 0.153, 0, 270, 0, 62 [SEP] 31, Apple, -1.104, 0.983, -1.430, 0, 0, 0, 54 [SEP] 32, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 50 [SEP] 33, Spatula, -0.550, 0.948, 0.162, 0, 90, 0, 54 [SEP] 34, PaperTowelRoll, -0.912, 0.283, 0.608, 0, 180, 0, 74 [SEP] 35, Tomato, 0.966, 1.442, 1.349, 0, 270, 0, 77 [SEP] 36, Egg, -0.808, 0.814, -0.745, 0, 90, 0, 75 [SEP] 37, SaltShaker, -1.367, 0.878, 2.773, 0, 0, 0, 81 [SEP] 38, PepperShaker, 0.996, 2.204, -1.082, 0, 270, 0, 61 [SEP] 39, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 80 [SEP] 40, ButterKnife, 0.944, 0.911, -0.381, 0, 0, 0, 55 [SEP] 41, SoapBottle, 0.859, 0.911, -0.381, 0, 0, 0, 55 [SEP] 42, Vase, -1.881, 0.555, 2.770, 0, 0, 0, 80 [SEP] 43, Bowl, 0.905, 1.646, 0.967, 0, 270, 0, 77 [SEP] 44, DishSponge, 0.861, 0.107, -1.892, 0, 0, 0, 59 [SEP] 45, Spoon, -1.167, 0.934, -0.905, 0, 0, 0, 54 [SEP] 46, Cup, -1.881, 0.551, 2.615, 0, 0, 0, 80 [SEP] 47, Mug, 1.026, 1.129, 0.967, 0, 270, 0, 77 [SEP] 48, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 49, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 50, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 51, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 52, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 53, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 54, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 55, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 56, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 57, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 58, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 59, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 60, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 61, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 62, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 63, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 64, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 65, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 66, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 67, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 68, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 69, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 70, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 71, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 72, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 73, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 74, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 75, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 76, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 77, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 78, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 79, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 80, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 81, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 82, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 83, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 84, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 85, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 86, NorthWall, , , , , , , [SEP] 87, EastWall, , , , , , , [SEP] 88, SouthWall, , , , , , , [SEP] 89, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and take a step then turn right and walk to the sink that's on your right and face it. | STEP 2: Pick up the clear glass bottle that's in front of you. | STEP 3: Turn right and take a step then turn right and walk to the toaster. | STEP 4: Open the cupboard above the toaster and put the bottle on the plate up there. | STEP 5: Pick up the plate and close the cupboard. | STEP 6: Walk back to the sink. | STEP 7: Put the plate with the bottle on it in the sink. | END"]} +{"id": "trial_T20190908_123311_648354-1", "input": "Put a plate with a bottle on 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, -0.5, 0.900, 2.25, 0, 0, 0, [SEP] 1, Potato, 0.995, 1.825, -1.339, 0, 270, 0, 76 [SEP] 2, CreditCard, 0.754, 0.491, -0.690, 0, 270, 0, 58 [SEP] 3, CellPhone, 1.029, 0.908, -0.034, 0, 0, 0, 55 [SEP] 4, ButterKnife, 0.834, 0.494, -0.648, 0, 270, 0, 58 [SEP] 5, ButterKnife, -0.772, 0.933, -1.231, 0, 0, 0, 54 [SEP] 6, Glassbottle, -1.104, 0.934, -0.380, 0, 0, 0, 54 [SEP] 7, Glassbottle, -1.418, 0.934, -0.380, 0, 0, 0, 54 [SEP] 8, Spatula, -1.229, 0.948, -0.643, 0, 0, 0, 54 [SEP] 9, Knife, -1.104, 0.957, -1.167, 0, 90, 0, 54 [SEP] 10, Knife, -0.772, 0.957, -0.143, 0, 0, 0, 54 [SEP] 11, Egg, -0.920, 0.971, 0.315, 0, 0, 0, 54 [SEP] 12, Egg, -0.697, 0.814, -0.745, 0, 90, 0, 75 [SEP] 13, Tomato, -0.587, 0.821, -0.659, 0, 90, 0, 75 [SEP] 14, Tomato, 1.026, 1.175, 1.158, 0, 270, 0, 77 [SEP] 15, SoapBottle, 1.039, 2.208, -1.626, 0, 270, 0, 61 [SEP] 16, SoapBottle, 0.688, 0.911, -0.381, 0, 0, 0, 55 [SEP] 17, Bowl, 0.905, 0.866, 1.254, 0, 270, 0, 77 [SEP] 18, Lettuce, -0.624, 1.010, -1.308, 0, 0, 0, 54 [SEP] 19, Lettuce, 1.026, 1.212, 1.349, 0, 270, 0, 77 [SEP] 20, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 54 [SEP] 21, Glassbottle, -1.467, 0.554, 2.718, 0, 0, 0, 80 [SEP] 22, Bread, -1.292, 1.014, 0.144, 0, 0, 0, 54 [SEP] 23, CreditCard, -1.674, 0.878, 2.746, 0, 0, 0, 81 [SEP] 24, CellPhone, 1.114, 0.908, 0.139, 0, 0, 0, 55 [SEP] 25, Potato, 0.844, 0.893, 0.967, 0, 270, 0, 77 [SEP] 26, Knife, 0.868, 0.700, -0.600, 90, 315, 0, 52 [SEP] 27, Fork, -0.624, 0.934, 0.239, 0, 0, 0, 54 [SEP] 28, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 48 [SEP] 29, Lettuce, -0.846, 1.010, -1.540, 0, 0, 0, 54 [SEP] 30, Plate, 1.147, 1.669, 0.153, 0, 270, 0, 62 [SEP] 31, Apple, -1.104, 0.983, -1.430, 0, 0, 0, 54 [SEP] 32, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 50 [SEP] 33, Spatula, -0.550, 0.948, 0.162, 0, 90, 0, 54 [SEP] 34, PaperTowelRoll, -0.912, 0.283, 0.608, 0, 180, 0, 74 [SEP] 35, Tomato, 0.966, 1.442, 1.349, 0, 270, 0, 77 [SEP] 36, Egg, -0.808, 0.814, -0.745, 0, 90, 0, 75 [SEP] 37, SaltShaker, -1.367, 0.878, 2.773, 0, 0, 0, 81 [SEP] 38, PepperShaker, 0.996, 2.204, -1.082, 0, 270, 0, 61 [SEP] 39, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 80 [SEP] 40, ButterKnife, 0.944, 0.911, -0.381, 0, 0, 0, 55 [SEP] 41, SoapBottle, 0.859, 0.911, -0.381, 0, 0, 0, 55 [SEP] 42, Vase, -1.881, 0.555, 2.770, 0, 0, 0, 80 [SEP] 43, Bowl, 0.905, 1.646, 0.967, 0, 270, 0, 77 [SEP] 44, DishSponge, 0.861, 0.107, -1.892, 0, 0, 0, 59 [SEP] 45, Spoon, -1.167, 0.934, -0.905, 0, 0, 0, 54 [SEP] 46, Cup, -1.881, 0.551, 2.615, 0, 0, 0, 80 [SEP] 47, Mug, 1.026, 1.129, 0.967, 0, 270, 0, 77 [SEP] 48, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 49, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 50, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 51, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 52, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 53, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 54, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 55, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 56, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 57, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 58, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 59, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 60, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 61, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 62, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 63, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 64, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 65, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 66, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 67, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 68, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 69, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 70, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 71, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 72, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 73, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 74, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 75, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 76, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 77, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 78, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 79, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 80, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 81, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 82, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 83, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 84, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 85, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 86, NorthWall, , , , , , , [SEP] 87, EastWall, , , , , , , [SEP] 88, SouthWall, , , , , , , [SEP] 89, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and walk forward, then turn right and walk over to the sink. | STEP 2: Pick up the closest glass bottle off of the kitchen island. | STEP 3: Turn right and walk over to the toaster, then look up at the upper cabinets. | STEP 4: Open the leftmost upper cabinet door and put the bottle on the plate inside. | STEP 5: Take the plate with the bottle on it out of the cabinet and close the door. | STEP 6: Turn right and walk over to the sink. | STEP 7: Put the plate with the bottle on it in the sink. | END"]} +{"id": "trial_T20190908_123311_648354-2", "input": "Put a bottle on a 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, -0.5, 0.900, 2.25, 0, 0, 0, [SEP] 1, Potato, 0.995, 1.825, -1.339, 0, 270, 0, 76 [SEP] 2, CreditCard, 0.754, 0.491, -0.690, 0, 270, 0, 58 [SEP] 3, CellPhone, 1.029, 0.908, -0.034, 0, 0, 0, 55 [SEP] 4, ButterKnife, 0.834, 0.494, -0.648, 0, 270, 0, 58 [SEP] 5, ButterKnife, -0.772, 0.933, -1.231, 0, 0, 0, 54 [SEP] 6, Glassbottle, -1.104, 0.934, -0.380, 0, 0, 0, 54 [SEP] 7, Glassbottle, -1.418, 0.934, -0.380, 0, 0, 0, 54 [SEP] 8, Spatula, -1.229, 0.948, -0.643, 0, 0, 0, 54 [SEP] 9, Knife, -1.104, 0.957, -1.167, 0, 90, 0, 54 [SEP] 10, Knife, -0.772, 0.957, -0.143, 0, 0, 0, 54 [SEP] 11, Egg, -0.920, 0.971, 0.315, 0, 0, 0, 54 [SEP] 12, Egg, -0.697, 0.814, -0.745, 0, 90, 0, 75 [SEP] 13, Tomato, -0.587, 0.821, -0.659, 0, 90, 0, 75 [SEP] 14, Tomato, 1.026, 1.175, 1.158, 0, 270, 0, 77 [SEP] 15, SoapBottle, 1.039, 2.208, -1.626, 0, 270, 0, 61 [SEP] 16, SoapBottle, 0.688, 0.911, -0.381, 0, 0, 0, 55 [SEP] 17, Bowl, 0.905, 0.866, 1.254, 0, 270, 0, 77 [SEP] 18, Lettuce, -0.624, 1.010, -1.308, 0, 0, 0, 54 [SEP] 19, Lettuce, 1.026, 1.212, 1.349, 0, 270, 0, 77 [SEP] 20, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 54 [SEP] 21, Glassbottle, -1.467, 0.554, 2.718, 0, 0, 0, 80 [SEP] 22, Bread, -1.292, 1.014, 0.144, 0, 0, 0, 54 [SEP] 23, CreditCard, -1.674, 0.878, 2.746, 0, 0, 0, 81 [SEP] 24, CellPhone, 1.114, 0.908, 0.139, 0, 0, 0, 55 [SEP] 25, Potato, 0.844, 0.893, 0.967, 0, 270, 0, 77 [SEP] 26, Knife, 0.868, 0.700, -0.600, 90, 315, 0, 52 [SEP] 27, Fork, -0.624, 0.934, 0.239, 0, 0, 0, 54 [SEP] 28, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 48 [SEP] 29, Lettuce, -0.846, 1.010, -1.540, 0, 0, 0, 54 [SEP] 30, Plate, 1.147, 1.669, 0.153, 0, 270, 0, 62 [SEP] 31, Apple, -1.104, 0.983, -1.430, 0, 0, 0, 54 [SEP] 32, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 50 [SEP] 33, Spatula, -0.550, 0.948, 0.162, 0, 90, 0, 54 [SEP] 34, PaperTowelRoll, -0.912, 0.283, 0.608, 0, 180, 0, 74 [SEP] 35, Tomato, 0.966, 1.442, 1.349, 0, 270, 0, 77 [SEP] 36, Egg, -0.808, 0.814, -0.745, 0, 90, 0, 75 [SEP] 37, SaltShaker, -1.367, 0.878, 2.773, 0, 0, 0, 81 [SEP] 38, PepperShaker, 0.996, 2.204, -1.082, 0, 270, 0, 61 [SEP] 39, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 80 [SEP] 40, ButterKnife, 0.944, 0.911, -0.381, 0, 0, 0, 55 [SEP] 41, SoapBottle, 0.859, 0.911, -0.381, 0, 0, 0, 55 [SEP] 42, Vase, -1.881, 0.555, 2.770, 0, 0, 0, 80 [SEP] 43, Bowl, 0.905, 1.646, 0.967, 0, 270, 0, 77 [SEP] 44, DishSponge, 0.861, 0.107, -1.892, 0, 0, 0, 59 [SEP] 45, Spoon, -1.167, 0.934, -0.905, 0, 0, 0, 54 [SEP] 46, Cup, -1.881, 0.551, 2.615, 0, 0, 0, 80 [SEP] 47, Mug, 1.026, 1.129, 0.967, 0, 270, 0, 77 [SEP] 48, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 49, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 50, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 51, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 52, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 53, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 54, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 55, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 56, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 57, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 58, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 59, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 60, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 61, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 62, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 63, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 64, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 65, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 66, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 67, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 68, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 69, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 70, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 71, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 72, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 73, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 74, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 75, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 76, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 77, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 78, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 79, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 80, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 81, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 82, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 83, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 84, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 85, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 86, NorthWall, , , , , , , [SEP] 87, EastWall, , , , , , , [SEP] 88, SouthWall, , , , , , , [SEP] 89, WestWall, , , , , , , ", "output": ["STEP 1: move to the sink to the right of the stove | STEP 2: pick up a vase from the sink | STEP 3: move to the counter to the right of the fridge | STEP 4: put the vase on a plate | STEP 5: pick up the plate from the cabinet | STEP 6: move to the sink behind you | STEP 7: put the bottle in the sink | END"]} +{"id": "trial_T20190907_061133_385225-0", "input": "Place the sliced 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, -3.5, 0.900, 1.5, 0, 180, 0, [SEP] 1, Statue, -1.292, 0.936, 0.144, 0, 0, 0, 57 [SEP] 2, Potato, 0.944, 0.941, -0.555, 0, 0, 0, 58 [SEP] 3, Potato, 0.783, 1.165, 1.158, 0, 270, 0, 80 [SEP] 4, CellPhone, -0.698, 0.930, -1.463, 0, 0, 0, 57 [SEP] 5, CellPhone, 1.029, 0.908, -0.381, 0, 0, 0, 58 [SEP] 6, Glassbottle, 0.859, 0.912, -0.381, 0, 0, 0, 58 [SEP] 7, Spatula, -0.698, 0.791, -0.573, 0, 270, 0, 78 [SEP] 8, Knife, 0.944, 0.934, -0.208, 0, 0, 0, 58 [SEP] 9, Knife, -0.550, 0.957, -0.143, 0, 0, 0, 57 [SEP] 10, Egg, 0.688, 0.949, -1.879, 0, 0, 0, 63 [SEP] 11, Cup, 1.087, 1.640, 1.063, 0, 270, 0, 80 [SEP] 12, Cup, 1.026, 0.860, 1.349, 0, 270, 0, 80 [SEP] 13, Plate, -1.292, 0.936, -0.118, 0, 0, 0, 57 [SEP] 14, Bowl, 1.055, 1.669, -2.234, 0, 270, 0, 56 [SEP] 15, Bowl, 1.026, 0.866, 1.158, 0, 270, 0, 80 [SEP] 16, SaltShaker, 0.915, 0.698, -0.648, 0, 270, 0, 55 [SEP] 17, SaltShaker, -1.167, 0.929, -1.430, 0, 0, 0, 57 [SEP] 18, PepperShaker, 0.710, 0.117, 0.325, 0, 270, 0, 58 [SEP] 19, Lettuce, -0.624, 1.010, -1.231, 0, 0, 0, 57 [SEP] 20, Bread, 0.905, 1.482, 1.254, 0, 270, 0, 80 [SEP] 21, Apple, -0.753, 0.830, -0.745, 0, 90, 0, 78 [SEP] 22, Apple, 1.087, 1.452, 1.254, 0, 270, 0, 80 [SEP] 23, Statue, 1.114, 0.914, -0.729, 0, 0, 0, 58 [SEP] 24, Glassbottle, 0.861, 0.109, -1.812, 0, 0, 0, 62 [SEP] 25, Bread, 0.773, 0.992, 0.139, 0, 0, 0, 58 [SEP] 26, CreditCard, 0.874, 0.150, -0.729, 0, 270, 0, 60 [SEP] 27, CellPhone, 0.794, 0.491, -0.648, 0, 270, 0, 61 [SEP] 28, Potato, -0.865, 0.207, 0.510, 0, 180, 0, 77 [SEP] 29, Knife, -0.698, 0.957, -1.386, 0, 0, 0, 57 [SEP] 30, Fork, 0.773, 0.911, -0.729, 0, 0, 0, 58 [SEP] 31, Pan, -0.698, 0.931, 0.086, 0, 180, 0, 57 [SEP] 32, Lettuce, 1.114, 0.988, 0.139, 0, 0, 0, 58 [SEP] 33, Plate, 1.114, 0.914, -0.208, 0, 0, 0, 58 [SEP] 34, Apple, -0.865, 0.227, 0.608, 0, 180, 0, 77 [SEP] 35, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 53 [SEP] 36, Spatula, 0.859, 0.926, -1.879, 0, 0, 0, 63 [SEP] 37, PaperTowelRoll, 0.688, 1.015, -0.729, 0, 0, 0, 58 [SEP] 38, Tomato, 0.944, 0.952, -0.034, 0, 0, 0, 58 [SEP] 39, Egg, -0.587, 0.814, -0.745, 0, 90, 0, 78 [SEP] 40, SaltShaker, 1.102, 1.662, -0.465, 0, 270, 0, 66 [SEP] 41, PepperShaker, 0.944, 0.907, 0.139, 0, 0, 0, 58 [SEP] 42, Vase, -1.981, 0.881, 2.719, 0, 0, 0, 84 [SEP] 43, ButterKnife, -0.624, 0.933, -1.463, 0, 0, 0, 57 [SEP] 44, SoapBottle, -1.674, 0.882, 2.719, 0, 0, 0, 84 [SEP] 45, Vase, 1.101, 1.667, -2.029, 0, 270, 0, 56 [SEP] 46, Bowl, 0.811, 0.111, -2.212, 0, 0, 0, 62 [SEP] 47, DishSponge, -0.846, 0.933, -1.618, 0, 0, 0, 57 [SEP] 48, Spoon, -0.753, 0.781, -0.486, 0, 90, 0, 78 [SEP] 49, Cup, 0.844, 0.860, 1.063, 0, 270, 0, 80 [SEP] 50, Mug, 0.859, 0.906, -1.793, 0, 0, 0, 63 [SEP] 51, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 52, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 53, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 54, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 55, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 56, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 57, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 58, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 59, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 60, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 61, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 62, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 63, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 64, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 65, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 66, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 67, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 68, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 69, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 70, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 71, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 72, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 73, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 74, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 75, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 76, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 77, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 78, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 79, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 80, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 81, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 82, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 83, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 84, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 85, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 86, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 87, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 88, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 89, NorthWall, , , , , , , [SEP] 90, EastWall, , , , , , , [SEP] 91, SouthWall, , , , , , , [SEP] 92, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and walk up the room and walk towards the fridge, then turn right to face the trash can. | STEP 2: Pick up the green apple from the trash can.. | STEP 3: Turn around, turn right, then turn left to face the counter. | STEP 4: Put the apple on the counter under the knife. | STEP 5: Pick up the knife that is on the counter. | STEP 6: Take the knife and slice the apple in half. | STEP 7: Turn around and face the sink. | STEP 8: Use the knife and slice the apple in the sink into three pieces. | STEP 9: Put the knife into the sink. | STEP 10: Take the center piece of the sliced apple out of the sink. | STEP 11: Turn around to face the counter. | STEP 12: Place the piece of sliced apple from the sink next to the apple on the counter. | END"]} +{"id": "trial_T20190907_061133_385225-1", "input": "Putting an apple 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, -3.5, 0.900, 1.5, 0, 180, 0, [SEP] 1, Statue, -1.292, 0.936, 0.144, 0, 0, 0, 57 [SEP] 2, Potato, 0.944, 0.941, -0.555, 0, 0, 0, 58 [SEP] 3, Potato, 0.783, 1.165, 1.158, 0, 270, 0, 80 [SEP] 4, CellPhone, -0.698, 0.930, -1.463, 0, 0, 0, 57 [SEP] 5, CellPhone, 1.029, 0.908, -0.381, 0, 0, 0, 58 [SEP] 6, Glassbottle, 0.859, 0.912, -0.381, 0, 0, 0, 58 [SEP] 7, Spatula, -0.698, 0.791, -0.573, 0, 270, 0, 78 [SEP] 8, Knife, 0.944, 0.934, -0.208, 0, 0, 0, 58 [SEP] 9, Knife, -0.550, 0.957, -0.143, 0, 0, 0, 57 [SEP] 10, Egg, 0.688, 0.949, -1.879, 0, 0, 0, 63 [SEP] 11, Cup, 1.087, 1.640, 1.063, 0, 270, 0, 80 [SEP] 12, Cup, 1.026, 0.860, 1.349, 0, 270, 0, 80 [SEP] 13, Plate, -1.292, 0.936, -0.118, 0, 0, 0, 57 [SEP] 14, Bowl, 1.055, 1.669, -2.234, 0, 270, 0, 56 [SEP] 15, Bowl, 1.026, 0.866, 1.158, 0, 270, 0, 80 [SEP] 16, SaltShaker, 0.915, 0.698, -0.648, 0, 270, 0, 55 [SEP] 17, SaltShaker, -1.167, 0.929, -1.430, 0, 0, 0, 57 [SEP] 18, PepperShaker, 0.710, 0.117, 0.325, 0, 270, 0, 58 [SEP] 19, Lettuce, -0.624, 1.010, -1.231, 0, 0, 0, 57 [SEP] 20, Bread, 0.905, 1.482, 1.254, 0, 270, 0, 80 [SEP] 21, Apple, -0.753, 0.830, -0.745, 0, 90, 0, 78 [SEP] 22, Apple, 1.087, 1.452, 1.254, 0, 270, 0, 80 [SEP] 23, Statue, 1.114, 0.914, -0.729, 0, 0, 0, 58 [SEP] 24, Glassbottle, 0.861, 0.109, -1.812, 0, 0, 0, 62 [SEP] 25, Bread, 0.773, 0.992, 0.139, 0, 0, 0, 58 [SEP] 26, CreditCard, 0.874, 0.150, -0.729, 0, 270, 0, 60 [SEP] 27, CellPhone, 0.794, 0.491, -0.648, 0, 270, 0, 61 [SEP] 28, Potato, -0.865, 0.207, 0.510, 0, 180, 0, 77 [SEP] 29, Knife, -0.698, 0.957, -1.386, 0, 0, 0, 57 [SEP] 30, Fork, 0.773, 0.911, -0.729, 0, 0, 0, 58 [SEP] 31, Pan, -0.698, 0.931, 0.086, 0, 180, 0, 57 [SEP] 32, Lettuce, 1.114, 0.988, 0.139, 0, 0, 0, 58 [SEP] 33, Plate, 1.114, 0.914, -0.208, 0, 0, 0, 58 [SEP] 34, Apple, -0.865, 0.227, 0.608, 0, 180, 0, 77 [SEP] 35, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 53 [SEP] 36, Spatula, 0.859, 0.926, -1.879, 0, 0, 0, 63 [SEP] 37, PaperTowelRoll, 0.688, 1.015, -0.729, 0, 0, 0, 58 [SEP] 38, Tomato, 0.944, 0.952, -0.034, 0, 0, 0, 58 [SEP] 39, Egg, -0.587, 0.814, -0.745, 0, 90, 0, 78 [SEP] 40, SaltShaker, 1.102, 1.662, -0.465, 0, 270, 0, 66 [SEP] 41, PepperShaker, 0.944, 0.907, 0.139, 0, 0, 0, 58 [SEP] 42, Vase, -1.981, 0.881, 2.719, 0, 0, 0, 84 [SEP] 43, ButterKnife, -0.624, 0.933, -1.463, 0, 0, 0, 57 [SEP] 44, SoapBottle, -1.674, 0.882, 2.719, 0, 0, 0, 84 [SEP] 45, Vase, 1.101, 1.667, -2.029, 0, 270, 0, 56 [SEP] 46, Bowl, 0.811, 0.111, -2.212, 0, 0, 0, 62 [SEP] 47, DishSponge, -0.846, 0.933, -1.618, 0, 0, 0, 57 [SEP] 48, Spoon, -0.753, 0.781, -0.486, 0, 90, 0, 78 [SEP] 49, Cup, 0.844, 0.860, 1.063, 0, 270, 0, 80 [SEP] 50, Mug, 0.859, 0.906, -1.793, 0, 0, 0, 63 [SEP] 51, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 52, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 53, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 54, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 55, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 56, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 57, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 58, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 59, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 60, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 61, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 62, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 63, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 64, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 65, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 66, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 67, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 68, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 69, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 70, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 71, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 72, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 73, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 74, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 75, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 76, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 77, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 78, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 79, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 80, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 81, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 82, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 83, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 84, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 85, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 86, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 87, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 88, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 89, NorthWall, , , , , , , [SEP] 90, EastWall, , , , , , , [SEP] 91, SouthWall, , , , , , , [SEP] 92, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and head to the trash can | STEP 2: Grab the apple out of the trash can | STEP 3: Turn around and head to the counter | STEP 4: Place the apple down on the counter | STEP 5: Pick up the knife off of the counter | STEP 6: Cut the apple into three slices | STEP 7: Turn around and stop at the sink | STEP 8: Cut the apple in the sink into three slices | STEP 9: Put the knife into the sink | STEP 10: Grab one of the apple slices | STEP 11: Turn around and face the counter | STEP 12: Put the apple slice on the counter | END"]} +{"id": "trial_T20190907_061133_385225-2", "input": "Slicing up apples to eat 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, 1.5, 0, 180, 0, [SEP] 1, Statue, -1.292, 0.936, 0.144, 0, 0, 0, 57 [SEP] 2, Potato, 0.944, 0.941, -0.555, 0, 0, 0, 58 [SEP] 3, Potato, 0.783, 1.165, 1.158, 0, 270, 0, 80 [SEP] 4, CellPhone, -0.698, 0.930, -1.463, 0, 0, 0, 57 [SEP] 5, CellPhone, 1.029, 0.908, -0.381, 0, 0, 0, 58 [SEP] 6, Glassbottle, 0.859, 0.912, -0.381, 0, 0, 0, 58 [SEP] 7, Spatula, -0.698, 0.791, -0.573, 0, 270, 0, 78 [SEP] 8, Knife, 0.944, 0.934, -0.208, 0, 0, 0, 58 [SEP] 9, Knife, -0.550, 0.957, -0.143, 0, 0, 0, 57 [SEP] 10, Egg, 0.688, 0.949, -1.879, 0, 0, 0, 63 [SEP] 11, Cup, 1.087, 1.640, 1.063, 0, 270, 0, 80 [SEP] 12, Cup, 1.026, 0.860, 1.349, 0, 270, 0, 80 [SEP] 13, Plate, -1.292, 0.936, -0.118, 0, 0, 0, 57 [SEP] 14, Bowl, 1.055, 1.669, -2.234, 0, 270, 0, 56 [SEP] 15, Bowl, 1.026, 0.866, 1.158, 0, 270, 0, 80 [SEP] 16, SaltShaker, 0.915, 0.698, -0.648, 0, 270, 0, 55 [SEP] 17, SaltShaker, -1.167, 0.929, -1.430, 0, 0, 0, 57 [SEP] 18, PepperShaker, 0.710, 0.117, 0.325, 0, 270, 0, 58 [SEP] 19, Lettuce, -0.624, 1.010, -1.231, 0, 0, 0, 57 [SEP] 20, Bread, 0.905, 1.482, 1.254, 0, 270, 0, 80 [SEP] 21, Apple, -0.753, 0.830, -0.745, 0, 90, 0, 78 [SEP] 22, Apple, 1.087, 1.452, 1.254, 0, 270, 0, 80 [SEP] 23, Statue, 1.114, 0.914, -0.729, 0, 0, 0, 58 [SEP] 24, Glassbottle, 0.861, 0.109, -1.812, 0, 0, 0, 62 [SEP] 25, Bread, 0.773, 0.992, 0.139, 0, 0, 0, 58 [SEP] 26, CreditCard, 0.874, 0.150, -0.729, 0, 270, 0, 60 [SEP] 27, CellPhone, 0.794, 0.491, -0.648, 0, 270, 0, 61 [SEP] 28, Potato, -0.865, 0.207, 0.510, 0, 180, 0, 77 [SEP] 29, Knife, -0.698, 0.957, -1.386, 0, 0, 0, 57 [SEP] 30, Fork, 0.773, 0.911, -0.729, 0, 0, 0, 58 [SEP] 31, Pan, -0.698, 0.931, 0.086, 0, 180, 0, 57 [SEP] 32, Lettuce, 1.114, 0.988, 0.139, 0, 0, 0, 58 [SEP] 33, Plate, 1.114, 0.914, -0.208, 0, 0, 0, 58 [SEP] 34, Apple, -0.865, 0.227, 0.608, 0, 180, 0, 77 [SEP] 35, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 53 [SEP] 36, Spatula, 0.859, 0.926, -1.879, 0, 0, 0, 63 [SEP] 37, PaperTowelRoll, 0.688, 1.015, -0.729, 0, 0, 0, 58 [SEP] 38, Tomato, 0.944, 0.952, -0.034, 0, 0, 0, 58 [SEP] 39, Egg, -0.587, 0.814, -0.745, 0, 90, 0, 78 [SEP] 40, SaltShaker, 1.102, 1.662, -0.465, 0, 270, 0, 66 [SEP] 41, PepperShaker, 0.944, 0.907, 0.139, 0, 0, 0, 58 [SEP] 42, Vase, -1.981, 0.881, 2.719, 0, 0, 0, 84 [SEP] 43, ButterKnife, -0.624, 0.933, -1.463, 0, 0, 0, 57 [SEP] 44, SoapBottle, -1.674, 0.882, 2.719, 0, 0, 0, 84 [SEP] 45, Vase, 1.101, 1.667, -2.029, 0, 270, 0, 56 [SEP] 46, Bowl, 0.811, 0.111, -2.212, 0, 0, 0, 62 [SEP] 47, DishSponge, -0.846, 0.933, -1.618, 0, 0, 0, 57 [SEP] 48, Spoon, -0.753, 0.781, -0.486, 0, 90, 0, 78 [SEP] 49, Cup, 0.844, 0.860, 1.063, 0, 270, 0, 80 [SEP] 50, Mug, 0.859, 0.906, -1.793, 0, 0, 0, 63 [SEP] 51, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 52, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 53, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 54, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 55, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 56, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 57, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 58, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 59, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 60, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 61, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 62, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 63, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 64, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 65, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 66, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 67, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 68, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 69, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 70, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 71, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 72, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 73, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 74, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 75, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 76, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 77, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 78, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 79, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 80, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 81, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 82, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 83, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 84, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 85, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 86, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 87, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 88, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 89, NorthWall, , , , , , , [SEP] 90, EastWall, , , , , , , [SEP] 91, SouthWall, , , , , , , [SEP] 92, WestWall, , , , , , , ", "output": ["STEP 1: Walk to the trash can in the kitchen | STEP 2: Bend down and get the fruit out of the trash | STEP 3: Turn around and walk to the counter by the fridge | STEP 4: Set the fruit down on the counter | STEP 5: Take the knife and cut the fruit in to slices | STEP 6: Take the knife to the kitchen sink | STEP 7: Slice the fruit that is in the sink | STEP 8: Set the knife down in the sink | STEP 9: Pick a slice of fruit from the kitchen sink | STEP 10: Turn around in the kitchen | STEP 11: Walk back to the counter | STEP 12: Set the fruit down on the counter | END"]} +{"id": "trial_T20190907_061133_385225-3", "input": "To cut put 1 1/3 apples 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, -3.5, 0.900, 1.5, 0, 180, 0, [SEP] 1, Statue, -1.292, 0.936, 0.144, 0, 0, 0, 57 [SEP] 2, Potato, 0.944, 0.941, -0.555, 0, 0, 0, 58 [SEP] 3, Potato, 0.783, 1.165, 1.158, 0, 270, 0, 80 [SEP] 4, CellPhone, -0.698, 0.930, -1.463, 0, 0, 0, 57 [SEP] 5, CellPhone, 1.029, 0.908, -0.381, 0, 0, 0, 58 [SEP] 6, Glassbottle, 0.859, 0.912, -0.381, 0, 0, 0, 58 [SEP] 7, Spatula, -0.698, 0.791, -0.573, 0, 270, 0, 78 [SEP] 8, Knife, 0.944, 0.934, -0.208, 0, 0, 0, 58 [SEP] 9, Knife, -0.550, 0.957, -0.143, 0, 0, 0, 57 [SEP] 10, Egg, 0.688, 0.949, -1.879, 0, 0, 0, 63 [SEP] 11, Cup, 1.087, 1.640, 1.063, 0, 270, 0, 80 [SEP] 12, Cup, 1.026, 0.860, 1.349, 0, 270, 0, 80 [SEP] 13, Plate, -1.292, 0.936, -0.118, 0, 0, 0, 57 [SEP] 14, Bowl, 1.055, 1.669, -2.234, 0, 270, 0, 56 [SEP] 15, Bowl, 1.026, 0.866, 1.158, 0, 270, 0, 80 [SEP] 16, SaltShaker, 0.915, 0.698, -0.648, 0, 270, 0, 55 [SEP] 17, SaltShaker, -1.167, 0.929, -1.430, 0, 0, 0, 57 [SEP] 18, PepperShaker, 0.710, 0.117, 0.325, 0, 270, 0, 58 [SEP] 19, Lettuce, -0.624, 1.010, -1.231, 0, 0, 0, 57 [SEP] 20, Bread, 0.905, 1.482, 1.254, 0, 270, 0, 80 [SEP] 21, Apple, -0.753, 0.830, -0.745, 0, 90, 0, 78 [SEP] 22, Apple, 1.087, 1.452, 1.254, 0, 270, 0, 80 [SEP] 23, Statue, 1.114, 0.914, -0.729, 0, 0, 0, 58 [SEP] 24, Glassbottle, 0.861, 0.109, -1.812, 0, 0, 0, 62 [SEP] 25, Bread, 0.773, 0.992, 0.139, 0, 0, 0, 58 [SEP] 26, CreditCard, 0.874, 0.150, -0.729, 0, 270, 0, 60 [SEP] 27, CellPhone, 0.794, 0.491, -0.648, 0, 270, 0, 61 [SEP] 28, Potato, -0.865, 0.207, 0.510, 0, 180, 0, 77 [SEP] 29, Knife, -0.698, 0.957, -1.386, 0, 0, 0, 57 [SEP] 30, Fork, 0.773, 0.911, -0.729, 0, 0, 0, 58 [SEP] 31, Pan, -0.698, 0.931, 0.086, 0, 180, 0, 57 [SEP] 32, Lettuce, 1.114, 0.988, 0.139, 0, 0, 0, 58 [SEP] 33, Plate, 1.114, 0.914, -0.208, 0, 0, 0, 58 [SEP] 34, Apple, -0.865, 0.227, 0.608, 0, 180, 0, 77 [SEP] 35, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 53 [SEP] 36, Spatula, 0.859, 0.926, -1.879, 0, 0, 0, 63 [SEP] 37, PaperTowelRoll, 0.688, 1.015, -0.729, 0, 0, 0, 58 [SEP] 38, Tomato, 0.944, 0.952, -0.034, 0, 0, 0, 58 [SEP] 39, Egg, -0.587, 0.814, -0.745, 0, 90, 0, 78 [SEP] 40, SaltShaker, 1.102, 1.662, -0.465, 0, 270, 0, 66 [SEP] 41, PepperShaker, 0.944, 0.907, 0.139, 0, 0, 0, 58 [SEP] 42, Vase, -1.981, 0.881, 2.719, 0, 0, 0, 84 [SEP] 43, ButterKnife, -0.624, 0.933, -1.463, 0, 0, 0, 57 [SEP] 44, SoapBottle, -1.674, 0.882, 2.719, 0, 0, 0, 84 [SEP] 45, Vase, 1.101, 1.667, -2.029, 0, 270, 0, 56 [SEP] 46, Bowl, 0.811, 0.111, -2.212, 0, 0, 0, 62 [SEP] 47, DishSponge, -0.846, 0.933, -1.618, 0, 0, 0, 57 [SEP] 48, Spoon, -0.753, 0.781, -0.486, 0, 90, 0, 78 [SEP] 49, Cup, 0.844, 0.860, 1.063, 0, 270, 0, 80 [SEP] 50, Mug, 0.859, 0.906, -1.793, 0, 0, 0, 63 [SEP] 51, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 52, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 53, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 54, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 55, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 56, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 57, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 58, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 59, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 60, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 61, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 62, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 63, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 64, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 65, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 66, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 67, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 68, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 69, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 70, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 71, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 72, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 73, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 74, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 75, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 76, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 77, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 78, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 79, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 80, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 81, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 82, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 83, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 84, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 85, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 86, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 87, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 88, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 89, NorthWall, , , , , , , [SEP] 90, EastWall, , , , , , , [SEP] 91, SouthWall, , , , , , , [SEP] 92, WestWall, , , , , , , ", "output": ["STEP 1: Turn left, walk across the room and turn right to face the trash can. | STEP 2: Pick up the green apple in the trash can. | STEP 3: Turn around and approach the counter to the right of the fridge. | STEP 4: Place the apple on the edge of the counter. | STEP 5: Pick up the knife on the counter. | STEP 6: Cut the apple into three pieces. | STEP 7: Turn around and approach the sink. | STEP 8: Cut the apple in the sink into three pieces. | STEP 9: Place the knife in the sink. | STEP 10: Pick up a piece of apple out of the sink. | STEP 11: Turn around and step forward to face the counter. | STEP 12: Set the piece of apple to the right of the other apple on the counter. | END"]} +{"id": "trial_T20190907_061133_385225-4", "input": "Cut two apples into sections, move one section from the sink 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, -3.5, 0.900, 1.5, 0, 180, 0, [SEP] 1, Statue, -1.292, 0.936, 0.144, 0, 0, 0, 57 [SEP] 2, Potato, 0.944, 0.941, -0.555, 0, 0, 0, 58 [SEP] 3, Potato, 0.783, 1.165, 1.158, 0, 270, 0, 80 [SEP] 4, CellPhone, -0.698, 0.930, -1.463, 0, 0, 0, 57 [SEP] 5, CellPhone, 1.029, 0.908, -0.381, 0, 0, 0, 58 [SEP] 6, Glassbottle, 0.859, 0.912, -0.381, 0, 0, 0, 58 [SEP] 7, Spatula, -0.698, 0.791, -0.573, 0, 270, 0, 78 [SEP] 8, Knife, 0.944, 0.934, -0.208, 0, 0, 0, 58 [SEP] 9, Knife, -0.550, 0.957, -0.143, 0, 0, 0, 57 [SEP] 10, Egg, 0.688, 0.949, -1.879, 0, 0, 0, 63 [SEP] 11, Cup, 1.087, 1.640, 1.063, 0, 270, 0, 80 [SEP] 12, Cup, 1.026, 0.860, 1.349, 0, 270, 0, 80 [SEP] 13, Plate, -1.292, 0.936, -0.118, 0, 0, 0, 57 [SEP] 14, Bowl, 1.055, 1.669, -2.234, 0, 270, 0, 56 [SEP] 15, Bowl, 1.026, 0.866, 1.158, 0, 270, 0, 80 [SEP] 16, SaltShaker, 0.915, 0.698, -0.648, 0, 270, 0, 55 [SEP] 17, SaltShaker, -1.167, 0.929, -1.430, 0, 0, 0, 57 [SEP] 18, PepperShaker, 0.710, 0.117, 0.325, 0, 270, 0, 58 [SEP] 19, Lettuce, -0.624, 1.010, -1.231, 0, 0, 0, 57 [SEP] 20, Bread, 0.905, 1.482, 1.254, 0, 270, 0, 80 [SEP] 21, Apple, -0.753, 0.830, -0.745, 0, 90, 0, 78 [SEP] 22, Apple, 1.087, 1.452, 1.254, 0, 270, 0, 80 [SEP] 23, Statue, 1.114, 0.914, -0.729, 0, 0, 0, 58 [SEP] 24, Glassbottle, 0.861, 0.109, -1.812, 0, 0, 0, 62 [SEP] 25, Bread, 0.773, 0.992, 0.139, 0, 0, 0, 58 [SEP] 26, CreditCard, 0.874, 0.150, -0.729, 0, 270, 0, 60 [SEP] 27, CellPhone, 0.794, 0.491, -0.648, 0, 270, 0, 61 [SEP] 28, Potato, -0.865, 0.207, 0.510, 0, 180, 0, 77 [SEP] 29, Knife, -0.698, 0.957, -1.386, 0, 0, 0, 57 [SEP] 30, Fork, 0.773, 0.911, -0.729, 0, 0, 0, 58 [SEP] 31, Pan, -0.698, 0.931, 0.086, 0, 180, 0, 57 [SEP] 32, Lettuce, 1.114, 0.988, 0.139, 0, 0, 0, 58 [SEP] 33, Plate, 1.114, 0.914, -0.208, 0, 0, 0, 58 [SEP] 34, Apple, -0.865, 0.227, 0.608, 0, 180, 0, 77 [SEP] 35, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 53 [SEP] 36, Spatula, 0.859, 0.926, -1.879, 0, 0, 0, 63 [SEP] 37, PaperTowelRoll, 0.688, 1.015, -0.729, 0, 0, 0, 58 [SEP] 38, Tomato, 0.944, 0.952, -0.034, 0, 0, 0, 58 [SEP] 39, Egg, -0.587, 0.814, -0.745, 0, 90, 0, 78 [SEP] 40, SaltShaker, 1.102, 1.662, -0.465, 0, 270, 0, 66 [SEP] 41, PepperShaker, 0.944, 0.907, 0.139, 0, 0, 0, 58 [SEP] 42, Vase, -1.981, 0.881, 2.719, 0, 0, 0, 84 [SEP] 43, ButterKnife, -0.624, 0.933, -1.463, 0, 0, 0, 57 [SEP] 44, SoapBottle, -1.674, 0.882, 2.719, 0, 0, 0, 84 [SEP] 45, Vase, 1.101, 1.667, -2.029, 0, 270, 0, 56 [SEP] 46, Bowl, 0.811, 0.111, -2.212, 0, 0, 0, 62 [SEP] 47, DishSponge, -0.846, 0.933, -1.618, 0, 0, 0, 57 [SEP] 48, Spoon, -0.753, 0.781, -0.486, 0, 90, 0, 78 [SEP] 49, Cup, 0.844, 0.860, 1.063, 0, 270, 0, 80 [SEP] 50, Mug, 0.859, 0.906, -1.793, 0, 0, 0, 63 [SEP] 51, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 52, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 53, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 54, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 55, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 56, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 57, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 58, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 59, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 60, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 61, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 62, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 63, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 64, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 65, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 66, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 67, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 68, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 69, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 70, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 71, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 72, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 73, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 74, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 75, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 76, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 77, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 78, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 79, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 80, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 81, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 82, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 83, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 84, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 85, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 86, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 87, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 88, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 89, NorthWall, , , , , , , [SEP] 90, EastWall, , , , , , , [SEP] 91, SouthWall, , , , , , , [SEP] 92, WestWall, , , , , , , ", "output": ["STEP 1: Turn left, move to the counter near the black bin. | STEP 2: Pick the apple up out of the black bin. | STEP 3: Turn left, move to the counter in front of the dishwasher. | STEP 4: Put the apple on to the counter. | STEP 5: Pick up the knife from the counter. | STEP 6: Cut the apple on the counter into sections. | STEP 7: Turn right, move to the counter in front of the sink. | STEP 8: Cut the apple in the sink into sections. | STEP 9: Place the knife into the sink. | STEP 10: Pick up a section of apple. | STEP 11: Turn right, move to the counter in front of the dishwasher. | STEP 12: Place apple section to the right of other apple. | END"]} +{"id": "trial_T20190907_020258_749030-0", "input": "Get an apple from the sink and heat it up 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, 0.75, 0, 180, 0, [SEP] 1, Pan, 1.126, 2.205, -1.517, 0, 180, 0, 62 [SEP] 2, Potato, -0.96, 0.207, 0.641, 0, 180, 0, 75 [SEP] 3, Potato, 1.148, 1.673, 1.540, 0, 270, 0, 78 [SEP] 4, ButterKnife, -0.550, 0.933, -1.463, 0, 0, 0, 55 [SEP] 5, Glassbottle, 1.194, 1.667, -2.097, 0, 270, 0, 54 [SEP] 6, Glassbottle, -0.477, 0.934, -0.143, 0, 0, 0, 55 [SEP] 7, Fork, -0.550, 0.934, -1.231, 0, 0, 0, 55 [SEP] 8, Fork, -0.698, 0.934, 0.162, 0, 180, 0, 55 [SEP] 9, Spoon, 0.793, 0.154, -0.611, 0, 270, 0, 58 [SEP] 10, Spoon, 0.859, 0.912, -0.729, 0, 0, 0, 56 [SEP] 11, Spatula, 1.199, 0.926, -0.381, 0, 0, 0, 56 [SEP] 12, Egg, -0.808, 0.814, -0.832, 0, 90, 0, 76 [SEP] 13, Egg, -1.007, 0.216, 0.543, 0, 180, 0, 75 [SEP] 14, Plate, -1.571, 0.885, 2.719, 0, 0, 0, 82 [SEP] 15, SoapBottle, 0.960, 0.108, -1.812, 0, 0, 0, 60 [SEP] 16, SoapBottle, -0.477, 0.933, 0.315, 0, 0, 0, 55 [SEP] 17, SaltShaker, 0.754, 0.490, -0.565, 0, 270, 0, 59 [SEP] 18, PepperShaker, 0.688, 0.907, -1.793, 0, 0, 0, 61 [SEP] 19, Bread, 1.029, 0.992, -0.034, 0, 0, 0, 56 [SEP] 20, Apple, -0.865, 0.229, 0.575, 0, 180, 0, 75 [SEP] 21, Statue, -1.167, 0.936, -0.380, 0, 0, 0, 55 [SEP] 22, Glassbottle, -1.467, 0.554, 2.822, 0, 0, 0, 81 [SEP] 23, Bread, -1.292, 1.014, -0.118, 0, 0, 0, 55 [SEP] 24, CreditCard, -1.467, 0.551, 2.718, 0, 0, 0, 81 [SEP] 25, CellPhone, 0.773, 0.908, -0.208, 0, 0, 0, 56 [SEP] 26, Potato, -0.808, 0.811, -0.573, 0, 90, 0, 76 [SEP] 27, Knife, 0.859, 0.934, -0.034, 0, 90, 0, 56 [SEP] 28, Fork, -0.753, 0.781, -0.918, 0, 180, 0, 76 [SEP] 29, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 49 [SEP] 30, Lettuce, 0.867, 1.688, 1.209, 9.750, 11.009, 358.514, 78 [SEP] 31, Plate, 0.844, 0.866, 1.063, 0, 270, 0, 78 [SEP] 32, Apple, -0.587, 0.830, -0.659, 0, 90, 0, 76 [SEP] 33, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 51 [SEP] 34, Spatula, -0.808, 0.791, -0.745, 0, 180, 0, 76 [SEP] 35, PaperTowelRoll, 0.688, 1.015, 0.313, 0, 0, 0, 56 [SEP] 36, Tomato, -0.920, 0.974, -1.540, 0, 0, 0, 55 [SEP] 37, Egg, -0.642, 0.814, -0.573, 0, 90, 0, 76 [SEP] 38, SaltShaker, 0.811, 0.104, -2.132, 0, 0, 0, 60 [SEP] 39, PepperShaker, 1.148, 1.662, -0.337, 0, 270, 0, 64 [SEP] 40, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 81 [SEP] 41, ButterKnife, -0.624, 0.933, 0.009, 0, 0, 0, 55 [SEP] 42, SoapBottle, -0.772, 0.933, 0.239, 0, 0, 0, 55 [SEP] 43, Vase, 1.194, 1.667, -0.593, 0, 270, 0, 64 [SEP] 44, Bowl, 1.026, 1.138, 1.158, 0, 270, 0, 78 [SEP] 45, DishSponge, 0.915, 0.493, -0.690, 0, 270, 0, 59 [SEP] 46, Spoon, -1.104, 0.934, -0.905, 0, 0, 0, 55 [SEP] 47, Cup, -1.363, 0.551, 2.718, 0, 0, 0, 81 [SEP] 48, Mug, 1.114, 0.906, -1.793, 0, 0, 0, 61 [SEP] 49, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 50, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 51, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 52, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 53, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 54, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 55, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 56, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 57, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 58, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 59, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 60, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 61, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 62, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 63, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 64, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 65, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 66, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 67, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 68, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 69, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 70, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 71, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 72, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 73, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 74, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 75, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 76, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 77, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 78, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 79, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 80, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 81, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 82, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 83, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 84, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 85, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 86, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 87, NorthWall, , , , , , , [SEP] 88, EastWall, , , , , , , [SEP] 89, SouthWall, , , , , , , [SEP] 90, WestWall, , , , , , , ", "output": ["STEP 1: Turn toward the fridge and turn right and go towards the kitchen sink | STEP 2: Pick up the green apple out of the sink | STEP 3: Turn around and walk towards the microwave with the apple and open the microwave door | STEP 4: Put the apple in the microwave and close the door and turn it on for a few seconds, then open the door and take the apple out | STEP 5: Turn around and walk back to the sink | STEP 6: Put the apple in the sink. | END"]} +{"id": "trial_T20190907_020258_749030-1", "input": "Cook apple in microwave, place in 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, 0.75, 0, 180, 0, [SEP] 1, Pan, 1.126, 2.205, -1.517, 0, 180, 0, 62 [SEP] 2, Potato, -0.96, 0.207, 0.641, 0, 180, 0, 75 [SEP] 3, Potato, 1.148, 1.673, 1.540, 0, 270, 0, 78 [SEP] 4, ButterKnife, -0.550, 0.933, -1.463, 0, 0, 0, 55 [SEP] 5, Glassbottle, 1.194, 1.667, -2.097, 0, 270, 0, 54 [SEP] 6, Glassbottle, -0.477, 0.934, -0.143, 0, 0, 0, 55 [SEP] 7, Fork, -0.550, 0.934, -1.231, 0, 0, 0, 55 [SEP] 8, Fork, -0.698, 0.934, 0.162, 0, 180, 0, 55 [SEP] 9, Spoon, 0.793, 0.154, -0.611, 0, 270, 0, 58 [SEP] 10, Spoon, 0.859, 0.912, -0.729, 0, 0, 0, 56 [SEP] 11, Spatula, 1.199, 0.926, -0.381, 0, 0, 0, 56 [SEP] 12, Egg, -0.808, 0.814, -0.832, 0, 90, 0, 76 [SEP] 13, Egg, -1.007, 0.216, 0.543, 0, 180, 0, 75 [SEP] 14, Plate, -1.571, 0.885, 2.719, 0, 0, 0, 82 [SEP] 15, SoapBottle, 0.960, 0.108, -1.812, 0, 0, 0, 60 [SEP] 16, SoapBottle, -0.477, 0.933, 0.315, 0, 0, 0, 55 [SEP] 17, SaltShaker, 0.754, 0.490, -0.565, 0, 270, 0, 59 [SEP] 18, PepperShaker, 0.688, 0.907, -1.793, 0, 0, 0, 61 [SEP] 19, Bread, 1.029, 0.992, -0.034, 0, 0, 0, 56 [SEP] 20, Apple, -0.865, 0.229, 0.575, 0, 180, 0, 75 [SEP] 21, Statue, -1.167, 0.936, -0.380, 0, 0, 0, 55 [SEP] 22, Glassbottle, -1.467, 0.554, 2.822, 0, 0, 0, 81 [SEP] 23, Bread, -1.292, 1.014, -0.118, 0, 0, 0, 55 [SEP] 24, CreditCard, -1.467, 0.551, 2.718, 0, 0, 0, 81 [SEP] 25, CellPhone, 0.773, 0.908, -0.208, 0, 0, 0, 56 [SEP] 26, Potato, -0.808, 0.811, -0.573, 0, 90, 0, 76 [SEP] 27, Knife, 0.859, 0.934, -0.034, 0, 90, 0, 56 [SEP] 28, Fork, -0.753, 0.781, -0.918, 0, 180, 0, 76 [SEP] 29, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 49 [SEP] 30, Lettuce, 0.867, 1.688, 1.209, 9.750, 11.009, 358.514, 78 [SEP] 31, Plate, 0.844, 0.866, 1.063, 0, 270, 0, 78 [SEP] 32, Apple, -0.587, 0.830, -0.659, 0, 90, 0, 76 [SEP] 33, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 51 [SEP] 34, Spatula, -0.808, 0.791, -0.745, 0, 180, 0, 76 [SEP] 35, PaperTowelRoll, 0.688, 1.015, 0.313, 0, 0, 0, 56 [SEP] 36, Tomato, -0.920, 0.974, -1.540, 0, 0, 0, 55 [SEP] 37, Egg, -0.642, 0.814, -0.573, 0, 90, 0, 76 [SEP] 38, SaltShaker, 0.811, 0.104, -2.132, 0, 0, 0, 60 [SEP] 39, PepperShaker, 1.148, 1.662, -0.337, 0, 270, 0, 64 [SEP] 40, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 81 [SEP] 41, ButterKnife, -0.624, 0.933, 0.009, 0, 0, 0, 55 [SEP] 42, SoapBottle, -0.772, 0.933, 0.239, 0, 0, 0, 55 [SEP] 43, Vase, 1.194, 1.667, -0.593, 0, 270, 0, 64 [SEP] 44, Bowl, 1.026, 1.138, 1.158, 0, 270, 0, 78 [SEP] 45, DishSponge, 0.915, 0.493, -0.690, 0, 270, 0, 59 [SEP] 46, Spoon, -1.104, 0.934, -0.905, 0, 0, 0, 55 [SEP] 47, Cup, -1.363, 0.551, 2.718, 0, 0, 0, 81 [SEP] 48, Mug, 1.114, 0.906, -1.793, 0, 0, 0, 61 [SEP] 49, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 50, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 51, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 52, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 53, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 54, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 55, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 56, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 57, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 58, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 59, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 60, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 61, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 62, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 63, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 64, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 65, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 66, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 67, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 68, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 69, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 70, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 71, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 72, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 73, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 74, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 75, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 76, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 77, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 78, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 79, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 80, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 81, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 82, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 83, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 84, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 85, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 86, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 87, NorthWall, , , , , , , [SEP] 88, EastWall, , , , , , , [SEP] 89, SouthWall, , , , , , , [SEP] 90, WestWall, , , , , , , ", "output": ["STEP 1: Turn left, go straight, turn right into kitchen. | STEP 2: Pick up apple in the sink. | STEP 3: Hold apple, open microwave doors. | STEP 4: Place apple into microwave, close microwave. | STEP 5: Cook apple in microwave, open microwave, grab apple. | STEP 6: Turn around towards sink, throw apple into sink. | END"]} +{"id": "trial_T20190907_020258_749030-2", "input": "Put a cooked 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, -0.5, 0.900, 0.75, 0, 180, 0, [SEP] 1, Pan, 1.126, 2.205, -1.517, 0, 180, 0, 62 [SEP] 2, Potato, -0.96, 0.207, 0.641, 0, 180, 0, 75 [SEP] 3, Potato, 1.148, 1.673, 1.540, 0, 270, 0, 78 [SEP] 4, ButterKnife, -0.550, 0.933, -1.463, 0, 0, 0, 55 [SEP] 5, Glassbottle, 1.194, 1.667, -2.097, 0, 270, 0, 54 [SEP] 6, Glassbottle, -0.477, 0.934, -0.143, 0, 0, 0, 55 [SEP] 7, Fork, -0.550, 0.934, -1.231, 0, 0, 0, 55 [SEP] 8, Fork, -0.698, 0.934, 0.162, 0, 180, 0, 55 [SEP] 9, Spoon, 0.793, 0.154, -0.611, 0, 270, 0, 58 [SEP] 10, Spoon, 0.859, 0.912, -0.729, 0, 0, 0, 56 [SEP] 11, Spatula, 1.199, 0.926, -0.381, 0, 0, 0, 56 [SEP] 12, Egg, -0.808, 0.814, -0.832, 0, 90, 0, 76 [SEP] 13, Egg, -1.007, 0.216, 0.543, 0, 180, 0, 75 [SEP] 14, Plate, -1.571, 0.885, 2.719, 0, 0, 0, 82 [SEP] 15, SoapBottle, 0.960, 0.108, -1.812, 0, 0, 0, 60 [SEP] 16, SoapBottle, -0.477, 0.933, 0.315, 0, 0, 0, 55 [SEP] 17, SaltShaker, 0.754, 0.490, -0.565, 0, 270, 0, 59 [SEP] 18, PepperShaker, 0.688, 0.907, -1.793, 0, 0, 0, 61 [SEP] 19, Bread, 1.029, 0.992, -0.034, 0, 0, 0, 56 [SEP] 20, Apple, -0.865, 0.229, 0.575, 0, 180, 0, 75 [SEP] 21, Statue, -1.167, 0.936, -0.380, 0, 0, 0, 55 [SEP] 22, Glassbottle, -1.467, 0.554, 2.822, 0, 0, 0, 81 [SEP] 23, Bread, -1.292, 1.014, -0.118, 0, 0, 0, 55 [SEP] 24, CreditCard, -1.467, 0.551, 2.718, 0, 0, 0, 81 [SEP] 25, CellPhone, 0.773, 0.908, -0.208, 0, 0, 0, 56 [SEP] 26, Potato, -0.808, 0.811, -0.573, 0, 90, 0, 76 [SEP] 27, Knife, 0.859, 0.934, -0.034, 0, 90, 0, 56 [SEP] 28, Fork, -0.753, 0.781, -0.918, 0, 180, 0, 76 [SEP] 29, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 49 [SEP] 30, Lettuce, 0.867, 1.688, 1.209, 9.750, 11.009, 358.514, 78 [SEP] 31, Plate, 0.844, 0.866, 1.063, 0, 270, 0, 78 [SEP] 32, Apple, -0.587, 0.830, -0.659, 0, 90, 0, 76 [SEP] 33, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 51 [SEP] 34, Spatula, -0.808, 0.791, -0.745, 0, 180, 0, 76 [SEP] 35, PaperTowelRoll, 0.688, 1.015, 0.313, 0, 0, 0, 56 [SEP] 36, Tomato, -0.920, 0.974, -1.540, 0, 0, 0, 55 [SEP] 37, Egg, -0.642, 0.814, -0.573, 0, 90, 0, 76 [SEP] 38, SaltShaker, 0.811, 0.104, -2.132, 0, 0, 0, 60 [SEP] 39, PepperShaker, 1.148, 1.662, -0.337, 0, 270, 0, 64 [SEP] 40, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 81 [SEP] 41, ButterKnife, -0.624, 0.933, 0.009, 0, 0, 0, 55 [SEP] 42, SoapBottle, -0.772, 0.933, 0.239, 0, 0, 0, 55 [SEP] 43, Vase, 1.194, 1.667, -0.593, 0, 270, 0, 64 [SEP] 44, Bowl, 1.026, 1.138, 1.158, 0, 270, 0, 78 [SEP] 45, DishSponge, 0.915, 0.493, -0.690, 0, 270, 0, 59 [SEP] 46, Spoon, -1.104, 0.934, -0.905, 0, 0, 0, 55 [SEP] 47, Cup, -1.363, 0.551, 2.718, 0, 0, 0, 81 [SEP] 48, Mug, 1.114, 0.906, -1.793, 0, 0, 0, 61 [SEP] 49, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 50, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 51, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 52, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 53, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 54, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 55, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 56, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 57, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 58, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 59, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 60, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 61, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 62, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 63, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 64, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 65, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 66, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 67, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 68, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 69, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 70, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 71, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 72, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 73, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 74, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 75, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 76, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 77, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 78, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 79, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 80, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 81, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 82, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 83, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 84, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 85, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 86, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 87, NorthWall, , , , , , , [SEP] 88, EastWall, , , , , , , [SEP] 89, SouthWall, , , , , , , [SEP] 90, WestWall, , , , , , , ", "output": ["STEP 1: Turn to the left, then to the right, then to the sink on the right. | STEP 2: Pick up the apple, to the left of the egg. | STEP 3: Turn around and go to the microwave in front of you. | STEP 4: Heat the apple in the microwave. | STEP 5: Return to the sink behind you. | STEP 6: Put the apple in the sink, to the right of the fork. | END"]} +{"id": "trial_T20190907_033157_424297-0", "input": "place a potato inside 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, 2.5, 0, 180, 0, [SEP] 1, Potato, 0.944, 0.941, -1.879, 0, 0, 0, 62 [SEP] 2, CreditCard, 0.915, 0.492, -0.690, 0, 270, 0, 60 [SEP] 3, CreditCard, -0.920, 0.930, -1.154, 0, 0, 0, 56 [SEP] 4, CellPhone, -1.363, 0.550, 2.822, 0, 0, 0, 82 [SEP] 5, CellPhone, 0.944, 0.908, -0.381, 0, 0, 0, 57 [SEP] 6, ButterKnife, 0.944, 0.911, -0.208, 0, 0, 0, 57 [SEP] 7, ButterKnife, -0.697, 0.776, -0.832, 0, 90, 0, 77 [SEP] 8, Glassbottle, 1.101, 1.667, -1.961, 0, 270, 0, 55 [SEP] 9, Fork, 0.794, 0.703, -0.690, 0, 180, 0, 54 [SEP] 10, Fork, 0.875, 0.494, -0.565, 0, 0, 0, 60 [SEP] 11, Spatula, 0.688, 0.926, -2.051, 0, 270, 0, 62 [SEP] 12, Knife, -0.550, 0.957, 0.009, 0, 0, 0, 56 [SEP] 13, Egg, 0.844, 0.900, 1.254, 0, 270, 0, 79 [SEP] 14, SoapBottle, 0.688, 0.911, -1.879, 0, 0, 0, 62 [SEP] 15, SoapBottle, -1.571, 0.882, 2.746, 0, 0, 0, 83 [SEP] 16, SaltShaker, -1.778, 0.550, 2.874, 0, 0, 0, 82 [SEP] 17, PepperShaker, 1.014, 0.117, 0.325, 0, 270, 0, 57 [SEP] 18, Lettuce, -1.292, 1.010, -0.118, 0, 0, 0, 56 [SEP] 19, Lettuce, 1.114, 0.988, -0.381, 0, 0, 0, 57 [SEP] 20, Mug, 1.060, 1.790, -1.132, 0, 270, 0, 78 [SEP] 21, Apple, -1.007, 0.229, 0.641, 0, 180, 0, 76 [SEP] 22, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 56 [SEP] 23, Glassbottle, -0.865, 0.179, 0.575, 0, 180, 0, 76 [SEP] 24, Bread, -0.779, 0.996, 0.21, 0, 258.641, 0, 56 [SEP] 25, CreditCard, -0.698, 0.930, -1.463, 0, 0, 0, 56 [SEP] 26, CellPhone, 0.859, 0.908, -0.555, 0, 0, 0, 57 [SEP] 27, Potato, -0.846, 0.963, 0.009, 0, 0, 0, 56 [SEP] 28, Knife, -0.697, 0.804, -0.832, 0, 90, 0, 77 [SEP] 29, Fork, 0.834, 0.702, -0.772, 0, 0, 0, 54 [SEP] 30, Pan, 0.905, 1.399, 1.063, 0, 180, 0, 79 [SEP] 31, Lettuce, 0.866, 1.688, 1.209, 9.746, 11.116, 0, 79 [SEP] 32, Plate, 0.861, 0.111, -2.212, 0, 0, 0, 61 [SEP] 33, Apple, 1.093, 1.845, -1.339, 0, 270, 0, 78 [SEP] 34, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 52 [SEP] 35, Spatula, -0.587, 0.795, -0.573, 0, 0, 0, 77 [SEP] 36, PaperTowelRoll, -1.981, 0.986, 2.773, 0, 0, 0, 83 [SEP] 37, Tomato, -0.587, 0.821, -0.659, 0, 90, 0, 77 [SEP] 38, Egg, -0.753, 0.818, -0.659, 0, 90, 0, 77 [SEP] 39, SaltShaker, 1.010, 1.662, -0.273, 0, 270, 0, 65 [SEP] 40, PepperShaker, -1.778, 0.550, 2.615, 0, 0, 0, 82 [SEP] 41, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 82 [SEP] 42, ButterKnife, -0.698, 0.933, -1.540, 0, 0, 0, 56 [SEP] 43, SoapBottle, -0.772, 0.933, -1.386, 0, 0, 0, 56 [SEP] 44, Vase, -1.985, 0.555, 2.822, 0, 0, 0, 82 [SEP] 45, Bowl, 0.688, 0.914, -0.729, 0, 0, 0, 57 [SEP] 46, DishSponge, 1.169, 2.207, -1.191, 0, 270, 0, 63 [SEP] 47, Spoon, 0.773, 0.912, -1.879, 0, 90, 0, 62 [SEP] 48, Cup, -0.808, 0.773, -0.486, 0, 90, 0, 77 [SEP] 49, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 75 [SEP] 50, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 51, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 52, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 53, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 54, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 55, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 56, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 57, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 58, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 59, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 60, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 61, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 62, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 63, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 64, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 65, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 66, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 67, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 68, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 69, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 70, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 71, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 72, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 73, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 74, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 75, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 76, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 77, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 78, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 79, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 80, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 81, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 82, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 83, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 84, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 85, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 86, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 87, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 88, NorthWall, , , , , , , [SEP] 89, EastWall, , , , , , , [SEP] 90, SouthWall, , , , , , , [SEP] 91, WestWall, , , , , , , ", "output": ["STEP 1: walk over to the kitchen island | STEP 2: grab a potato off of the kitchen island counter | STEP 3: walk over to the fridge | STEP 4: place the potato inside the fridge to cool, then take it back out | STEP 5: bring the potato over to the microwave above the stove | STEP 6: place the potato inside the microwave and close the door | END"]} +{"id": "trial_T20190907_033157_424297-1", "input": "Place the 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, -1.0, 0.900, 2.5, 0, 180, 0, [SEP] 1, Potato, 0.944, 0.941, -1.879, 0, 0, 0, 62 [SEP] 2, CreditCard, 0.915, 0.492, -0.690, 0, 270, 0, 60 [SEP] 3, CreditCard, -0.920, 0.930, -1.154, 0, 0, 0, 56 [SEP] 4, CellPhone, -1.363, 0.550, 2.822, 0, 0, 0, 82 [SEP] 5, CellPhone, 0.944, 0.908, -0.381, 0, 0, 0, 57 [SEP] 6, ButterKnife, 0.944, 0.911, -0.208, 0, 0, 0, 57 [SEP] 7, ButterKnife, -0.697, 0.776, -0.832, 0, 90, 0, 77 [SEP] 8, Glassbottle, 1.101, 1.667, -1.961, 0, 270, 0, 55 [SEP] 9, Fork, 0.794, 0.703, -0.690, 0, 180, 0, 54 [SEP] 10, Fork, 0.875, 0.494, -0.565, 0, 0, 0, 60 [SEP] 11, Spatula, 0.688, 0.926, -2.051, 0, 270, 0, 62 [SEP] 12, Knife, -0.550, 0.957, 0.009, 0, 0, 0, 56 [SEP] 13, Egg, 0.844, 0.900, 1.254, 0, 270, 0, 79 [SEP] 14, SoapBottle, 0.688, 0.911, -1.879, 0, 0, 0, 62 [SEP] 15, SoapBottle, -1.571, 0.882, 2.746, 0, 0, 0, 83 [SEP] 16, SaltShaker, -1.778, 0.550, 2.874, 0, 0, 0, 82 [SEP] 17, PepperShaker, 1.014, 0.117, 0.325, 0, 270, 0, 57 [SEP] 18, Lettuce, -1.292, 1.010, -0.118, 0, 0, 0, 56 [SEP] 19, Lettuce, 1.114, 0.988, -0.381, 0, 0, 0, 57 [SEP] 20, Mug, 1.060, 1.790, -1.132, 0, 270, 0, 78 [SEP] 21, Apple, -1.007, 0.229, 0.641, 0, 180, 0, 76 [SEP] 22, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 56 [SEP] 23, Glassbottle, -0.865, 0.179, 0.575, 0, 180, 0, 76 [SEP] 24, Bread, -0.779, 0.996, 0.21, 0, 258.641, 0, 56 [SEP] 25, CreditCard, -0.698, 0.930, -1.463, 0, 0, 0, 56 [SEP] 26, CellPhone, 0.859, 0.908, -0.555, 0, 0, 0, 57 [SEP] 27, Potato, -0.846, 0.963, 0.009, 0, 0, 0, 56 [SEP] 28, Knife, -0.697, 0.804, -0.832, 0, 90, 0, 77 [SEP] 29, Fork, 0.834, 0.702, -0.772, 0, 0, 0, 54 [SEP] 30, Pan, 0.905, 1.399, 1.063, 0, 180, 0, 79 [SEP] 31, Lettuce, 0.866, 1.688, 1.209, 9.746, 11.116, 0, 79 [SEP] 32, Plate, 0.861, 0.111, -2.212, 0, 0, 0, 61 [SEP] 33, Apple, 1.093, 1.845, -1.339, 0, 270, 0, 78 [SEP] 34, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 52 [SEP] 35, Spatula, -0.587, 0.795, -0.573, 0, 0, 0, 77 [SEP] 36, PaperTowelRoll, -1.981, 0.986, 2.773, 0, 0, 0, 83 [SEP] 37, Tomato, -0.587, 0.821, -0.659, 0, 90, 0, 77 [SEP] 38, Egg, -0.753, 0.818, -0.659, 0, 90, 0, 77 [SEP] 39, SaltShaker, 1.010, 1.662, -0.273, 0, 270, 0, 65 [SEP] 40, PepperShaker, -1.778, 0.550, 2.615, 0, 0, 0, 82 [SEP] 41, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 82 [SEP] 42, ButterKnife, -0.698, 0.933, -1.540, 0, 0, 0, 56 [SEP] 43, SoapBottle, -0.772, 0.933, -1.386, 0, 0, 0, 56 [SEP] 44, Vase, -1.985, 0.555, 2.822, 0, 0, 0, 82 [SEP] 45, Bowl, 0.688, 0.914, -0.729, 0, 0, 0, 57 [SEP] 46, DishSponge, 1.169, 2.207, -1.191, 0, 270, 0, 63 [SEP] 47, Spoon, 0.773, 0.912, -1.879, 0, 90, 0, 62 [SEP] 48, Cup, -0.808, 0.773, -0.486, 0, 90, 0, 77 [SEP] 49, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 75 [SEP] 50, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 51, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 52, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 53, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 54, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 55, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 56, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 57, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 58, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 59, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 60, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 61, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 62, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 63, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 64, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 65, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 66, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 67, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 68, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 69, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 70, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 71, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 72, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 73, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 74, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 75, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 76, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 77, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 78, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 79, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 80, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 81, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 82, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 83, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 84, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 85, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 86, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 87, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 88, NorthWall, , , , , , , [SEP] 89, EastWall, , , , , , , [SEP] 90, SouthWall, , , , , , , [SEP] 91, WestWall, , , , , , , ", "output": ["STEP 1: Turn left then right to face the counter with the knife on it. | STEP 2: Pick up the potato from the counter. | STEP 3: Turn right and face the fridge. | STEP 4: Open the fridge and chill the potato for 5 seconds then take it out. | STEP 5: Turn right and walk then turn left to face the stove. | STEP 6: Look above the stove to the microwave and place the potato inside. | END"]} +{"id": "trial_T20190907_033157_424297-2", "input": "Put a chilled 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, -1.0, 0.900, 2.5, 0, 180, 0, [SEP] 1, Potato, 0.944, 0.941, -1.879, 0, 0, 0, 62 [SEP] 2, CreditCard, 0.915, 0.492, -0.690, 0, 270, 0, 60 [SEP] 3, CreditCard, -0.920, 0.930, -1.154, 0, 0, 0, 56 [SEP] 4, CellPhone, -1.363, 0.550, 2.822, 0, 0, 0, 82 [SEP] 5, CellPhone, 0.944, 0.908, -0.381, 0, 0, 0, 57 [SEP] 6, ButterKnife, 0.944, 0.911, -0.208, 0, 0, 0, 57 [SEP] 7, ButterKnife, -0.697, 0.776, -0.832, 0, 90, 0, 77 [SEP] 8, Glassbottle, 1.101, 1.667, -1.961, 0, 270, 0, 55 [SEP] 9, Fork, 0.794, 0.703, -0.690, 0, 180, 0, 54 [SEP] 10, Fork, 0.875, 0.494, -0.565, 0, 0, 0, 60 [SEP] 11, Spatula, 0.688, 0.926, -2.051, 0, 270, 0, 62 [SEP] 12, Knife, -0.550, 0.957, 0.009, 0, 0, 0, 56 [SEP] 13, Egg, 0.844, 0.900, 1.254, 0, 270, 0, 79 [SEP] 14, SoapBottle, 0.688, 0.911, -1.879, 0, 0, 0, 62 [SEP] 15, SoapBottle, -1.571, 0.882, 2.746, 0, 0, 0, 83 [SEP] 16, SaltShaker, -1.778, 0.550, 2.874, 0, 0, 0, 82 [SEP] 17, PepperShaker, 1.014, 0.117, 0.325, 0, 270, 0, 57 [SEP] 18, Lettuce, -1.292, 1.010, -0.118, 0, 0, 0, 56 [SEP] 19, Lettuce, 1.114, 0.988, -0.381, 0, 0, 0, 57 [SEP] 20, Mug, 1.060, 1.790, -1.132, 0, 270, 0, 78 [SEP] 21, Apple, -1.007, 0.229, 0.641, 0, 180, 0, 76 [SEP] 22, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 56 [SEP] 23, Glassbottle, -0.865, 0.179, 0.575, 0, 180, 0, 76 [SEP] 24, Bread, -0.779, 0.996, 0.21, 0, 258.641, 0, 56 [SEP] 25, CreditCard, -0.698, 0.930, -1.463, 0, 0, 0, 56 [SEP] 26, CellPhone, 0.859, 0.908, -0.555, 0, 0, 0, 57 [SEP] 27, Potato, -0.846, 0.963, 0.009, 0, 0, 0, 56 [SEP] 28, Knife, -0.697, 0.804, -0.832, 0, 90, 0, 77 [SEP] 29, Fork, 0.834, 0.702, -0.772, 0, 0, 0, 54 [SEP] 30, Pan, 0.905, 1.399, 1.063, 0, 180, 0, 79 [SEP] 31, Lettuce, 0.866, 1.688, 1.209, 9.746, 11.116, 0, 79 [SEP] 32, Plate, 0.861, 0.111, -2.212, 0, 0, 0, 61 [SEP] 33, Apple, 1.093, 1.845, -1.339, 0, 270, 0, 78 [SEP] 34, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 52 [SEP] 35, Spatula, -0.587, 0.795, -0.573, 0, 0, 0, 77 [SEP] 36, PaperTowelRoll, -1.981, 0.986, 2.773, 0, 0, 0, 83 [SEP] 37, Tomato, -0.587, 0.821, -0.659, 0, 90, 0, 77 [SEP] 38, Egg, -0.753, 0.818, -0.659, 0, 90, 0, 77 [SEP] 39, SaltShaker, 1.010, 1.662, -0.273, 0, 270, 0, 65 [SEP] 40, PepperShaker, -1.778, 0.550, 2.615, 0, 0, 0, 82 [SEP] 41, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 82 [SEP] 42, ButterKnife, -0.698, 0.933, -1.540, 0, 0, 0, 56 [SEP] 43, SoapBottle, -0.772, 0.933, -1.386, 0, 0, 0, 56 [SEP] 44, Vase, -1.985, 0.555, 2.822, 0, 0, 0, 82 [SEP] 45, Bowl, 0.688, 0.914, -0.729, 0, 0, 0, 57 [SEP] 46, DishSponge, 1.169, 2.207, -1.191, 0, 270, 0, 63 [SEP] 47, Spoon, 0.773, 0.912, -1.879, 0, 90, 0, 62 [SEP] 48, Cup, -0.808, 0.773, -0.486, 0, 90, 0, 77 [SEP] 49, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 75 [SEP] 50, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 51, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 52, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 53, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 54, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 55, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 56, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 57, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 58, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 59, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 60, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 61, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 62, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 63, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 64, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 65, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 66, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 67, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 68, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 69, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 70, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 71, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 72, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 73, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 74, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 75, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 76, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 77, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 78, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 79, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 80, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 81, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 82, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 83, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 84, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 85, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 86, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 87, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 88, NorthWall, , , , , , , [SEP] 89, EastWall, , , , , , , [SEP] 90, SouthWall, , , , , , , [SEP] 91, WestWall, , , , , , , ", "output": ["STEP 1: Go to the counter in front of you. | STEP 2: Pick up the potato the the left of the bread. | STEP 3: Go to the fridge behind you. | STEP 4: Chill the potato in the fridge. | STEP 5: Take the potato to the microwave to your right. | STEP 6: Placed a potato in the microwave. | END"]} +{"id": "trial_T20190909_025529_706272-0", "input": "Place a warm tomato 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, -3.5, 0.900, -2.25, 0, 270, 0, [SEP] 1, Statue, -1.167, 0.936, -0.905, 0, 0, 0, 65 [SEP] 2, Vase, 1.102, 1.667, -0.465, 0, 270, 0, 74 [SEP] 3, Potato, 1.093, 1.814, -1.236, 0, 270, 0, 87 [SEP] 4, CreditCard, 1.199, 0.908, -0.208, 0, 0, 0, 66 [SEP] 5, CreditCard, -1.674, 0.878, 2.773, 0, 0, 0, 92 [SEP] 6, CellPhone, -1.467, 0.550, 2.770, 0, 0, 0, 91 [SEP] 7, CellPhone, 1.199, 0.908, -0.034, 0, 0, 0, 66 [SEP] 8, DishSponge, 0.960, 0.107, -2.292, 0, 0, 0, 70 [SEP] 9, DishSponge, 0.875, 0.493, -0.690, 0, 270, 0, 69 [SEP] 10, ButterKnife, 0.773, 0.911, -1.879, 0, 0, 0, 71 [SEP] 11, Glassbottle, 0.960, 0.109, -1.812, 0, 0, 0, 70 [SEP] 12, Glassbottle, 0.688, 0.912, -0.381, 0, 0, 0, 66 [SEP] 13, Spoon, 0.773, 0.912, -1.965, 0, 0, 0, 71 [SEP] 14, Spatula, 0.754, 0.717, -0.524, 0, 180, 0, 63 [SEP] 15, Spatula, -0.753, 0.791, -0.918, 0, 180, 0, 86 [SEP] 16, Pot, -1.229, 0.936, 0.144, 0, 0, 0, 65 [SEP] 17, Knife, 0.859, 0.934, -0.729, 0, 0, 0, 66 [SEP] 18, Egg, 0.905, 1.172, 1.254, 0, 270, 0, 88 [SEP] 19, Tomato, 1.114, 0.952, 0.139, 0, 0, 0, 66 [SEP] 20, Tomato, -1.054, 0.219, 0.576, 0, 180, 0, 85 [SEP] 21, Bowl, 0.844, 1.646, 0.967, 0, 270, 0, 88 [SEP] 22, SaltShaker, 0.811, 0.104, -1.972, 0, 0, 0, 70 [SEP] 23, SaltShaker, 0.910, 0.104, -1.972, 0, 0, 0, 70 [SEP] 24, PepperShaker, 0.713, 0.490, -0.690, 0, 270, 0, 69 [SEP] 25, Lettuce, 0.773, 0.988, 0.139, 0, 0, 0, 66 [SEP] 26, Lettuce, 0.966, 1.479, 1.349, 0, 270, 0, 88 [SEP] 27, Mug, -1.363, 0.549, 2.615, 0, 0, 0, 91 [SEP] 28, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 84 [SEP] 29, Apple, 1.087, 1.693, 1.158, 0, 270, 0, 88 [SEP] 30, Apple, -0.865, 0.227, 0.543, 0, 180, 0, 85 [SEP] 31, Statue, 1.114, 0.914, -0.381, 0, 0, 0, 66 [SEP] 32, Glassbottle, -0.772, 0.934, -1.618, 0, 0, 0, 65 [SEP] 33, Bread, -0.779, 0.996, 0.209, 0, 258.641, 0, 65 [SEP] 34, CreditCard, -1.985, 0.551, 2.667, 0, 0, 0, 91 [SEP] 35, CellPhone, 0.688, 0.908, -0.034, 0, 0, 0, 66 [SEP] 36, Potato, -0.808, 0.807, -0.832, 0, 90, 0, 86 [SEP] 37, Knife, -0.624, 0.957, -1.154, 0, 0, 0, 65 [SEP] 38, Fork, 0.794, 0.703, -0.690, 0, 180, 0, 63 [SEP] 39, Pan, 1.126, 2.205, -1.299, 0, 180, 0, 72 [SEP] 40, Lettuce, 1.026, 1.212, 1.444, 0, 270, 0, 88 [SEP] 41, Plate, -1.104, 0.936, -1.167, 0, 0, 0, 65 [SEP] 42, Apple, -1.041, 0.983, -0.118, 0, 0, 0, 65 [SEP] 43, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 61 [SEP] 44, Spatula, 0.833, 0.168, -0.571, 0, 270, 0, 68 [SEP] 45, PaperTowelRoll, 1.199, 1.015, -1.965, 0, 0, 0, 71 [SEP] 46, Tomato, 0.944, 0.952, -0.381, 0, 0, 0, 66 [SEP] 47, Egg, -0.642, 0.818, -0.832, 0, 90, 0, 86 [SEP] 48, SaltShaker, 0.754, 0.698, -0.607, 0, 270, 0, 63 [SEP] 49, PepperShaker, 0.688, 0.907, -1.793, 0, 0, 0, 71 [SEP] 50, Vase, -1.367, 0.881, 2.692, 0, 0, 0, 92 [SEP] 51, ButterKnife, 1.029, 0.911, -0.729, 0, 90, 0, 66 [SEP] 52, SoapBottle, 1.212, 2.208, -0.973, 0, 270, 0, 72 [SEP] 53, Vase, 0.859, 0.912, -0.208, 0, 0, 0, 66 [SEP] 54, Bowl, 1.212, 2.211, -1.517, 0, 270, 0, 72 [SEP] 55, DishSponge, -0.846, 0.933, -0.143, 0, 0, 0, 65 [SEP] 56, Spoon, -0.753, 0.781, -0.659, 0, 90, 0, 86 [SEP] 57, Cup, 1.055, 1.663, -0.038, 0, 270, 0, 73 [SEP] 58, Mug, 0.783, 1.396, 1.444, 0, 270, 0, 88 [SEP] 59, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 60, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 61, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 62, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 63, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 64, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 65, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 66, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 67, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 68, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 69, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 70, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 71, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 72, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 73, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 74, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 75, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 76, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 77, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 78, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 79, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 80, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 81, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 82, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 83, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 84, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 85, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 86, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 87, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 88, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 89, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 90, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 91, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 92, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 93, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 94, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 95, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 96, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 97, NorthWall, , , , , , , [SEP] 98, EastWall, , , , , , , [SEP] 99, SouthWall, , , , , , , [SEP] 100, WestWall, , , , , , , ", "output": ["STEP 1: Turn around then turn left and face the counter by the stove in front of you. | STEP 2: Take the silver knife off of the counter in front of you. | STEP 3: Turn left and face the counter on your right. | STEP 4: Slice the tomato on the counter in front of you. | STEP 5: Turn around and face the sink in front of you. | STEP 6: Place the knife in the sink in front of you. | STEP 7: Turn around and face the counter in front of you. | STEP 8: Take a tomato slice off of the counter in front of you. | STEP 9: Turn right and face the microwave on top of the stove to your left. | STEP 10: Heat up the tomato slice in the microwave and take it out. | STEP 11: Turn around and face the sink in front of you. | STEP 12: Place the warm tomato slice in the sink. | END"]} +{"id": "trial_T20190909_025529_706272-1", "input": "Heat up a tomato slice in the microwave to 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, -3.5, 0.900, -2.25, 0, 270, 0, [SEP] 1, Statue, -1.167, 0.936, -0.905, 0, 0, 0, 65 [SEP] 2, Vase, 1.102, 1.667, -0.465, 0, 270, 0, 74 [SEP] 3, Potato, 1.093, 1.814, -1.236, 0, 270, 0, 87 [SEP] 4, CreditCard, 1.199, 0.908, -0.208, 0, 0, 0, 66 [SEP] 5, CreditCard, -1.674, 0.878, 2.773, 0, 0, 0, 92 [SEP] 6, CellPhone, -1.467, 0.550, 2.770, 0, 0, 0, 91 [SEP] 7, CellPhone, 1.199, 0.908, -0.034, 0, 0, 0, 66 [SEP] 8, DishSponge, 0.960, 0.107, -2.292, 0, 0, 0, 70 [SEP] 9, DishSponge, 0.875, 0.493, -0.690, 0, 270, 0, 69 [SEP] 10, ButterKnife, 0.773, 0.911, -1.879, 0, 0, 0, 71 [SEP] 11, Glassbottle, 0.960, 0.109, -1.812, 0, 0, 0, 70 [SEP] 12, Glassbottle, 0.688, 0.912, -0.381, 0, 0, 0, 66 [SEP] 13, Spoon, 0.773, 0.912, -1.965, 0, 0, 0, 71 [SEP] 14, Spatula, 0.754, 0.717, -0.524, 0, 180, 0, 63 [SEP] 15, Spatula, -0.753, 0.791, -0.918, 0, 180, 0, 86 [SEP] 16, Pot, -1.229, 0.936, 0.144, 0, 0, 0, 65 [SEP] 17, Knife, 0.859, 0.934, -0.729, 0, 0, 0, 66 [SEP] 18, Egg, 0.905, 1.172, 1.254, 0, 270, 0, 88 [SEP] 19, Tomato, 1.114, 0.952, 0.139, 0, 0, 0, 66 [SEP] 20, Tomato, -1.054, 0.219, 0.576, 0, 180, 0, 85 [SEP] 21, Bowl, 0.844, 1.646, 0.967, 0, 270, 0, 88 [SEP] 22, SaltShaker, 0.811, 0.104, -1.972, 0, 0, 0, 70 [SEP] 23, SaltShaker, 0.910, 0.104, -1.972, 0, 0, 0, 70 [SEP] 24, PepperShaker, 0.713, 0.490, -0.690, 0, 270, 0, 69 [SEP] 25, Lettuce, 0.773, 0.988, 0.139, 0, 0, 0, 66 [SEP] 26, Lettuce, 0.966, 1.479, 1.349, 0, 270, 0, 88 [SEP] 27, Mug, -1.363, 0.549, 2.615, 0, 0, 0, 91 [SEP] 28, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 84 [SEP] 29, Apple, 1.087, 1.693, 1.158, 0, 270, 0, 88 [SEP] 30, Apple, -0.865, 0.227, 0.543, 0, 180, 0, 85 [SEP] 31, Statue, 1.114, 0.914, -0.381, 0, 0, 0, 66 [SEP] 32, Glassbottle, -0.772, 0.934, -1.618, 0, 0, 0, 65 [SEP] 33, Bread, -0.779, 0.996, 0.209, 0, 258.641, 0, 65 [SEP] 34, CreditCard, -1.985, 0.551, 2.667, 0, 0, 0, 91 [SEP] 35, CellPhone, 0.688, 0.908, -0.034, 0, 0, 0, 66 [SEP] 36, Potato, -0.808, 0.807, -0.832, 0, 90, 0, 86 [SEP] 37, Knife, -0.624, 0.957, -1.154, 0, 0, 0, 65 [SEP] 38, Fork, 0.794, 0.703, -0.690, 0, 180, 0, 63 [SEP] 39, Pan, 1.126, 2.205, -1.299, 0, 180, 0, 72 [SEP] 40, Lettuce, 1.026, 1.212, 1.444, 0, 270, 0, 88 [SEP] 41, Plate, -1.104, 0.936, -1.167, 0, 0, 0, 65 [SEP] 42, Apple, -1.041, 0.983, -0.118, 0, 0, 0, 65 [SEP] 43, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 61 [SEP] 44, Spatula, 0.833, 0.168, -0.571, 0, 270, 0, 68 [SEP] 45, PaperTowelRoll, 1.199, 1.015, -1.965, 0, 0, 0, 71 [SEP] 46, Tomato, 0.944, 0.952, -0.381, 0, 0, 0, 66 [SEP] 47, Egg, -0.642, 0.818, -0.832, 0, 90, 0, 86 [SEP] 48, SaltShaker, 0.754, 0.698, -0.607, 0, 270, 0, 63 [SEP] 49, PepperShaker, 0.688, 0.907, -1.793, 0, 0, 0, 71 [SEP] 50, Vase, -1.367, 0.881, 2.692, 0, 0, 0, 92 [SEP] 51, ButterKnife, 1.029, 0.911, -0.729, 0, 90, 0, 66 [SEP] 52, SoapBottle, 1.212, 2.208, -0.973, 0, 270, 0, 72 [SEP] 53, Vase, 0.859, 0.912, -0.208, 0, 0, 0, 66 [SEP] 54, Bowl, 1.212, 2.211, -1.517, 0, 270, 0, 72 [SEP] 55, DishSponge, -0.846, 0.933, -0.143, 0, 0, 0, 65 [SEP] 56, Spoon, -0.753, 0.781, -0.659, 0, 90, 0, 86 [SEP] 57, Cup, 1.055, 1.663, -0.038, 0, 270, 0, 73 [SEP] 58, Mug, 0.783, 1.396, 1.444, 0, 270, 0, 88 [SEP] 59, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 60, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 61, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 62, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 63, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 64, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 65, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 66, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 67, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 68, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 69, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 70, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 71, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 72, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 73, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 74, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 75, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 76, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 77, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 78, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 79, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 80, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 81, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 82, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 83, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 84, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 85, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 86, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 87, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 88, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 89, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 90, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 91, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 92, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 93, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 94, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 95, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 96, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 97, NorthWall, , , , , , , [SEP] 98, EastWall, , , , , , , [SEP] 99, SouthWall, , , , , , , [SEP] 100, WestWall, , , , , , , ", "output": ["STEP 1: Turn left to walk around the kitchen island, hanging a left and stopping at the counter on the left of the stove. | STEP 2: Pick up the smaller knife on the counter to the left of the stove. | STEP 3: Turn to face the tomato on the counter. | STEP 4: Slice the tomato with the smaller knife. | STEP 5: Turn around to face the sink. | STEP 6: Put the knife in the sink. | STEP 7: Turn around to face the counter to the left of the stove. | STEP 8: Pick up a slice of tomato from the countertop. | STEP 9: Turn right and walk to the microwave. | STEP 10: Heat up the slice of tomato in the microwave, removing it afterwards. | STEP 11: Turn left to walk back to the sink. | STEP 12: Put the slice of tomato in the sink. | END"]} +{"id": "trial_T20190909_025529_706272-2", "input": "To heat a tomato slice 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, -3.5, 0.900, -2.25, 0, 270, 0, [SEP] 1, Statue, -1.167, 0.936, -0.905, 0, 0, 0, 65 [SEP] 2, Vase, 1.102, 1.667, -0.465, 0, 270, 0, 74 [SEP] 3, Potato, 1.093, 1.814, -1.236, 0, 270, 0, 87 [SEP] 4, CreditCard, 1.199, 0.908, -0.208, 0, 0, 0, 66 [SEP] 5, CreditCard, -1.674, 0.878, 2.773, 0, 0, 0, 92 [SEP] 6, CellPhone, -1.467, 0.550, 2.770, 0, 0, 0, 91 [SEP] 7, CellPhone, 1.199, 0.908, -0.034, 0, 0, 0, 66 [SEP] 8, DishSponge, 0.960, 0.107, -2.292, 0, 0, 0, 70 [SEP] 9, DishSponge, 0.875, 0.493, -0.690, 0, 270, 0, 69 [SEP] 10, ButterKnife, 0.773, 0.911, -1.879, 0, 0, 0, 71 [SEP] 11, Glassbottle, 0.960, 0.109, -1.812, 0, 0, 0, 70 [SEP] 12, Glassbottle, 0.688, 0.912, -0.381, 0, 0, 0, 66 [SEP] 13, Spoon, 0.773, 0.912, -1.965, 0, 0, 0, 71 [SEP] 14, Spatula, 0.754, 0.717, -0.524, 0, 180, 0, 63 [SEP] 15, Spatula, -0.753, 0.791, -0.918, 0, 180, 0, 86 [SEP] 16, Pot, -1.229, 0.936, 0.144, 0, 0, 0, 65 [SEP] 17, Knife, 0.859, 0.934, -0.729, 0, 0, 0, 66 [SEP] 18, Egg, 0.905, 1.172, 1.254, 0, 270, 0, 88 [SEP] 19, Tomato, 1.114, 0.952, 0.139, 0, 0, 0, 66 [SEP] 20, Tomato, -1.054, 0.219, 0.576, 0, 180, 0, 85 [SEP] 21, Bowl, 0.844, 1.646, 0.967, 0, 270, 0, 88 [SEP] 22, SaltShaker, 0.811, 0.104, -1.972, 0, 0, 0, 70 [SEP] 23, SaltShaker, 0.910, 0.104, -1.972, 0, 0, 0, 70 [SEP] 24, PepperShaker, 0.713, 0.490, -0.690, 0, 270, 0, 69 [SEP] 25, Lettuce, 0.773, 0.988, 0.139, 0, 0, 0, 66 [SEP] 26, Lettuce, 0.966, 1.479, 1.349, 0, 270, 0, 88 [SEP] 27, Mug, -1.363, 0.549, 2.615, 0, 0, 0, 91 [SEP] 28, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 84 [SEP] 29, Apple, 1.087, 1.693, 1.158, 0, 270, 0, 88 [SEP] 30, Apple, -0.865, 0.227, 0.543, 0, 180, 0, 85 [SEP] 31, Statue, 1.114, 0.914, -0.381, 0, 0, 0, 66 [SEP] 32, Glassbottle, -0.772, 0.934, -1.618, 0, 0, 0, 65 [SEP] 33, Bread, -0.779, 0.996, 0.209, 0, 258.641, 0, 65 [SEP] 34, CreditCard, -1.985, 0.551, 2.667, 0, 0, 0, 91 [SEP] 35, CellPhone, 0.688, 0.908, -0.034, 0, 0, 0, 66 [SEP] 36, Potato, -0.808, 0.807, -0.832, 0, 90, 0, 86 [SEP] 37, Knife, -0.624, 0.957, -1.154, 0, 0, 0, 65 [SEP] 38, Fork, 0.794, 0.703, -0.690, 0, 180, 0, 63 [SEP] 39, Pan, 1.126, 2.205, -1.299, 0, 180, 0, 72 [SEP] 40, Lettuce, 1.026, 1.212, 1.444, 0, 270, 0, 88 [SEP] 41, Plate, -1.104, 0.936, -1.167, 0, 0, 0, 65 [SEP] 42, Apple, -1.041, 0.983, -0.118, 0, 0, 0, 65 [SEP] 43, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 61 [SEP] 44, Spatula, 0.833, 0.168, -0.571, 0, 270, 0, 68 [SEP] 45, PaperTowelRoll, 1.199, 1.015, -1.965, 0, 0, 0, 71 [SEP] 46, Tomato, 0.944, 0.952, -0.381, 0, 0, 0, 66 [SEP] 47, Egg, -0.642, 0.818, -0.832, 0, 90, 0, 86 [SEP] 48, SaltShaker, 0.754, 0.698, -0.607, 0, 270, 0, 63 [SEP] 49, PepperShaker, 0.688, 0.907, -1.793, 0, 0, 0, 71 [SEP] 50, Vase, -1.367, 0.881, 2.692, 0, 0, 0, 92 [SEP] 51, ButterKnife, 1.029, 0.911, -0.729, 0, 90, 0, 66 [SEP] 52, SoapBottle, 1.212, 2.208, -0.973, 0, 270, 0, 72 [SEP] 53, Vase, 0.859, 0.912, -0.208, 0, 0, 0, 66 [SEP] 54, Bowl, 1.212, 2.211, -1.517, 0, 270, 0, 72 [SEP] 55, DishSponge, -0.846, 0.933, -0.143, 0, 0, 0, 65 [SEP] 56, Spoon, -0.753, 0.781, -0.659, 0, 90, 0, 86 [SEP] 57, Cup, 1.055, 1.663, -0.038, 0, 270, 0, 73 [SEP] 58, Mug, 0.783, 1.396, 1.444, 0, 270, 0, 88 [SEP] 59, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 60, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 61, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 62, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 63, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 64, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 65, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 66, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 67, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 68, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 69, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 70, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 71, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 72, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 73, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 74, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 75, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 76, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 77, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 78, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 79, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 80, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 81, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 82, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 83, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 84, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 85, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 86, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 87, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 88, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 89, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 90, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 91, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 92, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 93, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 94, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 95, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 96, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 97, NorthWall, , , , , , , [SEP] 98, EastWall, , , , , , , [SEP] 99, SouthWall, , , , , , , [SEP] 100, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and cross the room to face the counter on the left side of stove. | STEP 2: Pick up the knife on the counter. | STEP 3: Look to the left to face the tomato on the counter. | STEP 4: Cut the tomato on the counter into slices. | STEP 5: Turn around to face the sink. | STEP 6: Place the knife in the sink. | STEP 7: Turn around to face the tomato on the counter. | STEP 8: Pick up a slice of tomato on the counter. | STEP 9: Take a step to the right to face the microwave. | STEP 10: Heat the tomato slice in the microwave and remove it. | STEP 11: Turn around and step forward to face the sink. | STEP 12: Place the tomato slice in the sink. | END"]} +{"id": "trial_T20190909_110531_148235-0", "input": "Wash a knife in the sink to place 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, -2.75, 0.900, -2.25, 0, 0, 0, [SEP] 1, Statue, 1.114, 0.914, -0.729, 0, 0, 0, 56 [SEP] 2, Statue, -1.104, 0.936, -0.905, 0, 0, 0, 55 [SEP] 3, Potato, -1.054, 0.207, 0.576, 0, 180, 0, 75 [SEP] 4, CreditCard, 1.199, 0.908, -1.793, 0, 0, 0, 61 [SEP] 5, CellPhone, 1.199, 0.908, 0.139, 0, 0, 0, 56 [SEP] 6, DishSponge, 0.859, 0.910, -0.729, 0, 0, 0, 56 [SEP] 7, ButterKnife, -0.698, 0.776, -0.573, 0, 90, 0, 76 [SEP] 8, Glassbottle, 1.148, 1.667, -2.302, 0, 270, 0, 54 [SEP] 9, Glassbottle, -0.865, 0.177, 0.608, 0, 180, 0, 75 [SEP] 10, Spatula, 0.859, 0.926, -0.208, 0, 0, 0, 56 [SEP] 11, Spatula, 0.914, 0.168, -0.611, 0, 0, 0, 58 [SEP] 12, Egg, -0.587, 0.818, -0.486, 0, 90, 0, 76 [SEP] 13, Cup, -1.363, 0.551, 2.563, 0, 0, 0, 81 [SEP] 14, Bowl, 0.966, 1.405, 1.063, 0, 270, 0, 78 [SEP] 15, SaltShaker, 0.915, 0.490, -0.690, 0, 270, 0, 59 [SEP] 16, SaltShaker, 1.055, 1.662, 0.089, 0, 270, 0, 63 [SEP] 17, PepperShaker, 0.688, 0.907, -1.965, 0, 0, 0, 61 [SEP] 18, PepperShaker, -0.477, 0.929, 0.239, 0, 0, 0, 55 [SEP] 19, Apple, 0.905, 0.913, 1.349, 0, 270, 0, 78 [SEP] 20, Apple, 0.773, 0.961, -1.965, 0, 0, 0, 61 [SEP] 21, Statue, 1.029, 0.914, -0.381, 0, 0, 0, 56 [SEP] 22, Glassbottle, 0.960, 0.109, -1.892, 0, 0, 0, 60 [SEP] 23, Bread, -1.167, 1.014, -1.167, 0, 0, 0, 55 [SEP] 24, CreditCard, 0.914, 0.150, -0.571, 0, 270, 0, 58 [SEP] 25, CellPhone, -1.363, 0.550, 2.667, 0, 0, 0, 81 [SEP] 26, Potato, 1.087, 1.432, 1.540, 0, 270, 0, 78 [SEP] 27, Knife, -0.550, 0.957, 0.315, 0, 0, 0, 55 [SEP] 28, Fork, 0.859, 0.911, -0.381, 0, 0, 0, 56 [SEP] 29, Pan, 1.077, 0.950, -1.098, 0, 0, 0, 57 [SEP] 30, Lettuce, 0.966, 1.212, 1.349, 0, 270, 0, 78 [SEP] 31, Plate, 1.194, 1.669, -2.029, 0, 270, 0, 54 [SEP] 32, Apple, 0.688, 0.961, -2.308, 0, 0, 0, 61 [SEP] 33, Pot, -1.221, 0.92, -0.49, 0, 0, 0, 55 [SEP] 34, Spatula, -0.698, 0.948, -1.463, 0, 0, 0, 55 [SEP] 35, PaperTowelRoll, -1.778, 0.658, 2.770, 0, 0, 0, 81 [SEP] 36, Tomato, 0.844, 0.903, 1.063, 0, 270, 0, 78 [SEP] 37, Egg, -0.960, 0.214, 0.543, 0, 180, 0, 75 [SEP] 38, SaltShaker, 0.874, 0.150, -0.729, 0, 270, 0, 58 [SEP] 39, PepperShaker, 0.834, 0.698, -0.524, 0, 270, 0, 53 [SEP] 40, Vase, 0.861, 0.108, -2.132, 0, 0, 0, 60 [SEP] 41, ButterKnife, 0.688, 0.911, -0.034, 0, 90, 0, 56 [SEP] 42, SoapBottle, -1.167, 0.933, -0.118, 0, 0, 0, 55 [SEP] 43, Vase, 1.194, 1.667, -0.465, 0, 270, 0, 64 [SEP] 44, Bowl, 1.026, 1.138, 0.967, 0, 270, 0, 78 [SEP] 45, DishSponge, 1.029, 0.910, -0.034, 0, 0, 0, 56 [SEP] 46, Spoon, -0.697, 0.781, -0.745, 0, 180, 0, 76 [SEP] 47, Cup, -0.808, 0.773, -0.659, 0, 90, 0, 76 [SEP] 48, Mug, -1.467, 0.549, 2.667, 0, 0, 0, 81 [SEP] 49, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 50, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 51, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 52, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 53, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 54, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 55, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 56, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 57, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 58, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 59, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 60, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 61, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 62, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 63, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 64, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 65, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 66, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 67, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 68, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 69, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 70, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 71, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 72, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 73, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 74, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 75, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 76, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 77, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 78, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 79, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 80, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 81, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 82, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 83, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 84, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 85, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 86, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 87, NorthWall, , , , , , , [SEP] 88, EastWall, , , , , , , [SEP] 89, SouthWall, , , , , , , [SEP] 90, WestWall, , , , , , , ", "output": ["STEP 1: Walk around the kitchen island on the right to reach the corner of it. | STEP 2: Pick up the large knife on the kitchen island. | STEP 3: Walk around the corner to reach the sink. | STEP 4: Rinse the knife in the sink, removing it afterwards. | STEP 5: Turn around the face the countertop. | STEP 6: Place the knife on the countertop. | END"]} +{"id": "trial_T20190909_110531_148235-1", "input": "rinse the knife to put it back 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, -2.75, 0.900, -2.25, 0, 0, 0, [SEP] 1, Statue, 1.114, 0.914, -0.729, 0, 0, 0, 56 [SEP] 2, Statue, -1.104, 0.936, -0.905, 0, 0, 0, 55 [SEP] 3, Potato, -1.054, 0.207, 0.576, 0, 180, 0, 75 [SEP] 4, CreditCard, 1.199, 0.908, -1.793, 0, 0, 0, 61 [SEP] 5, CellPhone, 1.199, 0.908, 0.139, 0, 0, 0, 56 [SEP] 6, DishSponge, 0.859, 0.910, -0.729, 0, 0, 0, 56 [SEP] 7, ButterKnife, -0.698, 0.776, -0.573, 0, 90, 0, 76 [SEP] 8, Glassbottle, 1.148, 1.667, -2.302, 0, 270, 0, 54 [SEP] 9, Glassbottle, -0.865, 0.177, 0.608, 0, 180, 0, 75 [SEP] 10, Spatula, 0.859, 0.926, -0.208, 0, 0, 0, 56 [SEP] 11, Spatula, 0.914, 0.168, -0.611, 0, 0, 0, 58 [SEP] 12, Egg, -0.587, 0.818, -0.486, 0, 90, 0, 76 [SEP] 13, Cup, -1.363, 0.551, 2.563, 0, 0, 0, 81 [SEP] 14, Bowl, 0.966, 1.405, 1.063, 0, 270, 0, 78 [SEP] 15, SaltShaker, 0.915, 0.490, -0.690, 0, 270, 0, 59 [SEP] 16, SaltShaker, 1.055, 1.662, 0.089, 0, 270, 0, 63 [SEP] 17, PepperShaker, 0.688, 0.907, -1.965, 0, 0, 0, 61 [SEP] 18, PepperShaker, -0.477, 0.929, 0.239, 0, 0, 0, 55 [SEP] 19, Apple, 0.905, 0.913, 1.349, 0, 270, 0, 78 [SEP] 20, Apple, 0.773, 0.961, -1.965, 0, 0, 0, 61 [SEP] 21, Statue, 1.029, 0.914, -0.381, 0, 0, 0, 56 [SEP] 22, Glassbottle, 0.960, 0.109, -1.892, 0, 0, 0, 60 [SEP] 23, Bread, -1.167, 1.014, -1.167, 0, 0, 0, 55 [SEP] 24, CreditCard, 0.914, 0.150, -0.571, 0, 270, 0, 58 [SEP] 25, CellPhone, -1.363, 0.550, 2.667, 0, 0, 0, 81 [SEP] 26, Potato, 1.087, 1.432, 1.540, 0, 270, 0, 78 [SEP] 27, Knife, -0.550, 0.957, 0.315, 0, 0, 0, 55 [SEP] 28, Fork, 0.859, 0.911, -0.381, 0, 0, 0, 56 [SEP] 29, Pan, 1.077, 0.950, -1.098, 0, 0, 0, 57 [SEP] 30, Lettuce, 0.966, 1.212, 1.349, 0, 270, 0, 78 [SEP] 31, Plate, 1.194, 1.669, -2.029, 0, 270, 0, 54 [SEP] 32, Apple, 0.688, 0.961, -2.308, 0, 0, 0, 61 [SEP] 33, Pot, -1.221, 0.92, -0.49, 0, 0, 0, 55 [SEP] 34, Spatula, -0.698, 0.948, -1.463, 0, 0, 0, 55 [SEP] 35, PaperTowelRoll, -1.778, 0.658, 2.770, 0, 0, 0, 81 [SEP] 36, Tomato, 0.844, 0.903, 1.063, 0, 270, 0, 78 [SEP] 37, Egg, -0.960, 0.214, 0.543, 0, 180, 0, 75 [SEP] 38, SaltShaker, 0.874, 0.150, -0.729, 0, 270, 0, 58 [SEP] 39, PepperShaker, 0.834, 0.698, -0.524, 0, 270, 0, 53 [SEP] 40, Vase, 0.861, 0.108, -2.132, 0, 0, 0, 60 [SEP] 41, ButterKnife, 0.688, 0.911, -0.034, 0, 90, 0, 56 [SEP] 42, SoapBottle, -1.167, 0.933, -0.118, 0, 0, 0, 55 [SEP] 43, Vase, 1.194, 1.667, -0.465, 0, 270, 0, 64 [SEP] 44, Bowl, 1.026, 1.138, 0.967, 0, 270, 0, 78 [SEP] 45, DishSponge, 1.029, 0.910, -0.034, 0, 0, 0, 56 [SEP] 46, Spoon, -0.697, 0.781, -0.745, 0, 180, 0, 76 [SEP] 47, Cup, -0.808, 0.773, -0.659, 0, 90, 0, 76 [SEP] 48, Mug, -1.467, 0.549, 2.667, 0, 0, 0, 81 [SEP] 49, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 50, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 51, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 52, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 53, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 54, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 55, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 56, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 57, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 58, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 59, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 60, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 61, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 62, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 63, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 64, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 65, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 66, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 67, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 68, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 69, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 70, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 71, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 72, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 73, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 74, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 75, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 76, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 77, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 78, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 79, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 80, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 81, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 82, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 83, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 84, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 85, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 86, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 87, NorthWall, , , , , , , [SEP] 88, EastWall, , , , , , , [SEP] 89, SouthWall, , , , , , , [SEP] 90, WestWall, , , , , , , ", "output": ["STEP 1: go to the corner of the counter near the waste bin | STEP 2: pick up the knife from the corner of the counter | STEP 3: take the knife to the sink | STEP 4: rinse the knife in the sink then remove | STEP 5: take the knife back to the counter | STEP 6: lay the knife in the middle of the counter | END"]} +{"id": "trial_T20190909_110531_148235-2", "input": "Put a rinsed knife 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, -2.75, 0.900, -2.25, 0, 0, 0, [SEP] 1, Statue, 1.114, 0.914, -0.729, 0, 0, 0, 56 [SEP] 2, Statue, -1.104, 0.936, -0.905, 0, 0, 0, 55 [SEP] 3, Potato, -1.054, 0.207, 0.576, 0, 180, 0, 75 [SEP] 4, CreditCard, 1.199, 0.908, -1.793, 0, 0, 0, 61 [SEP] 5, CellPhone, 1.199, 0.908, 0.139, 0, 0, 0, 56 [SEP] 6, DishSponge, 0.859, 0.910, -0.729, 0, 0, 0, 56 [SEP] 7, ButterKnife, -0.698, 0.776, -0.573, 0, 90, 0, 76 [SEP] 8, Glassbottle, 1.148, 1.667, -2.302, 0, 270, 0, 54 [SEP] 9, Glassbottle, -0.865, 0.177, 0.608, 0, 180, 0, 75 [SEP] 10, Spatula, 0.859, 0.926, -0.208, 0, 0, 0, 56 [SEP] 11, Spatula, 0.914, 0.168, -0.611, 0, 0, 0, 58 [SEP] 12, Egg, -0.587, 0.818, -0.486, 0, 90, 0, 76 [SEP] 13, Cup, -1.363, 0.551, 2.563, 0, 0, 0, 81 [SEP] 14, Bowl, 0.966, 1.405, 1.063, 0, 270, 0, 78 [SEP] 15, SaltShaker, 0.915, 0.490, -0.690, 0, 270, 0, 59 [SEP] 16, SaltShaker, 1.055, 1.662, 0.089, 0, 270, 0, 63 [SEP] 17, PepperShaker, 0.688, 0.907, -1.965, 0, 0, 0, 61 [SEP] 18, PepperShaker, -0.477, 0.929, 0.239, 0, 0, 0, 55 [SEP] 19, Apple, 0.905, 0.913, 1.349, 0, 270, 0, 78 [SEP] 20, Apple, 0.773, 0.961, -1.965, 0, 0, 0, 61 [SEP] 21, Statue, 1.029, 0.914, -0.381, 0, 0, 0, 56 [SEP] 22, Glassbottle, 0.960, 0.109, -1.892, 0, 0, 0, 60 [SEP] 23, Bread, -1.167, 1.014, -1.167, 0, 0, 0, 55 [SEP] 24, CreditCard, 0.914, 0.150, -0.571, 0, 270, 0, 58 [SEP] 25, CellPhone, -1.363, 0.550, 2.667, 0, 0, 0, 81 [SEP] 26, Potato, 1.087, 1.432, 1.540, 0, 270, 0, 78 [SEP] 27, Knife, -0.550, 0.957, 0.315, 0, 0, 0, 55 [SEP] 28, Fork, 0.859, 0.911, -0.381, 0, 0, 0, 56 [SEP] 29, Pan, 1.077, 0.950, -1.098, 0, 0, 0, 57 [SEP] 30, Lettuce, 0.966, 1.212, 1.349, 0, 270, 0, 78 [SEP] 31, Plate, 1.194, 1.669, -2.029, 0, 270, 0, 54 [SEP] 32, Apple, 0.688, 0.961, -2.308, 0, 0, 0, 61 [SEP] 33, Pot, -1.221, 0.92, -0.49, 0, 0, 0, 55 [SEP] 34, Spatula, -0.698, 0.948, -1.463, 0, 0, 0, 55 [SEP] 35, PaperTowelRoll, -1.778, 0.658, 2.770, 0, 0, 0, 81 [SEP] 36, Tomato, 0.844, 0.903, 1.063, 0, 270, 0, 78 [SEP] 37, Egg, -0.960, 0.214, 0.543, 0, 180, 0, 75 [SEP] 38, SaltShaker, 0.874, 0.150, -0.729, 0, 270, 0, 58 [SEP] 39, PepperShaker, 0.834, 0.698, -0.524, 0, 270, 0, 53 [SEP] 40, Vase, 0.861, 0.108, -2.132, 0, 0, 0, 60 [SEP] 41, ButterKnife, 0.688, 0.911, -0.034, 0, 90, 0, 56 [SEP] 42, SoapBottle, -1.167, 0.933, -0.118, 0, 0, 0, 55 [SEP] 43, Vase, 1.194, 1.667, -0.465, 0, 270, 0, 64 [SEP] 44, Bowl, 1.026, 1.138, 0.967, 0, 270, 0, 78 [SEP] 45, DishSponge, 1.029, 0.910, -0.034, 0, 0, 0, 56 [SEP] 46, Spoon, -0.697, 0.781, -0.745, 0, 180, 0, 76 [SEP] 47, Cup, -0.808, 0.773, -0.659, 0, 90, 0, 76 [SEP] 48, Mug, -1.467, 0.549, 2.667, 0, 0, 0, 81 [SEP] 49, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 50, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 51, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 52, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 53, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 54, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 55, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 56, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 57, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 58, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 59, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 60, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 61, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 62, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 63, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 64, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 65, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 66, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 67, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 68, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 69, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 70, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 71, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 72, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 73, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 74, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 75, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 76, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 77, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 78, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 79, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 80, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 81, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 82, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 83, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 84, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 85, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 86, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 87, NorthWall, , , , , , , [SEP] 88, EastWall, , , , , , , [SEP] 89, SouthWall, , , , , , , [SEP] 90, WestWall, , , , , , , ", "output": ["STEP 1: Go across the room, turn right and go to the trash can on the right. | STEP 2: Pick up the knife on the counter behind the trash can. | STEP 3: Go around the counter to the sink. | STEP 4: Rinse off the knife in the sink and pick it back up. | STEP 5: Turn around and go to the dishwasher. | STEP 6: Put the knife on the counter in front of the fork. | END"]} +{"id": "trial_T20190908_144951_587345-0", "input": "Turn on the table lamp to read the book. 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, 0, 0, [SEP] 1, Mug, -1.339, 1.721, 0.489, 0, 0, 0, 39 [SEP] 2, Mug, -1.834, 0.880, 0.407, 0, 0, 0, 45 [SEP] 3, CD, -0.473, 0.083, -0.852, 0, 0, 0, 34 [SEP] 4, CD, -2.240, 0.039, 2.682, 0, 180, 0, 50 [SEP] 5, CellPhone, 1.815, 0.784, 1.366, 0, 0, 0, 26 [SEP] 6, Pencil, -0.567, 0.861, -1.183, 0, 0, 0, 35 [SEP] 7, CreditCard, -0.819, 0.857, -0.836, 0, 0, 0, 35 [SEP] 8, KeyChain, -2.075, 0.668, 0.645, 0, 90, 0, 46 [SEP] 9, Pillow, 1.409, 0.918, 1.945, 0, 0, 0, 26 [SEP] 10, Laptop, 0.800, 0.781, 0.787, 0, 0, 0, 26 [SEP] 11, Laptop, 0.800, 0.781, 1.945, 0, 0, 0, 26 [SEP] 12, Book, 1.003, 0.783, 1.655, 0, 0, 0, 26 [SEP] 13, AlarmClock, -2.091, 0.879, 0.665, 0, 0, 0, 45 [SEP] 14, BasketBall, 1.976, 0.120, 0.211, 0, 331.076, 0, [SEP] 15, Pen, -1.728, 1.355, 0.530, 0, 0, 0, 37 [SEP] 16, Laptop, -1.783, 0.871, 0.732, 0, 0, 0, 45 [SEP] 17, BaseballBat, 1.953, 0.659, -1.81, 346.388, 0, 0, [SEP] 18, Bowl, -1.834, 1.727, 0.448, 0, 0, 0, 45 [SEP] 19, Pillow, 1.118, 0.867, 2.464, 0, 0, 0, 26 [SEP] 20, KeyChain, -2.292, 0.039, 2.522, 0, 180, 0, 50 [SEP] 21, CreditCard, -1.834, 0.882, 0.530, 0, 0, 0, 38 [SEP] 22, CellPhone, -0.735, 0.858, -1.010, 0, 0, 0, 35 [SEP] 23, CD, -0.748, 0.202, -0.338, 0, 0, 0, 28 [SEP] 24, Pencil, -1.179, 1.727, 0.489, 0, 0, 0, 39 [SEP] 25, Mug, -0.651, 0.855, -0.663, 0, 0, 0, 35 [SEP] 26, Bed, 1.227, -0.002, 1.664, 0, 0, 0, [SEP] 27, LightSwitch, 2.151, 1.233, -0.518, 0, 270, 0, [SEP] 28, GarbageCan, -0.747, 0.014, -0.327, 0, 0, 0, [SEP] 29, Mirror, -1.358, 1.427, 2.855, 0, 0, 0, [SEP] 30, DeskLamp, -2.296, 0.858, 0.750, 0, 0, 0, [SEP] 31, Window, -0.421, 1.534, -1.947, 90, 0, 0, [SEP] 32, Window, 0.579, 1.534, -1.947, 90, 0, 0, [SEP] 33, Drawer, -0.491, 0.739, -0.855, 0, 90, 0, [SEP] 34, Drawer, -0.491, 0.204, -0.855, 0, 90, 0, [SEP] 35, Desk, -0.639, 0.009, -1.187, 0, 90, 0, [SEP] 36, Drawer, -0.491, 0.487, -0.855, 0, 90, 0, [SEP] 37, Shelf, -1.965, 1.514, 0.416, 0, 0, 0, [SEP] 38, Shelf, -1.965, 1.092, 0.416, 0, 0, 0, [SEP] 39, Shelf, -1.312, 1.888, 0.416, 0, 0, 0, [SEP] 40, Shelf, -1.965, 1.888, 0.416, 0, 0, 0, [SEP] 41, Shelf, -1.312, 1.092, 0.416, 0, 0, 0, [SEP] 42, Shelf, -1.312, 1.514, 0.416, 0, 0, 0, [SEP] 43, Blinds, 0.601, 2.161, -1.916, 0, 0, 0, [SEP] 44, Blinds, -0.402, 2.161, -1.916, 0, 0, 0, [SEP] 45, Desk, -1.726, 0.001, 0.575, 0, 0, 0, [SEP] 46, Drawer, -2.058, 0.733, 0.734, 0, 0, 0, [SEP] 47, Drawer, -2.058, 0.482, 0.734, 0, 0, 0, [SEP] 48, Drawer, -2.058, 0.198, 0.735, 0, 0, 0, [SEP] 49, Chair, -0.137, 0.000, -1.587, 0, 315, 0, [SEP] 50, Safe, -2.183, -7.748, 2.576, 0, 180, 0, [SEP] 51, Chair, -1.433, 0.009, 0.780, 357.672, 206.726, 0, [SEP] 52, LaundryHamper, 0.163, 0.003, 2.635, 0, 86.390, 0, [SEP] 53, NorthWall, , , , , , , [SEP] 54, EastWall, , , , , , , [SEP] 55, SouthWall, , , , , , , [SEP] 56, WestWall, , , , , , , ", "output": ["STEP 1: Turn around take one step and then turn left to the bed. | STEP 2: Pick up the book behind the computer on the red sheet. | STEP 3: Turn around and walk toward the wall and stop at the wall and turn left towards the computer table. | STEP 4: Turn on the table lamp. | END"]} +{"id": "trial_T20190908_144951_587345-1", "input": "Examine the book 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, -0.25, 0.900, 2.25, 0, 0, 0, [SEP] 1, Mug, -1.339, 1.721, 0.489, 0, 0, 0, 39 [SEP] 2, Mug, -1.834, 0.880, 0.407, 0, 0, 0, 45 [SEP] 3, CD, -0.473, 0.083, -0.852, 0, 0, 0, 34 [SEP] 4, CD, -2.240, 0.039, 2.682, 0, 180, 0, 50 [SEP] 5, CellPhone, 1.815, 0.784, 1.366, 0, 0, 0, 26 [SEP] 6, Pencil, -0.567, 0.861, -1.183, 0, 0, 0, 35 [SEP] 7, CreditCard, -0.819, 0.857, -0.836, 0, 0, 0, 35 [SEP] 8, KeyChain, -2.075, 0.668, 0.645, 0, 90, 0, 46 [SEP] 9, Pillow, 1.409, 0.918, 1.945, 0, 0, 0, 26 [SEP] 10, Laptop, 0.800, 0.781, 0.787, 0, 0, 0, 26 [SEP] 11, Laptop, 0.800, 0.781, 1.945, 0, 0, 0, 26 [SEP] 12, Book, 1.003, 0.783, 1.655, 0, 0, 0, 26 [SEP] 13, AlarmClock, -2.091, 0.879, 0.665, 0, 0, 0, 45 [SEP] 14, BasketBall, 1.976, 0.120, 0.211, 0, 331.076, 0, [SEP] 15, Pen, -1.728, 1.355, 0.530, 0, 0, 0, 37 [SEP] 16, Laptop, -1.783, 0.871, 0.732, 0, 0, 0, 45 [SEP] 17, BaseballBat, 1.953, 0.659, -1.81, 346.388, 0, 0, [SEP] 18, Bowl, -1.834, 1.727, 0.448, 0, 0, 0, 45 [SEP] 19, Pillow, 1.118, 0.867, 2.464, 0, 0, 0, 26 [SEP] 20, KeyChain, -2.292, 0.039, 2.522, 0, 180, 0, 50 [SEP] 21, CreditCard, -1.834, 0.882, 0.530, 0, 0, 0, 38 [SEP] 22, CellPhone, -0.735, 0.858, -1.010, 0, 0, 0, 35 [SEP] 23, CD, -0.748, 0.202, -0.338, 0, 0, 0, 28 [SEP] 24, Pencil, -1.179, 1.727, 0.489, 0, 0, 0, 39 [SEP] 25, Mug, -0.651, 0.855, -0.663, 0, 0, 0, 35 [SEP] 26, Bed, 1.227, -0.002, 1.664, 0, 0, 0, [SEP] 27, LightSwitch, 2.151, 1.233, -0.518, 0, 270, 0, [SEP] 28, GarbageCan, -0.747, 0.014, -0.327, 0, 0, 0, [SEP] 29, Mirror, -1.358, 1.427, 2.855, 0, 0, 0, [SEP] 30, DeskLamp, -2.296, 0.858, 0.750, 0, 0, 0, [SEP] 31, Window, -0.421, 1.534, -1.947, 90, 0, 0, [SEP] 32, Window, 0.579, 1.534, -1.947, 90, 0, 0, [SEP] 33, Drawer, -0.491, 0.739, -0.855, 0, 90, 0, [SEP] 34, Drawer, -0.491, 0.204, -0.855, 0, 90, 0, [SEP] 35, Desk, -0.639, 0.009, -1.187, 0, 90, 0, [SEP] 36, Drawer, -0.491, 0.487, -0.855, 0, 90, 0, [SEP] 37, Shelf, -1.965, 1.514, 0.416, 0, 0, 0, [SEP] 38, Shelf, -1.965, 1.092, 0.416, 0, 0, 0, [SEP] 39, Shelf, -1.312, 1.888, 0.416, 0, 0, 0, [SEP] 40, Shelf, -1.965, 1.888, 0.416, 0, 0, 0, [SEP] 41, Shelf, -1.312, 1.092, 0.416, 0, 0, 0, [SEP] 42, Shelf, -1.312, 1.514, 0.416, 0, 0, 0, [SEP] 43, Blinds, 0.601, 2.161, -1.916, 0, 0, 0, [SEP] 44, Blinds, -0.402, 2.161, -1.916, 0, 0, 0, [SEP] 45, Desk, -1.726, 0.001, 0.575, 0, 0, 0, [SEP] 46, Drawer, -2.058, 0.733, 0.734, 0, 0, 0, [SEP] 47, Drawer, -2.058, 0.482, 0.734, 0, 0, 0, [SEP] 48, Drawer, -2.058, 0.198, 0.735, 0, 0, 0, [SEP] 49, Chair, -0.137, 0.000, -1.587, 0, 315, 0, [SEP] 50, Safe, -2.183, -7.748, 2.576, 0, 180, 0, [SEP] 51, Chair, -1.433, 0.009, 0.780, 357.672, 206.726, 0, [SEP] 52, LaundryHamper, 0.163, 0.003, 2.635, 0, 86.390, 0, [SEP] 53, NorthWall, , , , , , , [SEP] 54, EastWall, , , , , , , [SEP] 55, SouthWall, , , , , , , [SEP] 56, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and go to the side of the bed. | STEP 2: Pick up the book from the bed. | STEP 3: Turn around and walk forward, then turn left to face the desk with your back to the safe. | STEP 4: Turn on the lamp. | END"]} +{"id": "trial_T20190908_144951_587345-2", "input": "grab the book from the bed, turn on 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, -0.25, 0.900, 2.25, 0, 0, 0, [SEP] 1, Mug, -1.339, 1.721, 0.489, 0, 0, 0, 39 [SEP] 2, Mug, -1.834, 0.880, 0.407, 0, 0, 0, 45 [SEP] 3, CD, -0.473, 0.083, -0.852, 0, 0, 0, 34 [SEP] 4, CD, -2.240, 0.039, 2.682, 0, 180, 0, 50 [SEP] 5, CellPhone, 1.815, 0.784, 1.366, 0, 0, 0, 26 [SEP] 6, Pencil, -0.567, 0.861, -1.183, 0, 0, 0, 35 [SEP] 7, CreditCard, -0.819, 0.857, -0.836, 0, 0, 0, 35 [SEP] 8, KeyChain, -2.075, 0.668, 0.645, 0, 90, 0, 46 [SEP] 9, Pillow, 1.409, 0.918, 1.945, 0, 0, 0, 26 [SEP] 10, Laptop, 0.800, 0.781, 0.787, 0, 0, 0, 26 [SEP] 11, Laptop, 0.800, 0.781, 1.945, 0, 0, 0, 26 [SEP] 12, Book, 1.003, 0.783, 1.655, 0, 0, 0, 26 [SEP] 13, AlarmClock, -2.091, 0.879, 0.665, 0, 0, 0, 45 [SEP] 14, BasketBall, 1.976, 0.120, 0.211, 0, 331.076, 0, [SEP] 15, Pen, -1.728, 1.355, 0.530, 0, 0, 0, 37 [SEP] 16, Laptop, -1.783, 0.871, 0.732, 0, 0, 0, 45 [SEP] 17, BaseballBat, 1.953, 0.659, -1.81, 346.388, 0, 0, [SEP] 18, Bowl, -1.834, 1.727, 0.448, 0, 0, 0, 45 [SEP] 19, Pillow, 1.118, 0.867, 2.464, 0, 0, 0, 26 [SEP] 20, KeyChain, -2.292, 0.039, 2.522, 0, 180, 0, 50 [SEP] 21, CreditCard, -1.834, 0.882, 0.530, 0, 0, 0, 38 [SEP] 22, CellPhone, -0.735, 0.858, -1.010, 0, 0, 0, 35 [SEP] 23, CD, -0.748, 0.202, -0.338, 0, 0, 0, 28 [SEP] 24, Pencil, -1.179, 1.727, 0.489, 0, 0, 0, 39 [SEP] 25, Mug, -0.651, 0.855, -0.663, 0, 0, 0, 35 [SEP] 26, Bed, 1.227, -0.002, 1.664, 0, 0, 0, [SEP] 27, LightSwitch, 2.151, 1.233, -0.518, 0, 270, 0, [SEP] 28, GarbageCan, -0.747, 0.014, -0.327, 0, 0, 0, [SEP] 29, Mirror, -1.358, 1.427, 2.855, 0, 0, 0, [SEP] 30, DeskLamp, -2.296, 0.858, 0.750, 0, 0, 0, [SEP] 31, Window, -0.421, 1.534, -1.947, 90, 0, 0, [SEP] 32, Window, 0.579, 1.534, -1.947, 90, 0, 0, [SEP] 33, Drawer, -0.491, 0.739, -0.855, 0, 90, 0, [SEP] 34, Drawer, -0.491, 0.204, -0.855, 0, 90, 0, [SEP] 35, Desk, -0.639, 0.009, -1.187, 0, 90, 0, [SEP] 36, Drawer, -0.491, 0.487, -0.855, 0, 90, 0, [SEP] 37, Shelf, -1.965, 1.514, 0.416, 0, 0, 0, [SEP] 38, Shelf, -1.965, 1.092, 0.416, 0, 0, 0, [SEP] 39, Shelf, -1.312, 1.888, 0.416, 0, 0, 0, [SEP] 40, Shelf, -1.965, 1.888, 0.416, 0, 0, 0, [SEP] 41, Shelf, -1.312, 1.092, 0.416, 0, 0, 0, [SEP] 42, Shelf, -1.312, 1.514, 0.416, 0, 0, 0, [SEP] 43, Blinds, 0.601, 2.161, -1.916, 0, 0, 0, [SEP] 44, Blinds, -0.402, 2.161, -1.916, 0, 0, 0, [SEP] 45, Desk, -1.726, 0.001, 0.575, 0, 0, 0, [SEP] 46, Drawer, -2.058, 0.733, 0.734, 0, 0, 0, [SEP] 47, Drawer, -2.058, 0.482, 0.734, 0, 0, 0, [SEP] 48, Drawer, -2.058, 0.198, 0.735, 0, 0, 0, [SEP] 49, Chair, -0.137, 0.000, -1.587, 0, 315, 0, [SEP] 50, Safe, -2.183, -7.748, 2.576, 0, 180, 0, [SEP] 51, Chair, -1.433, 0.009, 0.780, 357.672, 206.726, 0, [SEP] 52, LaundryHamper, 0.163, 0.003, 2.635, 0, 86.390, 0, [SEP] 53, NorthWall, , , , , , , [SEP] 54, EastWall, , , , , , , [SEP] 55, SouthWall, , , , , , , [SEP] 56, WestWall, , , , , , , ", "output": ["STEP 1: turn around, walk to the side of the bed | STEP 2: grab the book on the bed | STEP 3: turn around, walk to the side of the desk | STEP 4: turn on the lamp on the desk | END"]} +{"id": "trial_T20190907_173215_875825-0", "input": "Put a chilled egg 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, -3.75, 0.900, -0.5, 0, 0, 0, [SEP] 1, Pan, 1.148, 1.664, -0.401, 0, 0, 0, 60 [SEP] 2, Pan, -1.167, 0.931, -1.167, 0, 180, 0, 51 [SEP] 3, Potato, 0.783, 1.432, 1.444, 0, 270, 0, 74 [SEP] 4, Glassbottle, -1.054, 0.177, 0.543, 0, 180, 0, 71 [SEP] 5, Spoon, 0.833, 0.154, -0.611, 0, 270, 0, 54 [SEP] 6, Spoon, -0.642, 0.777, -0.573, 0, 0, 0, 72 [SEP] 7, Knife, -0.550, 0.957, 0.239, 0, 0, 0, 51 [SEP] 8, Knife, -0.624, 0.957, -0.067, 0, 90, 0, 51 [SEP] 9, Cup, 0.688, 0.908, -1.965, 0, 0, 0, 57 [SEP] 10, SoapBottle, 0.773, 0.911, -1.879, 0, 0, 0, 57 [SEP] 11, SaltShaker, -1.674, 0.550, 2.563, 0, 0, 0, 77 [SEP] 12, PepperShaker, -1.467, 0.550, 2.770, 0, 0, 0, 77 [SEP] 13, Mug, 1.240, 1.661, -2.029, 0, 0, 0, 50 [SEP] 14, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 70 [SEP] 15, Apple, 1.026, 0.913, 1.254, 0, 270, 0, 74 [SEP] 16, Apple, -0.912, 0.227, 0.641, 0, 180, 0, 71 [SEP] 17, Statue, 0.773, 0.914, -0.381, 0, 0, 0, 52 [SEP] 18, Glassbottle, -0.865, 0.179, 0.510, 0, 180, 0, 71 [SEP] 19, Bread, 0.905, 1.482, 1.254, 0, 270, 0, 74 [SEP] 20, CreditCard, 0.915, 0.700, -0.648, 0, 270, 0, 49 [SEP] 21, CellPhone, -1.985, 0.550, 2.822, 0, 0, 0, 77 [SEP] 22, Potato, 0.966, 1.165, 0.967, 0, 270, 0, 74 [SEP] 23, Knife, -0.550, 0.957, -1.154, 0, 0, 0, 51 [SEP] 24, Fork, 1.029, 0.911, -0.034, 0, 0, 0, 52 [SEP] 25, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 45 [SEP] 26, Lettuce, -0.846, 1.010, -1.463, 0, 0, 0, 51 [SEP] 27, Plate, -1.674, 0.557, 2.770, 0, 0, 0, 77 [SEP] 28, Apple, 0.944, 0.961, -0.208, 0, 0, 0, 52 [SEP] 29, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 47 [SEP] 30, Spatula, -1.041, 0.948, -0.905, 0, 90, 0, 51 [SEP] 31, PaperTowelRoll, 0.944, 1.015, -0.381, 0, 0, 0, 52 [SEP] 32, Tomato, -0.753, 0.817, -0.486, 0, 90, 0, 72 [SEP] 33, Egg, -0.808, 0.818, -0.832, 0, 90, 0, 72 [SEP] 34, SaltShaker, 1.169, 2.204, -1.191, 0, 270, 0, 58 [SEP] 35, PepperShaker, -0.550, 0.929, 0.162, 0, 0, 0, 51 [SEP] 36, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 77 [SEP] 37, ButterKnife, -0.698, 0.933, -1.618, 0, 0, 0, 51 [SEP] 38, SoapBottle, 1.055, 1.666, -2.097, 0, 270, 0, 50 [SEP] 39, Vase, 1.114, 0.912, -0.208, 0, 0, 0, 52 [SEP] 40, Bowl, 0.944, 0.914, -1.793, 0, 0, 0, 57 [SEP] 41, DishSponge, 0.773, 0.910, -0.729, 0, 0, 0, 52 [SEP] 42, Spoon, -0.753, 0.781, -0.832, 0, 90, 0, 72 [SEP] 43, Cup, 0.783, 1.132, 0.967, 0, 270, 0, 74 [SEP] 44, Mug, 1.199, 0.906, 0.139, 0, 0, 0, 52 [SEP] 45, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 46, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 47, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 48, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 49, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 50, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 51, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 52, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 53, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 54, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 55, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 56, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 57, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 58, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 59, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 60, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 61, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 62, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 63, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 64, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 65, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 66, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 67, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 68, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 69, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 70, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 71, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 72, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 73, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 74, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 75, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 76, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 77, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 78, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 79, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 80, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 81, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 82, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 83, NorthWall, , , , , , , [SEP] 84, EastWall, , , , , , , [SEP] 85, SouthWall, , , , , , , [SEP] 86, WestWall, , , , , , , ", "output": ["STEP 1: Go across the room to the kitchen then go to the sink on the right side. | STEP 2: Pick up the egg that is beside the fork in the sink. | STEP 3: Move across the kitchen to the refrigerator. | STEP 4: Open the refrigerator, then place the egg on the glass shelf and close the fridge. Wait then open the fridge and pick up the egg, then close the fridge. | STEP 5: Move across the kitchen to the sink. | STEP 6: Put the egg in the sink beside the fork. | END"]} +{"id": "trial_T20190907_173215_875825-1", "input": "Chill an 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, -3.75, 0.900, -0.5, 0, 0, 0, [SEP] 1, Pan, 1.148, 1.664, -0.401, 0, 0, 0, 60 [SEP] 2, Pan, -1.167, 0.931, -1.167, 0, 180, 0, 51 [SEP] 3, Potato, 0.783, 1.432, 1.444, 0, 270, 0, 74 [SEP] 4, Glassbottle, -1.054, 0.177, 0.543, 0, 180, 0, 71 [SEP] 5, Spoon, 0.833, 0.154, -0.611, 0, 270, 0, 54 [SEP] 6, Spoon, -0.642, 0.777, -0.573, 0, 0, 0, 72 [SEP] 7, Knife, -0.550, 0.957, 0.239, 0, 0, 0, 51 [SEP] 8, Knife, -0.624, 0.957, -0.067, 0, 90, 0, 51 [SEP] 9, Cup, 0.688, 0.908, -1.965, 0, 0, 0, 57 [SEP] 10, SoapBottle, 0.773, 0.911, -1.879, 0, 0, 0, 57 [SEP] 11, SaltShaker, -1.674, 0.550, 2.563, 0, 0, 0, 77 [SEP] 12, PepperShaker, -1.467, 0.550, 2.770, 0, 0, 0, 77 [SEP] 13, Mug, 1.240, 1.661, -2.029, 0, 0, 0, 50 [SEP] 14, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 70 [SEP] 15, Apple, 1.026, 0.913, 1.254, 0, 270, 0, 74 [SEP] 16, Apple, -0.912, 0.227, 0.641, 0, 180, 0, 71 [SEP] 17, Statue, 0.773, 0.914, -0.381, 0, 0, 0, 52 [SEP] 18, Glassbottle, -0.865, 0.179, 0.510, 0, 180, 0, 71 [SEP] 19, Bread, 0.905, 1.482, 1.254, 0, 270, 0, 74 [SEP] 20, CreditCard, 0.915, 0.700, -0.648, 0, 270, 0, 49 [SEP] 21, CellPhone, -1.985, 0.550, 2.822, 0, 0, 0, 77 [SEP] 22, Potato, 0.966, 1.165, 0.967, 0, 270, 0, 74 [SEP] 23, Knife, -0.550, 0.957, -1.154, 0, 0, 0, 51 [SEP] 24, Fork, 1.029, 0.911, -0.034, 0, 0, 0, 52 [SEP] 25, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 45 [SEP] 26, Lettuce, -0.846, 1.010, -1.463, 0, 0, 0, 51 [SEP] 27, Plate, -1.674, 0.557, 2.770, 0, 0, 0, 77 [SEP] 28, Apple, 0.944, 0.961, -0.208, 0, 0, 0, 52 [SEP] 29, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 47 [SEP] 30, Spatula, -1.041, 0.948, -0.905, 0, 90, 0, 51 [SEP] 31, PaperTowelRoll, 0.944, 1.015, -0.381, 0, 0, 0, 52 [SEP] 32, Tomato, -0.753, 0.817, -0.486, 0, 90, 0, 72 [SEP] 33, Egg, -0.808, 0.818, -0.832, 0, 90, 0, 72 [SEP] 34, SaltShaker, 1.169, 2.204, -1.191, 0, 270, 0, 58 [SEP] 35, PepperShaker, -0.550, 0.929, 0.162, 0, 0, 0, 51 [SEP] 36, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 77 [SEP] 37, ButterKnife, -0.698, 0.933, -1.618, 0, 0, 0, 51 [SEP] 38, SoapBottle, 1.055, 1.666, -2.097, 0, 270, 0, 50 [SEP] 39, Vase, 1.114, 0.912, -0.208, 0, 0, 0, 52 [SEP] 40, Bowl, 0.944, 0.914, -1.793, 0, 0, 0, 57 [SEP] 41, DishSponge, 0.773, 0.910, -0.729, 0, 0, 0, 52 [SEP] 42, Spoon, -0.753, 0.781, -0.832, 0, 90, 0, 72 [SEP] 43, Cup, 0.783, 1.132, 0.967, 0, 270, 0, 74 [SEP] 44, Mug, 1.199, 0.906, 0.139, 0, 0, 0, 52 [SEP] 45, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 46, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 47, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 48, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 49, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 50, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 51, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 52, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 53, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 54, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 55, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 56, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 57, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 58, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 59, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 60, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 61, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 62, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 63, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 64, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 65, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 66, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 67, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 68, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 69, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 70, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 71, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 72, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 73, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 74, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 75, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 76, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 77, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 78, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 79, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 80, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 81, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 82, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 83, NorthWall, , , , , , , [SEP] 84, EastWall, , , , , , , [SEP] 85, SouthWall, , , , , , , [SEP] 86, WestWall, , , , , , , ", "output": ["STEP 1: Go straight across the room, and then right to go around the island and find the sink on the right. | STEP 2: Pick up the egg in the back of the sink. | STEP 3: Take the egg and turn right to find the fridge on the right. | STEP 4: Place the egg inside the fridge. Then open the door and take out the egg. Shut the fridge door. | STEP 5: Take the egg and turn right, then right again at the sink. | STEP 6: Place the egg back into the sink. | END"]} +{"id": "trial_T20190907_173215_875825-2", "input": "get egg from kitchen sink, chill in fridge, put back in sink 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, -0.5, 0, 0, 0, [SEP] 1, Pan, 1.148, 1.664, -0.401, 0, 0, 0, 60 [SEP] 2, Pan, -1.167, 0.931, -1.167, 0, 180, 0, 51 [SEP] 3, Potato, 0.783, 1.432, 1.444, 0, 270, 0, 74 [SEP] 4, Glassbottle, -1.054, 0.177, 0.543, 0, 180, 0, 71 [SEP] 5, Spoon, 0.833, 0.154, -0.611, 0, 270, 0, 54 [SEP] 6, Spoon, -0.642, 0.777, -0.573, 0, 0, 0, 72 [SEP] 7, Knife, -0.550, 0.957, 0.239, 0, 0, 0, 51 [SEP] 8, Knife, -0.624, 0.957, -0.067, 0, 90, 0, 51 [SEP] 9, Cup, 0.688, 0.908, -1.965, 0, 0, 0, 57 [SEP] 10, SoapBottle, 0.773, 0.911, -1.879, 0, 0, 0, 57 [SEP] 11, SaltShaker, -1.674, 0.550, 2.563, 0, 0, 0, 77 [SEP] 12, PepperShaker, -1.467, 0.550, 2.770, 0, 0, 0, 77 [SEP] 13, Mug, 1.240, 1.661, -2.029, 0, 0, 0, 50 [SEP] 14, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 70 [SEP] 15, Apple, 1.026, 0.913, 1.254, 0, 270, 0, 74 [SEP] 16, Apple, -0.912, 0.227, 0.641, 0, 180, 0, 71 [SEP] 17, Statue, 0.773, 0.914, -0.381, 0, 0, 0, 52 [SEP] 18, Glassbottle, -0.865, 0.179, 0.510, 0, 180, 0, 71 [SEP] 19, Bread, 0.905, 1.482, 1.254, 0, 270, 0, 74 [SEP] 20, CreditCard, 0.915, 0.700, -0.648, 0, 270, 0, 49 [SEP] 21, CellPhone, -1.985, 0.550, 2.822, 0, 0, 0, 77 [SEP] 22, Potato, 0.966, 1.165, 0.967, 0, 270, 0, 74 [SEP] 23, Knife, -0.550, 0.957, -1.154, 0, 0, 0, 51 [SEP] 24, Fork, 1.029, 0.911, -0.034, 0, 0, 0, 52 [SEP] 25, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 45 [SEP] 26, Lettuce, -0.846, 1.010, -1.463, 0, 0, 0, 51 [SEP] 27, Plate, -1.674, 0.557, 2.770, 0, 0, 0, 77 [SEP] 28, Apple, 0.944, 0.961, -0.208, 0, 0, 0, 52 [SEP] 29, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 47 [SEP] 30, Spatula, -1.041, 0.948, -0.905, 0, 90, 0, 51 [SEP] 31, PaperTowelRoll, 0.944, 1.015, -0.381, 0, 0, 0, 52 [SEP] 32, Tomato, -0.753, 0.817, -0.486, 0, 90, 0, 72 [SEP] 33, Egg, -0.808, 0.818, -0.832, 0, 90, 0, 72 [SEP] 34, SaltShaker, 1.169, 2.204, -1.191, 0, 270, 0, 58 [SEP] 35, PepperShaker, -0.550, 0.929, 0.162, 0, 0, 0, 51 [SEP] 36, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 77 [SEP] 37, ButterKnife, -0.698, 0.933, -1.618, 0, 0, 0, 51 [SEP] 38, SoapBottle, 1.055, 1.666, -2.097, 0, 270, 0, 50 [SEP] 39, Vase, 1.114, 0.912, -0.208, 0, 0, 0, 52 [SEP] 40, Bowl, 0.944, 0.914, -1.793, 0, 0, 0, 57 [SEP] 41, DishSponge, 0.773, 0.910, -0.729, 0, 0, 0, 52 [SEP] 42, Spoon, -0.753, 0.781, -0.832, 0, 90, 0, 72 [SEP] 43, Cup, 0.783, 1.132, 0.967, 0, 270, 0, 74 [SEP] 44, Mug, 1.199, 0.906, 0.139, 0, 0, 0, 52 [SEP] 45, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 46, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 47, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 48, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 49, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 50, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 51, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 52, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 53, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 54, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 55, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 56, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 57, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 58, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 59, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 60, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 61, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 62, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 63, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 64, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 65, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 66, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 67, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 68, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 69, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 70, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 71, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 72, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 73, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 74, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 75, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 76, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 77, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 78, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 79, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 80, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 81, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 82, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 83, NorthWall, , , , , , , [SEP] 84, EastWall, , , , , , , [SEP] 85, SouthWall, , , , , , , [SEP] 86, WestWall, , , , , , , ", "output": ["STEP 1: turn right, walk to the fridge, turn right and walk to the kitchen sink | STEP 2: pick up the brown egg in the sink | STEP 3: turn to the right and walk over to the fridge | STEP 4: open fridge, put the egg on the shelf with the green vegetable, close door, wait, open door, pick up egg again | STEP 5: turn right, walk straight, turn right at sink and face sink | STEP 6: put egg in sink | END"]} +{"id": "trial_T20190909_120712_273910-0", "input": "Put a clean egg 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, -3.5, 0.900, -0.5, 0, 270, 0, [SEP] 1, Pan, 1.026, 1.132, 1.349, 0, 90, 0, 77 [SEP] 2, Potato, 1.126, 1.825, -1.339, 0, 270, 0, 76 [SEP] 3, DishSponge, 0.859, 0.910, -1.879, 0, 0, 0, 60 [SEP] 4, ButterKnife, 0.833, 0.153, -0.650, 0, 270, 0, 57 [SEP] 5, ButterKnife, -0.697, 0.780, -0.573, 0, 90, 0, 75 [SEP] 6, Fork, -0.550, 0.934, 0.315, 0, 0, 0, 54 [SEP] 7, Spoon, 0.944, 0.912, -0.208, 0, 0, 0, 55 [SEP] 8, Spoon, 0.875, 0.496, -0.607, 0, 270, 0, 58 [SEP] 9, Spatula, 0.754, 0.718, -0.607, 0, 180, 0, 52 [SEP] 10, Knife, -0.624, 0.957, -1.231, 0, 0, 0, 54 [SEP] 11, Knife, -0.846, 0.957, -0.067, 0, 180, 0, 54 [SEP] 12, Egg, -1.054, 0.216, 0.543, 0, 180, 0, 74 [SEP] 13, Egg, 1.029, 0.949, -0.555, 0, 0, 0, 55 [SEP] 14, Cup, -0.846, 0.930, -1.386, 0, 0, 0, 54 [SEP] 15, Cup, -1.778, 0.551, 2.615, 0, 0, 0, 80 [SEP] 16, Tomato, 1.026, 1.442, 1.349, 0, 270, 0, 77 [SEP] 17, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 73 [SEP] 18, Apple, 1.060, 1.833, -1.236, 0, 270, 0, 76 [SEP] 19, Apple, 1.026, 1.693, 1.158, 0, 270, 0, 77 [SEP] 20, Statue, 1.029, 0.914, -0.034, 0, 0, 0, 55 [SEP] 21, Glassbottle, 0.773, 0.912, -0.729, 0, 0, 0, 55 [SEP] 22, Bread, 0.773, 0.992, -0.555, 0, 0, 0, 55 [SEP] 23, CreditCard, 0.773, 0.908, -1.793, 0, 0, 0, 60 [SEP] 24, CellPhone, -1.570, 0.550, 2.667, 0, 0, 0, 80 [SEP] 25, Potato, -0.808, 0.811, -0.745, 0, 90, 0, 75 [SEP] 26, Knife, -1.041, 0.957, -0.643, 0, 90, 0, 54 [SEP] 27, Fork, 0.773, 0.911, -0.381, 0, 0, 0, 55 [SEP] 28, Pan, 1.147, 1.664, 0.089, 0, 180, 0, 62 [SEP] 29, Lettuce, 0.966, 0.940, 1.349, 0, 270, 0, 77 [SEP] 30, Plate, 0.905, 1.405, 1.158, 0, 270, 0, 77 [SEP] 31, Apple, -1.418, 0.983, -1.167, 0, 0, 0, 54 [SEP] 32, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 50 [SEP] 33, Spatula, 0.915, 0.718, -0.772, 0, 0, 0, 52 [SEP] 34, PaperTowelRoll, 1.029, 1.015, -1.793, 0, 0, 0, 60 [SEP] 35, Tomato, -0.587, 0.821, -0.745, 0, 90, 0, 75 [SEP] 36, Egg, 1.087, 1.439, 0.967, 0, 270, 0, 77 [SEP] 37, SaltShaker, 1.212, 2.204, -1.191, 0, 270, 0, 61 [SEP] 38, PepperShaker, 1.009, 1.662, 0.280, 0, 270, 0, 62 [SEP] 39, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 80 [SEP] 40, ButterKnife, 1.029, 0.911, -0.381, 0, 0, 0, 55 [SEP] 41, SoapBottle, 1.148, 1.666, -0.593, 0, 270, 0, 63 [SEP] 42, Vase, -1.363, 0.555, 2.822, 0, 0, 0, 80 [SEP] 43, Bowl, 0.862, 0.124, 0.374, 0, 270, 0, 49 [SEP] 44, DishSponge, 0.754, 0.494, -0.690, 0, 270, 0, 58 [SEP] 45, Spoon, -0.642, 0.781, -0.573, 0, 90, 0, 75 [SEP] 46, Cup, 0.710, 0.118, 0.374, 0, 270, 0, 49 [SEP] 47, Mug, 1.126, 2.203, -1.517, 0, 270, 0, 61 [SEP] 48, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 49, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 50, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 51, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 52, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 53, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 54, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 55, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 56, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 57, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 58, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 59, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 60, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 61, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 62, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 63, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 64, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 65, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 66, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 67, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 68, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 69, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 70, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 71, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 72, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 73, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 74, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 75, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 76, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 77, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 78, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 79, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 80, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 81, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 82, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 83, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 84, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 85, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 86, NorthWall, , , , , , , [SEP] 87, EastWall, , , , , , , [SEP] 88, SouthWall, , , , , , , [SEP] 89, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and move forward, then turn right and go to the fridge, then turn right and move forward, then turn left to face the dishwasher. | STEP 2: Pick up the egg from the counter in front of you. | STEP 3: Turn around and go to the sink. | STEP 4: Clean the egg in the sink. | STEP 5: Turn around and go to the stove, then look up the microwave. | STEP 6: Open the microwave, put the egg inside, and close it. | END"]} +{"id": "trial_T20190909_120712_273910-1", "input": "rinse the egg to 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, -3.5, 0.900, -0.5, 0, 270, 0, [SEP] 1, Pan, 1.026, 1.132, 1.349, 0, 90, 0, 77 [SEP] 2, Potato, 1.126, 1.825, -1.339, 0, 270, 0, 76 [SEP] 3, DishSponge, 0.859, 0.910, -1.879, 0, 0, 0, 60 [SEP] 4, ButterKnife, 0.833, 0.153, -0.650, 0, 270, 0, 57 [SEP] 5, ButterKnife, -0.697, 0.780, -0.573, 0, 90, 0, 75 [SEP] 6, Fork, -0.550, 0.934, 0.315, 0, 0, 0, 54 [SEP] 7, Spoon, 0.944, 0.912, -0.208, 0, 0, 0, 55 [SEP] 8, Spoon, 0.875, 0.496, -0.607, 0, 270, 0, 58 [SEP] 9, Spatula, 0.754, 0.718, -0.607, 0, 180, 0, 52 [SEP] 10, Knife, -0.624, 0.957, -1.231, 0, 0, 0, 54 [SEP] 11, Knife, -0.846, 0.957, -0.067, 0, 180, 0, 54 [SEP] 12, Egg, -1.054, 0.216, 0.543, 0, 180, 0, 74 [SEP] 13, Egg, 1.029, 0.949, -0.555, 0, 0, 0, 55 [SEP] 14, Cup, -0.846, 0.930, -1.386, 0, 0, 0, 54 [SEP] 15, Cup, -1.778, 0.551, 2.615, 0, 0, 0, 80 [SEP] 16, Tomato, 1.026, 1.442, 1.349, 0, 270, 0, 77 [SEP] 17, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 73 [SEP] 18, Apple, 1.060, 1.833, -1.236, 0, 270, 0, 76 [SEP] 19, Apple, 1.026, 1.693, 1.158, 0, 270, 0, 77 [SEP] 20, Statue, 1.029, 0.914, -0.034, 0, 0, 0, 55 [SEP] 21, Glassbottle, 0.773, 0.912, -0.729, 0, 0, 0, 55 [SEP] 22, Bread, 0.773, 0.992, -0.555, 0, 0, 0, 55 [SEP] 23, CreditCard, 0.773, 0.908, -1.793, 0, 0, 0, 60 [SEP] 24, CellPhone, -1.570, 0.550, 2.667, 0, 0, 0, 80 [SEP] 25, Potato, -0.808, 0.811, -0.745, 0, 90, 0, 75 [SEP] 26, Knife, -1.041, 0.957, -0.643, 0, 90, 0, 54 [SEP] 27, Fork, 0.773, 0.911, -0.381, 0, 0, 0, 55 [SEP] 28, Pan, 1.147, 1.664, 0.089, 0, 180, 0, 62 [SEP] 29, Lettuce, 0.966, 0.940, 1.349, 0, 270, 0, 77 [SEP] 30, Plate, 0.905, 1.405, 1.158, 0, 270, 0, 77 [SEP] 31, Apple, -1.418, 0.983, -1.167, 0, 0, 0, 54 [SEP] 32, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 50 [SEP] 33, Spatula, 0.915, 0.718, -0.772, 0, 0, 0, 52 [SEP] 34, PaperTowelRoll, 1.029, 1.015, -1.793, 0, 0, 0, 60 [SEP] 35, Tomato, -0.587, 0.821, -0.745, 0, 90, 0, 75 [SEP] 36, Egg, 1.087, 1.439, 0.967, 0, 270, 0, 77 [SEP] 37, SaltShaker, 1.212, 2.204, -1.191, 0, 270, 0, 61 [SEP] 38, PepperShaker, 1.009, 1.662, 0.280, 0, 270, 0, 62 [SEP] 39, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 80 [SEP] 40, ButterKnife, 1.029, 0.911, -0.381, 0, 0, 0, 55 [SEP] 41, SoapBottle, 1.148, 1.666, -0.593, 0, 270, 0, 63 [SEP] 42, Vase, -1.363, 0.555, 2.822, 0, 0, 0, 80 [SEP] 43, Bowl, 0.862, 0.124, 0.374, 0, 270, 0, 49 [SEP] 44, DishSponge, 0.754, 0.494, -0.690, 0, 270, 0, 58 [SEP] 45, Spoon, -0.642, 0.781, -0.573, 0, 90, 0, 75 [SEP] 46, Cup, 0.710, 0.118, 0.374, 0, 270, 0, 49 [SEP] 47, Mug, 1.126, 2.203, -1.517, 0, 270, 0, 61 [SEP] 48, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 49, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 50, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 51, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 52, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 53, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 54, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 55, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 56, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 57, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 58, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 59, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 60, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 61, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 62, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 63, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 64, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 65, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 66, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 67, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 68, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 69, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 70, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 71, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 72, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 73, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 74, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 75, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 76, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 77, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 78, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 79, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 80, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 81, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 82, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 83, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 84, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 85, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 86, NorthWall, , , , , , , [SEP] 87, EastWall, , , , , , , [SEP] 88, SouthWall, , , , , , , [SEP] 89, WestWall, , , , , , , ", "output": ["STEP 1: go to the counter to the left of the stove | STEP 2: pick up the egg from the counter | STEP 3: take the egg to the sink | STEP 4: rinse the egg in the sink then remove | STEP 5: take the egg to the microwave | STEP 6: put the egg in the microwave | END"]} +{"id": "trial_T20190909_120712_273910-2", "input": "Rinse and warm egg 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, -0.5, 0, 270, 0, [SEP] 1, Pan, 1.026, 1.132, 1.349, 0, 90, 0, 77 [SEP] 2, Potato, 1.126, 1.825, -1.339, 0, 270, 0, 76 [SEP] 3, DishSponge, 0.859, 0.910, -1.879, 0, 0, 0, 60 [SEP] 4, ButterKnife, 0.833, 0.153, -0.650, 0, 270, 0, 57 [SEP] 5, ButterKnife, -0.697, 0.780, -0.573, 0, 90, 0, 75 [SEP] 6, Fork, -0.550, 0.934, 0.315, 0, 0, 0, 54 [SEP] 7, Spoon, 0.944, 0.912, -0.208, 0, 0, 0, 55 [SEP] 8, Spoon, 0.875, 0.496, -0.607, 0, 270, 0, 58 [SEP] 9, Spatula, 0.754, 0.718, -0.607, 0, 180, 0, 52 [SEP] 10, Knife, -0.624, 0.957, -1.231, 0, 0, 0, 54 [SEP] 11, Knife, -0.846, 0.957, -0.067, 0, 180, 0, 54 [SEP] 12, Egg, -1.054, 0.216, 0.543, 0, 180, 0, 74 [SEP] 13, Egg, 1.029, 0.949, -0.555, 0, 0, 0, 55 [SEP] 14, Cup, -0.846, 0.930, -1.386, 0, 0, 0, 54 [SEP] 15, Cup, -1.778, 0.551, 2.615, 0, 0, 0, 80 [SEP] 16, Tomato, 1.026, 1.442, 1.349, 0, 270, 0, 77 [SEP] 17, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 73 [SEP] 18, Apple, 1.060, 1.833, -1.236, 0, 270, 0, 76 [SEP] 19, Apple, 1.026, 1.693, 1.158, 0, 270, 0, 77 [SEP] 20, Statue, 1.029, 0.914, -0.034, 0, 0, 0, 55 [SEP] 21, Glassbottle, 0.773, 0.912, -0.729, 0, 0, 0, 55 [SEP] 22, Bread, 0.773, 0.992, -0.555, 0, 0, 0, 55 [SEP] 23, CreditCard, 0.773, 0.908, -1.793, 0, 0, 0, 60 [SEP] 24, CellPhone, -1.570, 0.550, 2.667, 0, 0, 0, 80 [SEP] 25, Potato, -0.808, 0.811, -0.745, 0, 90, 0, 75 [SEP] 26, Knife, -1.041, 0.957, -0.643, 0, 90, 0, 54 [SEP] 27, Fork, 0.773, 0.911, -0.381, 0, 0, 0, 55 [SEP] 28, Pan, 1.147, 1.664, 0.089, 0, 180, 0, 62 [SEP] 29, Lettuce, 0.966, 0.940, 1.349, 0, 270, 0, 77 [SEP] 30, Plate, 0.905, 1.405, 1.158, 0, 270, 0, 77 [SEP] 31, Apple, -1.418, 0.983, -1.167, 0, 0, 0, 54 [SEP] 32, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 50 [SEP] 33, Spatula, 0.915, 0.718, -0.772, 0, 0, 0, 52 [SEP] 34, PaperTowelRoll, 1.029, 1.015, -1.793, 0, 0, 0, 60 [SEP] 35, Tomato, -0.587, 0.821, -0.745, 0, 90, 0, 75 [SEP] 36, Egg, 1.087, 1.439, 0.967, 0, 270, 0, 77 [SEP] 37, SaltShaker, 1.212, 2.204, -1.191, 0, 270, 0, 61 [SEP] 38, PepperShaker, 1.009, 1.662, 0.280, 0, 270, 0, 62 [SEP] 39, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 80 [SEP] 40, ButterKnife, 1.029, 0.911, -0.381, 0, 0, 0, 55 [SEP] 41, SoapBottle, 1.148, 1.666, -0.593, 0, 270, 0, 63 [SEP] 42, Vase, -1.363, 0.555, 2.822, 0, 0, 0, 80 [SEP] 43, Bowl, 0.862, 0.124, 0.374, 0, 270, 0, 49 [SEP] 44, DishSponge, 0.754, 0.494, -0.690, 0, 270, 0, 58 [SEP] 45, Spoon, -0.642, 0.781, -0.573, 0, 90, 0, 75 [SEP] 46, Cup, 0.710, 0.118, 0.374, 0, 270, 0, 49 [SEP] 47, Mug, 1.126, 2.203, -1.517, 0, 270, 0, 61 [SEP] 48, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 49, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 50, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 51, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 52, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 53, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 54, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 55, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 56, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 57, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 58, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 59, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 60, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 61, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 62, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 63, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 64, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 65, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 66, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 67, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 68, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 69, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 70, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 71, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 72, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 73, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 74, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 75, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 76, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 77, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 78, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 79, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 80, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 81, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 82, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 83, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 84, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 85, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 86, NorthWall, , , , , , , [SEP] 87, EastWall, , , , , , , [SEP] 88, SouthWall, , , , , , , [SEP] 89, WestWall, , , , , , , ", "output": ["STEP 1: Turn to the right, walk a few steps, turn right again, walk to the edge of the counter, turn right, walk to the counter with the egg on it | STEP 2: Pick up the egg from the counter | STEP 3: Turn around to the sink | STEP 4: Place egg in the sink, turn on the water, rinse the egg, pick up the egg | STEP 5: Turn around, walk to the microwave | STEP 6: Open the microwave, place the egg in it, close the door | END"]} +{"id": "trial_T20190906_182353_418140-0", "input": "Place a microwaved 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, -3.0, 0.900, 1.0, 0, 90, 0, [SEP] 1, Potato, 0.965, 1.432, 1.540, 0, 270, 0, 89 [SEP] 2, Potato, 0.688, 0.941, -1.965, 0, 0, 0, 72 [SEP] 3, CreditCard, -1.363, 0.551, 2.563, 0, 0, 0, 92 [SEP] 4, CellPhone, -0.477, 0.930, -1.463, 0, 0, 0, 66 [SEP] 5, CellPhone, 0.944, 0.908, 0.139, 0, 0, 0, 67 [SEP] 6, DishSponge, -0.550, 0.933, 0.162, 0, 0, 0, 66 [SEP] 7, DishSponge, -0.808, 0.780, -0.745, 0, 90, 0, 87 [SEP] 8, Fork, 1.029, 0.911, -0.381, 0, 0, 0, 67 [SEP] 9, Fork, 0.859, 0.911, -0.208, 0, 0, 0, 67 [SEP] 10, Spoon, 0.859, 0.912, -0.729, 0, 90, 0, 67 [SEP] 11, Spoon, 1.114, 0.912, -0.729, 0, 0, 0, 67 [SEP] 12, Spatula, 0.914, 0.168, -0.531, 0, 0, 0, 69 [SEP] 13, Spatula, 1.114, 0.926, -0.034, 0, 90, 0, 67 [SEP] 14, Pot, -1.229, 0.936, 0.144, 0, 0, 0, 66 [SEP] 15, Pot, -0.698, 0.936, -1.308, 0, 0, 0, 66 [SEP] 16, Knife, 0.944, 0.934, -0.034, 0, 0, 0, 67 [SEP] 17, Egg, 0.905, 0.900, 1.444, 0, 270, 0, 89 [SEP] 18, Cup, 1.087, 1.132, 1.254, 0, 270, 0, 89 [SEP] 19, Cup, 0.905, 1.132, 1.349, 0, 270, 0, 89 [SEP] 20, Plate, 1.102, 1.669, -0.593, 0, 270, 0, 75 [SEP] 21, Plate, 0.905, 1.405, 1.063, 0, 270, 0, 89 [SEP] 22, Tomato, 0.773, 0.952, -0.729, 0, 0, 0, 67 [SEP] 23, SoapBottle, 1.194, 1.666, -2.029, 0, 270, 0, 65 [SEP] 24, Bowl, -1.467, 0.557, 2.822, 0, 0, 0, 92 [SEP] 25, Bowl, 1.026, 1.646, 1.444, 0, 270, 0, 89 [SEP] 26, SaltShaker, 1.126, 2.204, -0.973, 0, 270, 0, 73 [SEP] 27, Lettuce, 0.966, 0.940, 1.349, 0, 270, 0, 89 [SEP] 28, Mug, 1.026, 0.858, 0.967, 0, 270, 0, 89 [SEP] 29, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 85 [SEP] 30, Apple, -1.007, 0.227, 0.543, 0, 180, 0, 86 [SEP] 31, Apple, 0.688, 0.961, -2.308, 0, 0, 0, 72 [SEP] 32, Statue, 0.773, 0.914, -0.381, 0, 90, 0, 67 [SEP] 33, Glassbottle, -1.571, 0.882, 2.692, 0, 0, 0, 93 [SEP] 34, Bread, -0.779, 0.996, 0.21, 0, 258.641, 0, 66 [SEP] 35, CreditCard, 0.875, 0.491, -0.607, 0, 270, 0, 70 [SEP] 36, CellPhone, 0.834, 0.700, -0.690, 0, 270, 0, 64 [SEP] 37, Potato, 0.966, 0.893, 1.158, 0, 270, 0, 89 [SEP] 38, Knife, -1.104, 0.957, -1.167, 0, 90, 0, 66 [SEP] 39, Fork, -1.292, 0.934, -0.380, 0, 0, 0, 66 [SEP] 40, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 60 [SEP] 41, Lettuce, -1.292, 1.010, -0.905, 0, 0, 0, 66 [SEP] 42, Plate, 0.861, 0.111, -1.972, 0, 0, 0, 71 [SEP] 43, Apple, 0.773, 0.961, -1.879, 0, 0, 0, 72 [SEP] 44, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 62 [SEP] 45, Spatula, 1.199, 0.926, -1.793, 0, 270, 0, 72 [SEP] 46, PaperTowelRoll, -1.355, 1.037, -0.643, 0, 0, 0, 66 [SEP] 47, Tomato, 0.905, 1.442, 1.254, 0, 270, 0, 89 [SEP] 48, Egg, -0.697, 0.818, -0.918, 0, 90, 0, 87 [SEP] 49, SaltShaker, -1.674, 0.878, 2.665, 0, 0, 0, 93 [SEP] 50, PepperShaker, 0.915, 0.698, -0.607, 0, 270, 0, 64 [SEP] 51, Vase, 1.194, 1.666, -0.337, 0, 270, 0, 75 [SEP] 52, ButterKnife, 0.944, 0.911, -0.729, 0, 0, 0, 67 [SEP] 53, SoapBottle, 0.964, 0.121, 0.398, 0, 270, 0, 61 [SEP] 54, Vase, -1.104, 0.934, -0.118, 0, 0, 0, 66 [SEP] 55, Bowl, -0.642, 0.783, -0.745, 0, 90, 0, 87 [SEP] 56, DishSponge, 0.914, 0.153, -0.650, 0, 270, 0, 69 [SEP] 57, Spoon, 0.773, 0.912, -0.555, 0, 0, 0, 67 [SEP] 58, Cup, 0.688, 0.908, 0.313, 0, 0, 0, 67 [SEP] 59, Mug, 1.060, 1.790, -1.132, 0, 270, 0, 88 [SEP] 60, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 61, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 62, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 63, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 64, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 65, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 66, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 67, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 68, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 69, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 70, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 71, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 72, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 73, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 74, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 75, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 76, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 77, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 78, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 79, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 80, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 81, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 82, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 83, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 84, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 85, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 86, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 87, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 88, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 89, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 90, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 91, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 92, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 93, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 94, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 95, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 96, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 97, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 98, NorthWall, , , , , , , [SEP] 99, EastWall, , , , , , , [SEP] 100, SouthWall, , , , , , , [SEP] 101, WestWall, , , , , , , ", "output": ["STEP 1: Walk towards the fridge, then turn right and walk to the window, then turn left to the grey counter. | STEP 2: Pick up the rightmost green apple on the counter. | STEP 3: Turn left and walk forward, then turn right toward the stove and open the microwave door above the stove. | STEP 4: Place the apple inside the microwave to the left of the mug, close the microwave door, and start the microwave, wait, then open the microwave door and take the apple out. | STEP 5: Turn left to face the sink, then turn right towards the wall and walk forward, then turn right towards the fridge. | STEP 6: Open the fridge door, place the apple inside in front of the lettuce, and close the door. | END"]} +{"id": "trial_T20190906_182353_418140-1", "input": "Place a cooked apple 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, -3.0, 0.900, 1.0, 0, 90, 0, [SEP] 1, Potato, 0.965, 1.432, 1.540, 0, 270, 0, 89 [SEP] 2, Potato, 0.688, 0.941, -1.965, 0, 0, 0, 72 [SEP] 3, CreditCard, -1.363, 0.551, 2.563, 0, 0, 0, 92 [SEP] 4, CellPhone, -0.477, 0.930, -1.463, 0, 0, 0, 66 [SEP] 5, CellPhone, 0.944, 0.908, 0.139, 0, 0, 0, 67 [SEP] 6, DishSponge, -0.550, 0.933, 0.162, 0, 0, 0, 66 [SEP] 7, DishSponge, -0.808, 0.780, -0.745, 0, 90, 0, 87 [SEP] 8, Fork, 1.029, 0.911, -0.381, 0, 0, 0, 67 [SEP] 9, Fork, 0.859, 0.911, -0.208, 0, 0, 0, 67 [SEP] 10, Spoon, 0.859, 0.912, -0.729, 0, 90, 0, 67 [SEP] 11, Spoon, 1.114, 0.912, -0.729, 0, 0, 0, 67 [SEP] 12, Spatula, 0.914, 0.168, -0.531, 0, 0, 0, 69 [SEP] 13, Spatula, 1.114, 0.926, -0.034, 0, 90, 0, 67 [SEP] 14, Pot, -1.229, 0.936, 0.144, 0, 0, 0, 66 [SEP] 15, Pot, -0.698, 0.936, -1.308, 0, 0, 0, 66 [SEP] 16, Knife, 0.944, 0.934, -0.034, 0, 0, 0, 67 [SEP] 17, Egg, 0.905, 0.900, 1.444, 0, 270, 0, 89 [SEP] 18, Cup, 1.087, 1.132, 1.254, 0, 270, 0, 89 [SEP] 19, Cup, 0.905, 1.132, 1.349, 0, 270, 0, 89 [SEP] 20, Plate, 1.102, 1.669, -0.593, 0, 270, 0, 75 [SEP] 21, Plate, 0.905, 1.405, 1.063, 0, 270, 0, 89 [SEP] 22, Tomato, 0.773, 0.952, -0.729, 0, 0, 0, 67 [SEP] 23, SoapBottle, 1.194, 1.666, -2.029, 0, 270, 0, 65 [SEP] 24, Bowl, -1.467, 0.557, 2.822, 0, 0, 0, 92 [SEP] 25, Bowl, 1.026, 1.646, 1.444, 0, 270, 0, 89 [SEP] 26, SaltShaker, 1.126, 2.204, -0.973, 0, 270, 0, 73 [SEP] 27, Lettuce, 0.966, 0.940, 1.349, 0, 270, 0, 89 [SEP] 28, Mug, 1.026, 0.858, 0.967, 0, 270, 0, 89 [SEP] 29, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 85 [SEP] 30, Apple, -1.007, 0.227, 0.543, 0, 180, 0, 86 [SEP] 31, Apple, 0.688, 0.961, -2.308, 0, 0, 0, 72 [SEP] 32, Statue, 0.773, 0.914, -0.381, 0, 90, 0, 67 [SEP] 33, Glassbottle, -1.571, 0.882, 2.692, 0, 0, 0, 93 [SEP] 34, Bread, -0.779, 0.996, 0.21, 0, 258.641, 0, 66 [SEP] 35, CreditCard, 0.875, 0.491, -0.607, 0, 270, 0, 70 [SEP] 36, CellPhone, 0.834, 0.700, -0.690, 0, 270, 0, 64 [SEP] 37, Potato, 0.966, 0.893, 1.158, 0, 270, 0, 89 [SEP] 38, Knife, -1.104, 0.957, -1.167, 0, 90, 0, 66 [SEP] 39, Fork, -1.292, 0.934, -0.380, 0, 0, 0, 66 [SEP] 40, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 60 [SEP] 41, Lettuce, -1.292, 1.010, -0.905, 0, 0, 0, 66 [SEP] 42, Plate, 0.861, 0.111, -1.972, 0, 0, 0, 71 [SEP] 43, Apple, 0.773, 0.961, -1.879, 0, 0, 0, 72 [SEP] 44, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 62 [SEP] 45, Spatula, 1.199, 0.926, -1.793, 0, 270, 0, 72 [SEP] 46, PaperTowelRoll, -1.355, 1.037, -0.643, 0, 0, 0, 66 [SEP] 47, Tomato, 0.905, 1.442, 1.254, 0, 270, 0, 89 [SEP] 48, Egg, -0.697, 0.818, -0.918, 0, 90, 0, 87 [SEP] 49, SaltShaker, -1.674, 0.878, 2.665, 0, 0, 0, 93 [SEP] 50, PepperShaker, 0.915, 0.698, -0.607, 0, 270, 0, 64 [SEP] 51, Vase, 1.194, 1.666, -0.337, 0, 270, 0, 75 [SEP] 52, ButterKnife, 0.944, 0.911, -0.729, 0, 0, 0, 67 [SEP] 53, SoapBottle, 0.964, 0.121, 0.398, 0, 270, 0, 61 [SEP] 54, Vase, -1.104, 0.934, -0.118, 0, 0, 0, 66 [SEP] 55, Bowl, -0.642, 0.783, -0.745, 0, 90, 0, 87 [SEP] 56, DishSponge, 0.914, 0.153, -0.650, 0, 270, 0, 69 [SEP] 57, Spoon, 0.773, 0.912, -0.555, 0, 0, 0, 67 [SEP] 58, Cup, 0.688, 0.908, 0.313, 0, 0, 0, 67 [SEP] 59, Mug, 1.060, 1.790, -1.132, 0, 270, 0, 88 [SEP] 60, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 61, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 62, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 63, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 64, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 65, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 66, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 67, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 68, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 69, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 70, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 71, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 72, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 73, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 74, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 75, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 76, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 77, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 78, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 79, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 80, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 81, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 82, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 83, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 84, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 85, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 86, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 87, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 88, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 89, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 90, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 91, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 92, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 93, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 94, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 95, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 96, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 97, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 98, NorthWall, , , , , , , [SEP] 99, EastWall, , , , , , , [SEP] 100, SouthWall, , , , , , , [SEP] 101, WestWall, , , , , , , ", "output": ["STEP 1: Walk forward to the fridge then turn right and walk until you hit a wall then turn left to face a coffee pot. | STEP 2: Pick up the green apple to the left of the coffee pot. | STEP 3: Turn left and position yourself in front of the stove. | STEP 4: Cook the apple in the microwave and take it back out and close the door. | STEP 5: Turn left and walk to the front of the fridge so you are facing it. | STEP 6: Place the apple on the middle of the middle shelf towards the front. | END"]} +{"id": "trial_T20190906_182353_418140-2", "input": "Put a heated green apple in the fridge between the lettuce and the potato. 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, Potato, 0.965, 1.432, 1.540, 0, 270, 0, 89 [SEP] 2, Potato, 0.688, 0.941, -1.965, 0, 0, 0, 72 [SEP] 3, CreditCard, -1.363, 0.551, 2.563, 0, 0, 0, 92 [SEP] 4, CellPhone, -0.477, 0.930, -1.463, 0, 0, 0, 66 [SEP] 5, CellPhone, 0.944, 0.908, 0.139, 0, 0, 0, 67 [SEP] 6, DishSponge, -0.550, 0.933, 0.162, 0, 0, 0, 66 [SEP] 7, DishSponge, -0.808, 0.780, -0.745, 0, 90, 0, 87 [SEP] 8, Fork, 1.029, 0.911, -0.381, 0, 0, 0, 67 [SEP] 9, Fork, 0.859, 0.911, -0.208, 0, 0, 0, 67 [SEP] 10, Spoon, 0.859, 0.912, -0.729, 0, 90, 0, 67 [SEP] 11, Spoon, 1.114, 0.912, -0.729, 0, 0, 0, 67 [SEP] 12, Spatula, 0.914, 0.168, -0.531, 0, 0, 0, 69 [SEP] 13, Spatula, 1.114, 0.926, -0.034, 0, 90, 0, 67 [SEP] 14, Pot, -1.229, 0.936, 0.144, 0, 0, 0, 66 [SEP] 15, Pot, -0.698, 0.936, -1.308, 0, 0, 0, 66 [SEP] 16, Knife, 0.944, 0.934, -0.034, 0, 0, 0, 67 [SEP] 17, Egg, 0.905, 0.900, 1.444, 0, 270, 0, 89 [SEP] 18, Cup, 1.087, 1.132, 1.254, 0, 270, 0, 89 [SEP] 19, Cup, 0.905, 1.132, 1.349, 0, 270, 0, 89 [SEP] 20, Plate, 1.102, 1.669, -0.593, 0, 270, 0, 75 [SEP] 21, Plate, 0.905, 1.405, 1.063, 0, 270, 0, 89 [SEP] 22, Tomato, 0.773, 0.952, -0.729, 0, 0, 0, 67 [SEP] 23, SoapBottle, 1.194, 1.666, -2.029, 0, 270, 0, 65 [SEP] 24, Bowl, -1.467, 0.557, 2.822, 0, 0, 0, 92 [SEP] 25, Bowl, 1.026, 1.646, 1.444, 0, 270, 0, 89 [SEP] 26, SaltShaker, 1.126, 2.204, -0.973, 0, 270, 0, 73 [SEP] 27, Lettuce, 0.966, 0.940, 1.349, 0, 270, 0, 89 [SEP] 28, Mug, 1.026, 0.858, 0.967, 0, 270, 0, 89 [SEP] 29, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 85 [SEP] 30, Apple, -1.007, 0.227, 0.543, 0, 180, 0, 86 [SEP] 31, Apple, 0.688, 0.961, -2.308, 0, 0, 0, 72 [SEP] 32, Statue, 0.773, 0.914, -0.381, 0, 90, 0, 67 [SEP] 33, Glassbottle, -1.571, 0.882, 2.692, 0, 0, 0, 93 [SEP] 34, Bread, -0.779, 0.996, 0.21, 0, 258.641, 0, 66 [SEP] 35, CreditCard, 0.875, 0.491, -0.607, 0, 270, 0, 70 [SEP] 36, CellPhone, 0.834, 0.700, -0.690, 0, 270, 0, 64 [SEP] 37, Potato, 0.966, 0.893, 1.158, 0, 270, 0, 89 [SEP] 38, Knife, -1.104, 0.957, -1.167, 0, 90, 0, 66 [SEP] 39, Fork, -1.292, 0.934, -0.380, 0, 0, 0, 66 [SEP] 40, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 60 [SEP] 41, Lettuce, -1.292, 1.010, -0.905, 0, 0, 0, 66 [SEP] 42, Plate, 0.861, 0.111, -1.972, 0, 0, 0, 71 [SEP] 43, Apple, 0.773, 0.961, -1.879, 0, 0, 0, 72 [SEP] 44, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 62 [SEP] 45, Spatula, 1.199, 0.926, -1.793, 0, 270, 0, 72 [SEP] 46, PaperTowelRoll, -1.355, 1.037, -0.643, 0, 0, 0, 66 [SEP] 47, Tomato, 0.905, 1.442, 1.254, 0, 270, 0, 89 [SEP] 48, Egg, -0.697, 0.818, -0.918, 0, 90, 0, 87 [SEP] 49, SaltShaker, -1.674, 0.878, 2.665, 0, 0, 0, 93 [SEP] 50, PepperShaker, 0.915, 0.698, -0.607, 0, 270, 0, 64 [SEP] 51, Vase, 1.194, 1.666, -0.337, 0, 270, 0, 75 [SEP] 52, ButterKnife, 0.944, 0.911, -0.729, 0, 0, 0, 67 [SEP] 53, SoapBottle, 0.964, 0.121, 0.398, 0, 270, 0, 61 [SEP] 54, Vase, -1.104, 0.934, -0.118, 0, 0, 0, 66 [SEP] 55, Bowl, -0.642, 0.783, -0.745, 0, 90, 0, 87 [SEP] 56, DishSponge, 0.914, 0.153, -0.650, 0, 270, 0, 69 [SEP] 57, Spoon, 0.773, 0.912, -0.555, 0, 0, 0, 67 [SEP] 58, Cup, 0.688, 0.908, 0.313, 0, 0, 0, 67 [SEP] 59, Mug, 1.060, 1.790, -1.132, 0, 270, 0, 88 [SEP] 60, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 61, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 62, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 63, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 64, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 65, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 66, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 67, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 68, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 69, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 70, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 71, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 72, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 73, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 74, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 75, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 76, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 77, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 78, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 79, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 80, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 81, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 82, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 83, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 84, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 85, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 86, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 87, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 88, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 89, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 90, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 91, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 92, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 93, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 94, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 95, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 96, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 97, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 98, NorthWall, , , , , , , [SEP] 99, EastWall, , , , , , , [SEP] 100, SouthWall, , , , , , , [SEP] 101, WestWall, , , , , , , ", "output": ["STEP 1: Walk straight, turn right near the fridge, walk straight towards the wall and turn left to face the counter top. | STEP 2: Pick up the green apple next to the stove. | STEP 3: Walk slightly to the left to the stove and look up to the microwave on top of the stove. | STEP 4: Open the microwave, heat it up for a few seconds, pick it up again from the microwave and close the microwave. | STEP 5: Walk to the left to go to the fridge. | STEP 6: Put the apple in the fridge between the lettuce and the potato. | END"]} +{"id": "trial_T20190906_182353_418140-3", "input": "Put the heated 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, -3.0, 0.900, 1.0, 0, 90, 0, [SEP] 1, Potato, 0.965, 1.432, 1.540, 0, 270, 0, 89 [SEP] 2, Potato, 0.688, 0.941, -1.965, 0, 0, 0, 72 [SEP] 3, CreditCard, -1.363, 0.551, 2.563, 0, 0, 0, 92 [SEP] 4, CellPhone, -0.477, 0.930, -1.463, 0, 0, 0, 66 [SEP] 5, CellPhone, 0.944, 0.908, 0.139, 0, 0, 0, 67 [SEP] 6, DishSponge, -0.550, 0.933, 0.162, 0, 0, 0, 66 [SEP] 7, DishSponge, -0.808, 0.780, -0.745, 0, 90, 0, 87 [SEP] 8, Fork, 1.029, 0.911, -0.381, 0, 0, 0, 67 [SEP] 9, Fork, 0.859, 0.911, -0.208, 0, 0, 0, 67 [SEP] 10, Spoon, 0.859, 0.912, -0.729, 0, 90, 0, 67 [SEP] 11, Spoon, 1.114, 0.912, -0.729, 0, 0, 0, 67 [SEP] 12, Spatula, 0.914, 0.168, -0.531, 0, 0, 0, 69 [SEP] 13, Spatula, 1.114, 0.926, -0.034, 0, 90, 0, 67 [SEP] 14, Pot, -1.229, 0.936, 0.144, 0, 0, 0, 66 [SEP] 15, Pot, -0.698, 0.936, -1.308, 0, 0, 0, 66 [SEP] 16, Knife, 0.944, 0.934, -0.034, 0, 0, 0, 67 [SEP] 17, Egg, 0.905, 0.900, 1.444, 0, 270, 0, 89 [SEP] 18, Cup, 1.087, 1.132, 1.254, 0, 270, 0, 89 [SEP] 19, Cup, 0.905, 1.132, 1.349, 0, 270, 0, 89 [SEP] 20, Plate, 1.102, 1.669, -0.593, 0, 270, 0, 75 [SEP] 21, Plate, 0.905, 1.405, 1.063, 0, 270, 0, 89 [SEP] 22, Tomato, 0.773, 0.952, -0.729, 0, 0, 0, 67 [SEP] 23, SoapBottle, 1.194, 1.666, -2.029, 0, 270, 0, 65 [SEP] 24, Bowl, -1.467, 0.557, 2.822, 0, 0, 0, 92 [SEP] 25, Bowl, 1.026, 1.646, 1.444, 0, 270, 0, 89 [SEP] 26, SaltShaker, 1.126, 2.204, -0.973, 0, 270, 0, 73 [SEP] 27, Lettuce, 0.966, 0.940, 1.349, 0, 270, 0, 89 [SEP] 28, Mug, 1.026, 0.858, 0.967, 0, 270, 0, 89 [SEP] 29, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 85 [SEP] 30, Apple, -1.007, 0.227, 0.543, 0, 180, 0, 86 [SEP] 31, Apple, 0.688, 0.961, -2.308, 0, 0, 0, 72 [SEP] 32, Statue, 0.773, 0.914, -0.381, 0, 90, 0, 67 [SEP] 33, Glassbottle, -1.571, 0.882, 2.692, 0, 0, 0, 93 [SEP] 34, Bread, -0.779, 0.996, 0.21, 0, 258.641, 0, 66 [SEP] 35, CreditCard, 0.875, 0.491, -0.607, 0, 270, 0, 70 [SEP] 36, CellPhone, 0.834, 0.700, -0.690, 0, 270, 0, 64 [SEP] 37, Potato, 0.966, 0.893, 1.158, 0, 270, 0, 89 [SEP] 38, Knife, -1.104, 0.957, -1.167, 0, 90, 0, 66 [SEP] 39, Fork, -1.292, 0.934, -0.380, 0, 0, 0, 66 [SEP] 40, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 60 [SEP] 41, Lettuce, -1.292, 1.010, -0.905, 0, 0, 0, 66 [SEP] 42, Plate, 0.861, 0.111, -1.972, 0, 0, 0, 71 [SEP] 43, Apple, 0.773, 0.961, -1.879, 0, 0, 0, 72 [SEP] 44, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 62 [SEP] 45, Spatula, 1.199, 0.926, -1.793, 0, 270, 0, 72 [SEP] 46, PaperTowelRoll, -1.355, 1.037, -0.643, 0, 0, 0, 66 [SEP] 47, Tomato, 0.905, 1.442, 1.254, 0, 270, 0, 89 [SEP] 48, Egg, -0.697, 0.818, -0.918, 0, 90, 0, 87 [SEP] 49, SaltShaker, -1.674, 0.878, 2.665, 0, 0, 0, 93 [SEP] 50, PepperShaker, 0.915, 0.698, -0.607, 0, 270, 0, 64 [SEP] 51, Vase, 1.194, 1.666, -0.337, 0, 270, 0, 75 [SEP] 52, ButterKnife, 0.944, 0.911, -0.729, 0, 0, 0, 67 [SEP] 53, SoapBottle, 0.964, 0.121, 0.398, 0, 270, 0, 61 [SEP] 54, Vase, -1.104, 0.934, -0.118, 0, 0, 0, 66 [SEP] 55, Bowl, -0.642, 0.783, -0.745, 0, 90, 0, 87 [SEP] 56, DishSponge, 0.914, 0.153, -0.650, 0, 270, 0, 69 [SEP] 57, Spoon, 0.773, 0.912, -0.555, 0, 0, 0, 67 [SEP] 58, Cup, 0.688, 0.908, 0.313, 0, 0, 0, 67 [SEP] 59, Mug, 1.060, 1.790, -1.132, 0, 270, 0, 88 [SEP] 60, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 61, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 62, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 63, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 64, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 65, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 66, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 67, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 68, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 69, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 70, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 71, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 72, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 73, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 74, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 75, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 76, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 77, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 78, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 79, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 80, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 81, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 82, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 83, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 84, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 85, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 86, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 87, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 88, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 89, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 90, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 91, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 92, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 93, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 94, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 95, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 96, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 97, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 98, NorthWall, , , , , , , [SEP] 99, EastWall, , , , , , , [SEP] 100, SouthWall, , , , , , , [SEP] 101, WestWall, , , , , , , ", "output": ["STEP 1: Walk straight towards the fridge then turn right head to the coffee maker on your left | STEP 2: Pick up the apple on the left side of the coffee maker | STEP 3: Turn to your left then walk straight face the microwave on your right | STEP 4: Open the microwave warm the apple then get it again close the microwave | STEP 5: Turn to your left walk straight head to the fridge | STEP 6: Open the fridge and put in the apple then close the fridge | END"]} +{"id": "trial_T20190906_182353_418140-4", "input": "Place the heated 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, -3.0, 0.900, 1.0, 0, 90, 0, [SEP] 1, Potato, 0.965, 1.432, 1.540, 0, 270, 0, 89 [SEP] 2, Potato, 0.688, 0.941, -1.965, 0, 0, 0, 72 [SEP] 3, CreditCard, -1.363, 0.551, 2.563, 0, 0, 0, 92 [SEP] 4, CellPhone, -0.477, 0.930, -1.463, 0, 0, 0, 66 [SEP] 5, CellPhone, 0.944, 0.908, 0.139, 0, 0, 0, 67 [SEP] 6, DishSponge, -0.550, 0.933, 0.162, 0, 0, 0, 66 [SEP] 7, DishSponge, -0.808, 0.780, -0.745, 0, 90, 0, 87 [SEP] 8, Fork, 1.029, 0.911, -0.381, 0, 0, 0, 67 [SEP] 9, Fork, 0.859, 0.911, -0.208, 0, 0, 0, 67 [SEP] 10, Spoon, 0.859, 0.912, -0.729, 0, 90, 0, 67 [SEP] 11, Spoon, 1.114, 0.912, -0.729, 0, 0, 0, 67 [SEP] 12, Spatula, 0.914, 0.168, -0.531, 0, 0, 0, 69 [SEP] 13, Spatula, 1.114, 0.926, -0.034, 0, 90, 0, 67 [SEP] 14, Pot, -1.229, 0.936, 0.144, 0, 0, 0, 66 [SEP] 15, Pot, -0.698, 0.936, -1.308, 0, 0, 0, 66 [SEP] 16, Knife, 0.944, 0.934, -0.034, 0, 0, 0, 67 [SEP] 17, Egg, 0.905, 0.900, 1.444, 0, 270, 0, 89 [SEP] 18, Cup, 1.087, 1.132, 1.254, 0, 270, 0, 89 [SEP] 19, Cup, 0.905, 1.132, 1.349, 0, 270, 0, 89 [SEP] 20, Plate, 1.102, 1.669, -0.593, 0, 270, 0, 75 [SEP] 21, Plate, 0.905, 1.405, 1.063, 0, 270, 0, 89 [SEP] 22, Tomato, 0.773, 0.952, -0.729, 0, 0, 0, 67 [SEP] 23, SoapBottle, 1.194, 1.666, -2.029, 0, 270, 0, 65 [SEP] 24, Bowl, -1.467, 0.557, 2.822, 0, 0, 0, 92 [SEP] 25, Bowl, 1.026, 1.646, 1.444, 0, 270, 0, 89 [SEP] 26, SaltShaker, 1.126, 2.204, -0.973, 0, 270, 0, 73 [SEP] 27, Lettuce, 0.966, 0.940, 1.349, 0, 270, 0, 89 [SEP] 28, Mug, 1.026, 0.858, 0.967, 0, 270, 0, 89 [SEP] 29, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 85 [SEP] 30, Apple, -1.007, 0.227, 0.543, 0, 180, 0, 86 [SEP] 31, Apple, 0.688, 0.961, -2.308, 0, 0, 0, 72 [SEP] 32, Statue, 0.773, 0.914, -0.381, 0, 90, 0, 67 [SEP] 33, Glassbottle, -1.571, 0.882, 2.692, 0, 0, 0, 93 [SEP] 34, Bread, -0.779, 0.996, 0.21, 0, 258.641, 0, 66 [SEP] 35, CreditCard, 0.875, 0.491, -0.607, 0, 270, 0, 70 [SEP] 36, CellPhone, 0.834, 0.700, -0.690, 0, 270, 0, 64 [SEP] 37, Potato, 0.966, 0.893, 1.158, 0, 270, 0, 89 [SEP] 38, Knife, -1.104, 0.957, -1.167, 0, 90, 0, 66 [SEP] 39, Fork, -1.292, 0.934, -0.380, 0, 0, 0, 66 [SEP] 40, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 60 [SEP] 41, Lettuce, -1.292, 1.010, -0.905, 0, 0, 0, 66 [SEP] 42, Plate, 0.861, 0.111, -1.972, 0, 0, 0, 71 [SEP] 43, Apple, 0.773, 0.961, -1.879, 0, 0, 0, 72 [SEP] 44, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 62 [SEP] 45, Spatula, 1.199, 0.926, -1.793, 0, 270, 0, 72 [SEP] 46, PaperTowelRoll, -1.355, 1.037, -0.643, 0, 0, 0, 66 [SEP] 47, Tomato, 0.905, 1.442, 1.254, 0, 270, 0, 89 [SEP] 48, Egg, -0.697, 0.818, -0.918, 0, 90, 0, 87 [SEP] 49, SaltShaker, -1.674, 0.878, 2.665, 0, 0, 0, 93 [SEP] 50, PepperShaker, 0.915, 0.698, -0.607, 0, 270, 0, 64 [SEP] 51, Vase, 1.194, 1.666, -0.337, 0, 270, 0, 75 [SEP] 52, ButterKnife, 0.944, 0.911, -0.729, 0, 0, 0, 67 [SEP] 53, SoapBottle, 0.964, 0.121, 0.398, 0, 270, 0, 61 [SEP] 54, Vase, -1.104, 0.934, -0.118, 0, 0, 0, 66 [SEP] 55, Bowl, -0.642, 0.783, -0.745, 0, 90, 0, 87 [SEP] 56, DishSponge, 0.914, 0.153, -0.650, 0, 270, 0, 69 [SEP] 57, Spoon, 0.773, 0.912, -0.555, 0, 0, 0, 67 [SEP] 58, Cup, 0.688, 0.908, 0.313, 0, 0, 0, 67 [SEP] 59, Mug, 1.060, 1.790, -1.132, 0, 270, 0, 88 [SEP] 60, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 61, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 62, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 63, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 64, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 65, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 66, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 67, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 68, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 69, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 70, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 71, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 72, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 73, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 74, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 75, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 76, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 77, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 78, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 79, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 80, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 81, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 82, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 83, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 84, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 85, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 86, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 87, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 88, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 89, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 90, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 91, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 92, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 93, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 94, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 95, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 96, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 97, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 98, NorthWall, , , , , , , [SEP] 99, EastWall, , , , , , , [SEP] 100, SouthWall, , , , , , , [SEP] 101, WestWall, , , , , , , ", "output": ["STEP 1: Walk towards the fridge, turn right towards the window, turn left to face the coffee maker. | STEP 2: Pick up the left green apple on the counter. | STEP 3: Turn left, walk to the middle of the stove, and then turn right to face it. | STEP 4: Place the apple inside the microwave directly above the stove to heat it, and take the apple out. | STEP 5: Turn left, walk towards the fridge, and turn right to face the fridge. | STEP 6: Open the fridge and place the apple in front of the lettuce. | END"]} +{"id": "trial_T20190906_182353_418140-5", "input": "Put a heated 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, -3.0, 0.900, 1.0, 0, 90, 0, [SEP] 1, Potato, 0.965, 1.432, 1.540, 0, 270, 0, 89 [SEP] 2, Potato, 0.688, 0.941, -1.965, 0, 0, 0, 72 [SEP] 3, CreditCard, -1.363, 0.551, 2.563, 0, 0, 0, 92 [SEP] 4, CellPhone, -0.477, 0.930, -1.463, 0, 0, 0, 66 [SEP] 5, CellPhone, 0.944, 0.908, 0.139, 0, 0, 0, 67 [SEP] 6, DishSponge, -0.550, 0.933, 0.162, 0, 0, 0, 66 [SEP] 7, DishSponge, -0.808, 0.780, -0.745, 0, 90, 0, 87 [SEP] 8, Fork, 1.029, 0.911, -0.381, 0, 0, 0, 67 [SEP] 9, Fork, 0.859, 0.911, -0.208, 0, 0, 0, 67 [SEP] 10, Spoon, 0.859, 0.912, -0.729, 0, 90, 0, 67 [SEP] 11, Spoon, 1.114, 0.912, -0.729, 0, 0, 0, 67 [SEP] 12, Spatula, 0.914, 0.168, -0.531, 0, 0, 0, 69 [SEP] 13, Spatula, 1.114, 0.926, -0.034, 0, 90, 0, 67 [SEP] 14, Pot, -1.229, 0.936, 0.144, 0, 0, 0, 66 [SEP] 15, Pot, -0.698, 0.936, -1.308, 0, 0, 0, 66 [SEP] 16, Knife, 0.944, 0.934, -0.034, 0, 0, 0, 67 [SEP] 17, Egg, 0.905, 0.900, 1.444, 0, 270, 0, 89 [SEP] 18, Cup, 1.087, 1.132, 1.254, 0, 270, 0, 89 [SEP] 19, Cup, 0.905, 1.132, 1.349, 0, 270, 0, 89 [SEP] 20, Plate, 1.102, 1.669, -0.593, 0, 270, 0, 75 [SEP] 21, Plate, 0.905, 1.405, 1.063, 0, 270, 0, 89 [SEP] 22, Tomato, 0.773, 0.952, -0.729, 0, 0, 0, 67 [SEP] 23, SoapBottle, 1.194, 1.666, -2.029, 0, 270, 0, 65 [SEP] 24, Bowl, -1.467, 0.557, 2.822, 0, 0, 0, 92 [SEP] 25, Bowl, 1.026, 1.646, 1.444, 0, 270, 0, 89 [SEP] 26, SaltShaker, 1.126, 2.204, -0.973, 0, 270, 0, 73 [SEP] 27, Lettuce, 0.966, 0.940, 1.349, 0, 270, 0, 89 [SEP] 28, Mug, 1.026, 0.858, 0.967, 0, 270, 0, 89 [SEP] 29, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 85 [SEP] 30, Apple, -1.007, 0.227, 0.543, 0, 180, 0, 86 [SEP] 31, Apple, 0.688, 0.961, -2.308, 0, 0, 0, 72 [SEP] 32, Statue, 0.773, 0.914, -0.381, 0, 90, 0, 67 [SEP] 33, Glassbottle, -1.571, 0.882, 2.692, 0, 0, 0, 93 [SEP] 34, Bread, -0.779, 0.996, 0.21, 0, 258.641, 0, 66 [SEP] 35, CreditCard, 0.875, 0.491, -0.607, 0, 270, 0, 70 [SEP] 36, CellPhone, 0.834, 0.700, -0.690, 0, 270, 0, 64 [SEP] 37, Potato, 0.966, 0.893, 1.158, 0, 270, 0, 89 [SEP] 38, Knife, -1.104, 0.957, -1.167, 0, 90, 0, 66 [SEP] 39, Fork, -1.292, 0.934, -0.380, 0, 0, 0, 66 [SEP] 40, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 60 [SEP] 41, Lettuce, -1.292, 1.010, -0.905, 0, 0, 0, 66 [SEP] 42, Plate, 0.861, 0.111, -1.972, 0, 0, 0, 71 [SEP] 43, Apple, 0.773, 0.961, -1.879, 0, 0, 0, 72 [SEP] 44, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 62 [SEP] 45, Spatula, 1.199, 0.926, -1.793, 0, 270, 0, 72 [SEP] 46, PaperTowelRoll, -1.355, 1.037, -0.643, 0, 0, 0, 66 [SEP] 47, Tomato, 0.905, 1.442, 1.254, 0, 270, 0, 89 [SEP] 48, Egg, -0.697, 0.818, -0.918, 0, 90, 0, 87 [SEP] 49, SaltShaker, -1.674, 0.878, 2.665, 0, 0, 0, 93 [SEP] 50, PepperShaker, 0.915, 0.698, -0.607, 0, 270, 0, 64 [SEP] 51, Vase, 1.194, 1.666, -0.337, 0, 270, 0, 75 [SEP] 52, ButterKnife, 0.944, 0.911, -0.729, 0, 0, 0, 67 [SEP] 53, SoapBottle, 0.964, 0.121, 0.398, 0, 270, 0, 61 [SEP] 54, Vase, -1.104, 0.934, -0.118, 0, 0, 0, 66 [SEP] 55, Bowl, -0.642, 0.783, -0.745, 0, 90, 0, 87 [SEP] 56, DishSponge, 0.914, 0.153, -0.650, 0, 270, 0, 69 [SEP] 57, Spoon, 0.773, 0.912, -0.555, 0, 0, 0, 67 [SEP] 58, Cup, 0.688, 0.908, 0.313, 0, 0, 0, 67 [SEP] 59, Mug, 1.060, 1.790, -1.132, 0, 270, 0, 88 [SEP] 60, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 61, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 62, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 63, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 64, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 65, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 66, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 67, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 68, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 69, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 70, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 71, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 72, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 73, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 74, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 75, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 76, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 77, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 78, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 79, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 80, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 81, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 82, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 83, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 84, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 85, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 86, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 87, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 88, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 89, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 90, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 91, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 92, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 93, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 94, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 95, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 96, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 97, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 98, NorthWall, , , , , , , [SEP] 99, EastWall, , , , , , , [SEP] 100, SouthWall, , , , , , , [SEP] 101, WestWall, , , , , , , ", "output": ["STEP 1: Go forward to the fridge then turn right, then go forward and turn left at the counter with the coffee maker. | STEP 2: Pick up the apple on the counter, to the left of the coffee maker. | STEP 3: Turn left, go straight, then turn right and look up to face the microwave. | STEP 4: Heat the apple in the microwave. | STEP 5: Go to the fridge, to your left. | STEP 6: Put the apple in the fridge, to the right of the lettuce. | END"]} +{"id": "trial_T20190908_205246_776817-0", "input": "Put the gold vase into the white safe SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -5.5, 0.901, 3.0, 0, 180, 0, [SEP] 1, Newspaper, -0.273, 1.597, 1.189, 0, 270, 0, 50 [SEP] 2, Newspaper, -4.809, 0.210, 4.459, 0, 90, 0, 62 [SEP] 3, CellPhone, -4.184, 1.108, 4.292, 0, 90, 0, 54 [SEP] 4, CellPhone, -1.835, 0.590, 4.644, 0, 0, 0, 53 [SEP] 5, Statue, -1.368, 0.598, 0.221, 0, 0, 0, 49 [SEP] 6, Vase, -1.277, 1.105, 0.265, 0, 0, 0, 45 [SEP] 7, Watch, -5.503, 1.976, 0.121, 0, 0, 0, 32 [SEP] 8, Watch, -4.184, 1.108, 4.687, 0, 90, 0, 59 [SEP] 9, KeyChain, -4.826, 1.112, 4.391, 0, 180, 0, 60 [SEP] 10, KeyChain, -3.543, 1.108, 4.786, 0, 90, 0, 59 [SEP] 11, CreditCard, -5.194, 1.038, 0.107, 0, 0, 0, 41 [SEP] 12, Box, -0.213, 0.295, 1.011, 0, 90, 0, 44 [SEP] 13, Laptop, -1.584, 0.588, 4.297, 0, 0, 0, 53 [SEP] 14, Laptop, -0.952, 0.620, 2.753, 0, 0, 0, 63 [SEP] 15, Box, -4.085, 0.421, 4.589, 0, 0, 0, 56 [SEP] 16, Watch, -5.534, 1.039, 0.372, 0, 0, 0, 41 [SEP] 17, Pillow, -2.031, 0.668, 4.421, 0, 0, 0, 53 [SEP] 18, TissueBox, -4.826, 1.109, 4.490, 0, 90, 0, 59 [SEP] 19, Newspaper, -0.787, 0.615, 3.281, 0, 0, 0, 63 [SEP] 20, CreditCard, -4.717, 0.861, 0.241, 0, 0, 0, 40 [SEP] 21, KeyChain, -2.244, 0.034, 0.317, 0, 90, 0, 42 [SEP] 22, CellPhone, -5.534, 1.039, 0.173, 0, 0, 0, 41 [SEP] 23, Statue, -3.222, 1.117, 4.786, 0, 90, 0, 59 [SEP] 24, Laptop, -3.393, 1.104, 4.492, 0, 191.867, 0, 59 [SEP] 25, RemoteControl, -3.863, 1.110, 4.292, 0, 90, 0, 55 [SEP] 26, Vase, -2.914, 0.203, 4.589, 0, 90, 0, 58 [SEP] 27, DeskLamp, -4.649, 1.051, 0.268, 0, 0, 0, [SEP] 28, DeskLamp, -2.992, 1.107, 4.522, 0, 0, 0, [SEP] 29, FloorLamp, -0.650, 0.007, 4.431, 0, 0, 0, [SEP] 30, FloorLamp, -5.607, 0.007, 4.641, 0, 0, 0, [SEP] 31, Shelf, -5.237, 1.776, 0.070, 0, 0, 0, [SEP] 32, Shelf, -5.238, 1.968, 0.085, 0, 0, 0, [SEP] 33, Shelf, -5.242, 1.391, 0.086, 0, 0, 0, [SEP] 34, Shelf, -5.241, 1.582, 0.065, 0, 0, 0, [SEP] 35, LightSwitch, -6.002, 1.353, 3.404, 0, 90, 0, [SEP] 36, GarbageCan, -5.794, -0.033, 4.073, 0, 90, 0, [SEP] 37, Painting, -6.017, 1.802, 4.177, 90, 270, 0, [SEP] 38, HousePlant, -3.966, 1.625, 0.135, 0, 315, 0, [SEP] 39, Television, -3.355, 0.833, 0.027, 0, 0, 0, [SEP] 40, Drawer, -5.024, 0.903, 0.370, 0, 0, 0, [SEP] 41, SideTable, -5.024, 0.008, 0.267, 0, 0, 0, [SEP] 42, Safe, -2.298, 5.778, 0.268, 0, 90, 0, [SEP] 43, Shelf, -0.253, 0.781, 1.058, 0, 270, 0, [SEP] 44, Shelf, -0.283, 0.274, 1.066, 0, 270, 0, [SEP] 45, Shelf, -1.224, 1.288, 0.270, 0, 0, 0, [SEP] 46, Shelf, -1.218, 1.810, 0.275, 0, 0, 0, [SEP] 47, Shelf, -0.280, 1.810, 1.057, 0, 270, 0, [SEP] 48, Shelf, -1.218, 0.274, 0.262, 0, 0, 0, [SEP] 49, Shelf, -1.223, 0.782, 0.237, 0, 0, 0, [SEP] 50, Shelf, -0.280, 1.288, 1.055, 0, 270, 0, [SEP] 51, ShelvingUnit, -0.268, 0.004, 1.067, 0, 270, 0, [SEP] 52, ShelvingUnit, -1.218, 0.004, 0.244, 0, 0, 0, [SEP] 53, ArmChair, -2.027, 0.001, 4.422, 0, 178.692, 0, [SEP] 54, Drawer, -4.329, 1.014, 4.311, 0, 180, 0, [SEP] 55, Drawer, -3.750, 1.014, 4.311, 0, 180, 0, [SEP] 56, Cabinet, -4.049, 0.561, 4.212, 0, 180, 0, [SEP] 57, Cabinet, -4.032, 0.561, 4.212, 0, 180, 0, [SEP] 58, Cabinet, -2.884, 0.561, 4.212, 0, 180, 0, [SEP] 59, Dresser, -4.041, -0.000, 4.589, 0, 180, 0, [SEP] 60, Drawer, -4.916, 1.014, 4.311, 0, 180, 0, [SEP] 61, Drawer, -3.166, 1.014, 4.311, 0, 180, 0, [SEP] 62, Cabinet, -5.196, 0.561, 4.212, 0, 180, 0, [SEP] 63, Sofa, -0.705, -0.002, 2.753, 0, 270, 0, [SEP] 64, NorthWall, , , , , , , [SEP] 65, SouthWall, , , , , , , [SEP] 66, SouthWall, , , , , , , ", "output": ["STEP 1: Go forward to the table then turn left and walk straight until you reach the white shelves in front of you. Face the shelf on your right. | STEP 2: Pick up the gold vase that is on the shelf | STEP 3: Turn in a circle and face the white safe on the floor next to the shelf. | STEP 4: Open the safe, place the vase inside the safe, and shut the safe | END"]} +{"id": "trial_T20190908_205246_776817-1", "input": "Place a gold bottle in a safe. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -5.5, 0.901, 3.0, 0, 180, 0, [SEP] 1, Newspaper, -0.273, 1.597, 1.189, 0, 270, 0, 50 [SEP] 2, Newspaper, -4.809, 0.210, 4.459, 0, 90, 0, 62 [SEP] 3, CellPhone, -4.184, 1.108, 4.292, 0, 90, 0, 54 [SEP] 4, CellPhone, -1.835, 0.590, 4.644, 0, 0, 0, 53 [SEP] 5, Statue, -1.368, 0.598, 0.221, 0, 0, 0, 49 [SEP] 6, Vase, -1.277, 1.105, 0.265, 0, 0, 0, 45 [SEP] 7, Watch, -5.503, 1.976, 0.121, 0, 0, 0, 32 [SEP] 8, Watch, -4.184, 1.108, 4.687, 0, 90, 0, 59 [SEP] 9, KeyChain, -4.826, 1.112, 4.391, 0, 180, 0, 60 [SEP] 10, KeyChain, -3.543, 1.108, 4.786, 0, 90, 0, 59 [SEP] 11, CreditCard, -5.194, 1.038, 0.107, 0, 0, 0, 41 [SEP] 12, Box, -0.213, 0.295, 1.011, 0, 90, 0, 44 [SEP] 13, Laptop, -1.584, 0.588, 4.297, 0, 0, 0, 53 [SEP] 14, Laptop, -0.952, 0.620, 2.753, 0, 0, 0, 63 [SEP] 15, Box, -4.085, 0.421, 4.589, 0, 0, 0, 56 [SEP] 16, Watch, -5.534, 1.039, 0.372, 0, 0, 0, 41 [SEP] 17, Pillow, -2.031, 0.668, 4.421, 0, 0, 0, 53 [SEP] 18, TissueBox, -4.826, 1.109, 4.490, 0, 90, 0, 59 [SEP] 19, Newspaper, -0.787, 0.615, 3.281, 0, 0, 0, 63 [SEP] 20, CreditCard, -4.717, 0.861, 0.241, 0, 0, 0, 40 [SEP] 21, KeyChain, -2.244, 0.034, 0.317, 0, 90, 0, 42 [SEP] 22, CellPhone, -5.534, 1.039, 0.173, 0, 0, 0, 41 [SEP] 23, Statue, -3.222, 1.117, 4.786, 0, 90, 0, 59 [SEP] 24, Laptop, -3.393, 1.104, 4.492, 0, 191.867, 0, 59 [SEP] 25, RemoteControl, -3.863, 1.110, 4.292, 0, 90, 0, 55 [SEP] 26, Vase, -2.914, 0.203, 4.589, 0, 90, 0, 58 [SEP] 27, DeskLamp, -4.649, 1.051, 0.268, 0, 0, 0, [SEP] 28, DeskLamp, -2.992, 1.107, 4.522, 0, 0, 0, [SEP] 29, FloorLamp, -0.650, 0.007, 4.431, 0, 0, 0, [SEP] 30, FloorLamp, -5.607, 0.007, 4.641, 0, 0, 0, [SEP] 31, Shelf, -5.237, 1.776, 0.070, 0, 0, 0, [SEP] 32, Shelf, -5.238, 1.968, 0.085, 0, 0, 0, [SEP] 33, Shelf, -5.242, 1.391, 0.086, 0, 0, 0, [SEP] 34, Shelf, -5.241, 1.582, 0.065, 0, 0, 0, [SEP] 35, LightSwitch, -6.002, 1.353, 3.404, 0, 90, 0, [SEP] 36, GarbageCan, -5.794, -0.033, 4.073, 0, 90, 0, [SEP] 37, Painting, -6.017, 1.802, 4.177, 90, 270, 0, [SEP] 38, HousePlant, -3.966, 1.625, 0.135, 0, 315, 0, [SEP] 39, Television, -3.355, 0.833, 0.027, 0, 0, 0, [SEP] 40, Drawer, -5.024, 0.903, 0.370, 0, 0, 0, [SEP] 41, SideTable, -5.024, 0.008, 0.267, 0, 0, 0, [SEP] 42, Safe, -2.298, 5.778, 0.268, 0, 90, 0, [SEP] 43, Shelf, -0.253, 0.781, 1.058, 0, 270, 0, [SEP] 44, Shelf, -0.283, 0.274, 1.066, 0, 270, 0, [SEP] 45, Shelf, -1.224, 1.288, 0.270, 0, 0, 0, [SEP] 46, Shelf, -1.218, 1.810, 0.275, 0, 0, 0, [SEP] 47, Shelf, -0.280, 1.810, 1.057, 0, 270, 0, [SEP] 48, Shelf, -1.218, 0.274, 0.262, 0, 0, 0, [SEP] 49, Shelf, -1.223, 0.782, 0.237, 0, 0, 0, [SEP] 50, Shelf, -0.280, 1.288, 1.055, 0, 270, 0, [SEP] 51, ShelvingUnit, -0.268, 0.004, 1.067, 0, 270, 0, [SEP] 52, ShelvingUnit, -1.218, 0.004, 0.244, 0, 0, 0, [SEP] 53, ArmChair, -2.027, 0.001, 4.422, 0, 178.692, 0, [SEP] 54, Drawer, -4.329, 1.014, 4.311, 0, 180, 0, [SEP] 55, Drawer, -3.750, 1.014, 4.311, 0, 180, 0, [SEP] 56, Cabinet, -4.049, 0.561, 4.212, 0, 180, 0, [SEP] 57, Cabinet, -4.032, 0.561, 4.212, 0, 180, 0, [SEP] 58, Cabinet, -2.884, 0.561, 4.212, 0, 180, 0, [SEP] 59, Dresser, -4.041, -0.000, 4.589, 0, 180, 0, [SEP] 60, Drawer, -4.916, 1.014, 4.311, 0, 180, 0, [SEP] 61, Drawer, -3.166, 1.014, 4.311, 0, 180, 0, [SEP] 62, Cabinet, -5.196, 0.561, 4.212, 0, 180, 0, [SEP] 63, Sofa, -0.705, -0.002, 2.753, 0, 270, 0, [SEP] 64, NorthWall, , , , , , , [SEP] 65, SouthWall, , , , , , , [SEP] 66, SouthWall, , , , , , , ", "output": ["STEP 1: Take a left at the black table ahead and walk to the white book case to the right of the couch. | STEP 2: Pick up the gold bottle on the shelf above the black statue on the book case. | STEP 3: Turn around, take a left at the couch and turn left to face the white safe next to the fireplace. | STEP 4: Put the gold bottle inside the safe and close the door. | END"]} +{"id": "trial_T20190908_205246_776817-2", "input": "Put the golden object from the shelf 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, -5.5, 0.901, 3.0, 0, 180, 0, [SEP] 1, Newspaper, -0.273, 1.597, 1.189, 0, 270, 0, 50 [SEP] 2, Newspaper, -4.809, 0.210, 4.459, 0, 90, 0, 62 [SEP] 3, CellPhone, -4.184, 1.108, 4.292, 0, 90, 0, 54 [SEP] 4, CellPhone, -1.835, 0.590, 4.644, 0, 0, 0, 53 [SEP] 5, Statue, -1.368, 0.598, 0.221, 0, 0, 0, 49 [SEP] 6, Vase, -1.277, 1.105, 0.265, 0, 0, 0, 45 [SEP] 7, Watch, -5.503, 1.976, 0.121, 0, 0, 0, 32 [SEP] 8, Watch, -4.184, 1.108, 4.687, 0, 90, 0, 59 [SEP] 9, KeyChain, -4.826, 1.112, 4.391, 0, 180, 0, 60 [SEP] 10, KeyChain, -3.543, 1.108, 4.786, 0, 90, 0, 59 [SEP] 11, CreditCard, -5.194, 1.038, 0.107, 0, 0, 0, 41 [SEP] 12, Box, -0.213, 0.295, 1.011, 0, 90, 0, 44 [SEP] 13, Laptop, -1.584, 0.588, 4.297, 0, 0, 0, 53 [SEP] 14, Laptop, -0.952, 0.620, 2.753, 0, 0, 0, 63 [SEP] 15, Box, -4.085, 0.421, 4.589, 0, 0, 0, 56 [SEP] 16, Watch, -5.534, 1.039, 0.372, 0, 0, 0, 41 [SEP] 17, Pillow, -2.031, 0.668, 4.421, 0, 0, 0, 53 [SEP] 18, TissueBox, -4.826, 1.109, 4.490, 0, 90, 0, 59 [SEP] 19, Newspaper, -0.787, 0.615, 3.281, 0, 0, 0, 63 [SEP] 20, CreditCard, -4.717, 0.861, 0.241, 0, 0, 0, 40 [SEP] 21, KeyChain, -2.244, 0.034, 0.317, 0, 90, 0, 42 [SEP] 22, CellPhone, -5.534, 1.039, 0.173, 0, 0, 0, 41 [SEP] 23, Statue, -3.222, 1.117, 4.786, 0, 90, 0, 59 [SEP] 24, Laptop, -3.393, 1.104, 4.492, 0, 191.867, 0, 59 [SEP] 25, RemoteControl, -3.863, 1.110, 4.292, 0, 90, 0, 55 [SEP] 26, Vase, -2.914, 0.203, 4.589, 0, 90, 0, 58 [SEP] 27, DeskLamp, -4.649, 1.051, 0.268, 0, 0, 0, [SEP] 28, DeskLamp, -2.992, 1.107, 4.522, 0, 0, 0, [SEP] 29, FloorLamp, -0.650, 0.007, 4.431, 0, 0, 0, [SEP] 30, FloorLamp, -5.607, 0.007, 4.641, 0, 0, 0, [SEP] 31, Shelf, -5.237, 1.776, 0.070, 0, 0, 0, [SEP] 32, Shelf, -5.238, 1.968, 0.085, 0, 0, 0, [SEP] 33, Shelf, -5.242, 1.391, 0.086, 0, 0, 0, [SEP] 34, Shelf, -5.241, 1.582, 0.065, 0, 0, 0, [SEP] 35, LightSwitch, -6.002, 1.353, 3.404, 0, 90, 0, [SEP] 36, GarbageCan, -5.794, -0.033, 4.073, 0, 90, 0, [SEP] 37, Painting, -6.017, 1.802, 4.177, 90, 270, 0, [SEP] 38, HousePlant, -3.966, 1.625, 0.135, 0, 315, 0, [SEP] 39, Television, -3.355, 0.833, 0.027, 0, 0, 0, [SEP] 40, Drawer, -5.024, 0.903, 0.370, 0, 0, 0, [SEP] 41, SideTable, -5.024, 0.008, 0.267, 0, 0, 0, [SEP] 42, Safe, -2.298, 5.778, 0.268, 0, 90, 0, [SEP] 43, Shelf, -0.253, 0.781, 1.058, 0, 270, 0, [SEP] 44, Shelf, -0.283, 0.274, 1.066, 0, 270, 0, [SEP] 45, Shelf, -1.224, 1.288, 0.270, 0, 0, 0, [SEP] 46, Shelf, -1.218, 1.810, 0.275, 0, 0, 0, [SEP] 47, Shelf, -0.280, 1.810, 1.057, 0, 270, 0, [SEP] 48, Shelf, -1.218, 0.274, 0.262, 0, 0, 0, [SEP] 49, Shelf, -1.223, 0.782, 0.237, 0, 0, 0, [SEP] 50, Shelf, -0.280, 1.288, 1.055, 0, 270, 0, [SEP] 51, ShelvingUnit, -0.268, 0.004, 1.067, 0, 270, 0, [SEP] 52, ShelvingUnit, -1.218, 0.004, 0.244, 0, 0, 0, [SEP] 53, ArmChair, -2.027, 0.001, 4.422, 0, 178.692, 0, [SEP] 54, Drawer, -4.329, 1.014, 4.311, 0, 180, 0, [SEP] 55, Drawer, -3.750, 1.014, 4.311, 0, 180, 0, [SEP] 56, Cabinet, -4.049, 0.561, 4.212, 0, 180, 0, [SEP] 57, Cabinet, -4.032, 0.561, 4.212, 0, 180, 0, [SEP] 58, Cabinet, -2.884, 0.561, 4.212, 0, 180, 0, [SEP] 59, Dresser, -4.041, -0.000, 4.589, 0, 180, 0, [SEP] 60, Drawer, -4.916, 1.014, 4.311, 0, 180, 0, [SEP] 61, Drawer, -3.166, 1.014, 4.311, 0, 180, 0, [SEP] 62, Cabinet, -5.196, 0.561, 4.212, 0, 180, 0, [SEP] 63, Sofa, -0.705, -0.002, 2.753, 0, 270, 0, [SEP] 64, NorthWall, , , , , , , [SEP] 65, SouthWall, , , , , , , [SEP] 66, SouthWall, , , , , , , ", "output": ["STEP 1: Move forward, turn left at the end table, walk forward and turn right to face the white shelf. | STEP 2: Grab the golden object from the shelf. | STEP 3: Turn to the right to face the safe. | STEP 4: Place the golden object into the safe. | END"]} +{"id": "trial_T20190909_213855_654145-0", "input": "Place a cold lettuce slice in the black trash can. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.5, 0.900, 1.0, 0, 270, 0, [SEP] 1, Vase, 1.193, 1.667, 0.025, 0, 270, 0, 69 [SEP] 2, Potato, -1.355, 0.963, -0.118, 0, 0, 0, 61 [SEP] 3, Potato, 0.995, 1.825, -1.339, 0, 270, 0, 83 [SEP] 4, CreditCard, 0.944, 0.908, -1.879, 0, 0, 0, 67 [SEP] 5, CreditCard, 0.754, 0.491, -0.565, 0, 270, 0, 65 [SEP] 6, ButterKnife, -1.292, 0.933, -0.380, 0, 0, 0, 61 [SEP] 7, Glassbottle, 1.126, 2.208, -1.517, 0, 270, 0, 68 [SEP] 8, Glassbottle, 1.055, 1.667, -2.029, 0, 270, 0, 60 [SEP] 9, Fork, 0.794, 0.702, -0.690, 0, 180, 0, 59 [SEP] 10, Spoon, 0.834, 0.496, -0.607, 0, 270, 0, 65 [SEP] 11, Spatula, -0.920, 0.948, -1.386, 0, 90, 0, 61 [SEP] 12, Spatula, -0.624, 0.948, -1.231, 0, 0, 0, 61 [SEP] 13, Knife, 0.859, 0.934, -0.729, 0, 0, 0, 62 [SEP] 14, Knife, -1.104, 0.957, -1.167, 0, 90, 0, 61 [SEP] 15, Egg, -1.054, 0.214, 0.641, 0, 180, 0, 81 [SEP] 16, Egg, -1.041, 0.971, -1.430, 0, 0, 0, 61 [SEP] 17, Tomato, 1.026, 1.683, 1.158, 0, 270, 0, 84 [SEP] 18, Tomato, 1.029, 0.952, -1.793, 0, 0, 0, 67 [SEP] 19, SoapBottle, -0.550, 0.933, -1.154, 0, 0, 0, 61 [SEP] 20, SoapBottle, 1.199, 0.911, -1.793, 0, 0, 0, 67 [SEP] 21, SaltShaker, 1.114, 0.907, -0.208, 0, 0, 0, 62 [SEP] 22, PepperShaker, -1.674, 0.878, 2.746, 0, 0, 0, 88 [SEP] 23, PepperShaker, 1.193, 1.662, 0.280, 0, 270, 0, 69 [SEP] 24, Bread, 0.966, 1.482, 1.349, 0, 270, 0, 84 [SEP] 25, Apple, -0.808, 0.830, -0.400, 0, 90, 0, 82 [SEP] 26, Apple, 0.995, 1.845, -1.132, 0, 270, 0, 83 [SEP] 27, Statue, -1.292, 0.936, -0.643, 0, 0, 0, 61 [SEP] 28, Glassbottle, 0.688, 0.912, -2.051, 0, 0, 0, 67 [SEP] 29, Bread, -0.779, 0.996, 0.21, 0, 258.641, 0, 61 [SEP] 30, CreditCard, -1.355, 0.930, -1.167, 0, 0, 0, 61 [SEP] 31, CellPhone, 1.199, 0.908, 0.139, 0, 0, 0, 62 [SEP] 32, Potato, 1.026, 1.165, 1.063, 0, 270, 0, 84 [SEP] 33, Knife, 0.859, 0.934, -0.207, 0, 180, 0, 62 [SEP] 34, Fork, -1.290, 0.921, -1.287, 0, 0, 0, 61 [SEP] 35, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 55 [SEP] 36, Lettuce, 0.859, 0.988, 0.139, 0, 0, 0, 62 [SEP] 37, Plate, -1.355, 0.936, -0.905, 0, 0, 0, 61 [SEP] 38, Apple, -0.587, 0.830, -0.400, 0, 90, 0, 82 [SEP] 39, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 57 [SEP] 40, Spatula, 0.915, 0.510, -0.524, 0, 0, 0, 65 [SEP] 41, PaperTowelRoll, -0.960, 0.281, 0.543, 0, 180, 0, 81 [SEP] 42, Tomato, 1.026, 1.683, 1.444, 0, 270, 0, 84 [SEP] 43, Egg, 0.844, 0.900, 1.254, 0, 270, 0, 84 [SEP] 44, SaltShaker, -1.469, 0.878, 2.719, 0, 0, 0, 88 [SEP] 45, PepperShaker, -1.881, 0.550, 2.667, 0, 0, 0, 87 [SEP] 46, Vase, 1.148, 1.666, -0.337, 0, 270, 0, 70 [SEP] 47, ButterKnife, 1.114, 0.911, -0.034, 0, 180, 0, 62 [SEP] 48, SoapBottle, -0.550, 0.933, 0.239, 0, 0, 0, 61 [SEP] 49, Vase, 1.126, 2.209, -1.191, 0, 270, 0, 68 [SEP] 50, Bowl, 1.199, 0.914, -0.381, 0, 0, 0, 62 [SEP] 51, DishSponge, 0.773, 0.910, -1.879, 0, 0, 0, 67 [SEP] 52, Spoon, 0.793, 0.154, -0.611, 0, 270, 0, 64 [SEP] 53, Cup, 0.905, 1.132, 1.349, 0, 270, 0, 84 [SEP] 54, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 80 [SEP] 55, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 56, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 57, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 58, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 59, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 60, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 61, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 62, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 63, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 64, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 65, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 66, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 67, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 68, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 69, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 70, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 71, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 72, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 73, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 74, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 75, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 76, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 77, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 78, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 79, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 80, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 81, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 82, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 83, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 84, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 85, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 86, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 87, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 88, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 89, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 90, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 91, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 92, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 93, NorthWall, , , , , , , [SEP] 94, EastWall, , , , , , , [SEP] 95, SouthWall, , , , , , , [SEP] 96, WestWall, , , , , , , ", "output": ["STEP 1: Turn around, then right and face the counter to your left. | STEP 2: Grab the knife from the counter in front of you. | STEP 3: Turn left and face the counter with the lettuce to your right. | STEP 4: Slice the lettuce in front of you. | STEP 5: Turn right then face the counter to your left. | STEP 6: Place the knife on the counter in front of you. | STEP 7: Turn left then face the counter with the lettuce on your right. | STEP 8: Take a slice of lettuce from the counter in front of you. | STEP 9: Turn left then face the fridge on your right. | STEP 10: Place the lettuce in the fridge, take it out then close it. | STEP 11: Turn around and face the black trash can on your left. | STEP 12: Place the lettuce in the black trash can in front of you. | END"]} +{"id": "trial_T20190909_213855_654145-1", "input": "Place a cold lettuce slice in a waste basket 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, 270, 0, [SEP] 1, Vase, 1.193, 1.667, 0.025, 0, 270, 0, 69 [SEP] 2, Potato, -1.355, 0.963, -0.118, 0, 0, 0, 61 [SEP] 3, Potato, 0.995, 1.825, -1.339, 0, 270, 0, 83 [SEP] 4, CreditCard, 0.944, 0.908, -1.879, 0, 0, 0, 67 [SEP] 5, CreditCard, 0.754, 0.491, -0.565, 0, 270, 0, 65 [SEP] 6, ButterKnife, -1.292, 0.933, -0.380, 0, 0, 0, 61 [SEP] 7, Glassbottle, 1.126, 2.208, -1.517, 0, 270, 0, 68 [SEP] 8, Glassbottle, 1.055, 1.667, -2.029, 0, 270, 0, 60 [SEP] 9, Fork, 0.794, 0.702, -0.690, 0, 180, 0, 59 [SEP] 10, Spoon, 0.834, 0.496, -0.607, 0, 270, 0, 65 [SEP] 11, Spatula, -0.920, 0.948, -1.386, 0, 90, 0, 61 [SEP] 12, Spatula, -0.624, 0.948, -1.231, 0, 0, 0, 61 [SEP] 13, Knife, 0.859, 0.934, -0.729, 0, 0, 0, 62 [SEP] 14, Knife, -1.104, 0.957, -1.167, 0, 90, 0, 61 [SEP] 15, Egg, -1.054, 0.214, 0.641, 0, 180, 0, 81 [SEP] 16, Egg, -1.041, 0.971, -1.430, 0, 0, 0, 61 [SEP] 17, Tomato, 1.026, 1.683, 1.158, 0, 270, 0, 84 [SEP] 18, Tomato, 1.029, 0.952, -1.793, 0, 0, 0, 67 [SEP] 19, SoapBottle, -0.550, 0.933, -1.154, 0, 0, 0, 61 [SEP] 20, SoapBottle, 1.199, 0.911, -1.793, 0, 0, 0, 67 [SEP] 21, SaltShaker, 1.114, 0.907, -0.208, 0, 0, 0, 62 [SEP] 22, PepperShaker, -1.674, 0.878, 2.746, 0, 0, 0, 88 [SEP] 23, PepperShaker, 1.193, 1.662, 0.280, 0, 270, 0, 69 [SEP] 24, Bread, 0.966, 1.482, 1.349, 0, 270, 0, 84 [SEP] 25, Apple, -0.808, 0.830, -0.400, 0, 90, 0, 82 [SEP] 26, Apple, 0.995, 1.845, -1.132, 0, 270, 0, 83 [SEP] 27, Statue, -1.292, 0.936, -0.643, 0, 0, 0, 61 [SEP] 28, Glassbottle, 0.688, 0.912, -2.051, 0, 0, 0, 67 [SEP] 29, Bread, -0.779, 0.996, 0.21, 0, 258.641, 0, 61 [SEP] 30, CreditCard, -1.355, 0.930, -1.167, 0, 0, 0, 61 [SEP] 31, CellPhone, 1.199, 0.908, 0.139, 0, 0, 0, 62 [SEP] 32, Potato, 1.026, 1.165, 1.063, 0, 270, 0, 84 [SEP] 33, Knife, 0.859, 0.934, -0.207, 0, 180, 0, 62 [SEP] 34, Fork, -1.290, 0.921, -1.287, 0, 0, 0, 61 [SEP] 35, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 55 [SEP] 36, Lettuce, 0.859, 0.988, 0.139, 0, 0, 0, 62 [SEP] 37, Plate, -1.355, 0.936, -0.905, 0, 0, 0, 61 [SEP] 38, Apple, -0.587, 0.830, -0.400, 0, 90, 0, 82 [SEP] 39, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 57 [SEP] 40, Spatula, 0.915, 0.510, -0.524, 0, 0, 0, 65 [SEP] 41, PaperTowelRoll, -0.960, 0.281, 0.543, 0, 180, 0, 81 [SEP] 42, Tomato, 1.026, 1.683, 1.444, 0, 270, 0, 84 [SEP] 43, Egg, 0.844, 0.900, 1.254, 0, 270, 0, 84 [SEP] 44, SaltShaker, -1.469, 0.878, 2.719, 0, 0, 0, 88 [SEP] 45, PepperShaker, -1.881, 0.550, 2.667, 0, 0, 0, 87 [SEP] 46, Vase, 1.148, 1.666, -0.337, 0, 270, 0, 70 [SEP] 47, ButterKnife, 1.114, 0.911, -0.034, 0, 180, 0, 62 [SEP] 48, SoapBottle, -0.550, 0.933, 0.239, 0, 0, 0, 61 [SEP] 49, Vase, 1.126, 2.209, -1.191, 0, 270, 0, 68 [SEP] 50, Bowl, 1.199, 0.914, -0.381, 0, 0, 0, 62 [SEP] 51, DishSponge, 0.773, 0.910, -1.879, 0, 0, 0, 67 [SEP] 52, Spoon, 0.793, 0.154, -0.611, 0, 270, 0, 64 [SEP] 53, Cup, 0.905, 1.132, 1.349, 0, 270, 0, 84 [SEP] 54, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 80 [SEP] 55, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 56, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 57, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 58, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 59, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 60, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 61, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 62, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 63, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 64, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 65, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 66, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 67, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 68, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 69, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 70, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 71, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 72, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 73, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 74, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 75, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 76, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 77, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 78, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 79, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 80, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 81, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 82, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 83, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 84, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 85, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 86, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 87, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 88, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 89, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 90, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 91, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 92, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 93, NorthWall, , , , , , , [SEP] 94, EastWall, , , , , , , [SEP] 95, SouthWall, , , , , , , [SEP] 96, WestWall, , , , , , , ", "output": ["STEP 1: turn to the left twice and go to the front of the refrigerator and turn to the right and take a few steps and turn to the left and go to the counter | STEP 2: pick up the left yellow handle knife from the counter top | STEP 3: turn to the left and take a few steps and turn to the right facing the counter | STEP 4: slice up the head of lettuce with the knife on the counter | STEP 5: turn to the right and take a few steps and turn to the left facing the counter | STEP 6: put the knife on the counter top | STEP 7: turn to the left and take a few steps and turn to the right facing the counter | STEP 8: pick up a slice of lettuce from the counter top | STEP 9: turn to the left twice and take a step and turn to the right and take a few steps and turn to the right facing the refrigerator | STEP 10: open the refrigerator door and put the lettuce slice on the middle shelf and close the door and wait and open the door and take out the lettuce slice and close the refrigerator door | STEP 11: turn to the right twice and go to the front of the waste basket and turn to the left and go to the waste basket | STEP 12: put the lettuce slice in the waste basket | END"]} +{"id": "trial_T20190909_213855_654145-2", "input": "Slice a lettuce, cool a slice 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, 270, 0, [SEP] 1, Vase, 1.193, 1.667, 0.025, 0, 270, 0, 69 [SEP] 2, Potato, -1.355, 0.963, -0.118, 0, 0, 0, 61 [SEP] 3, Potato, 0.995, 1.825, -1.339, 0, 270, 0, 83 [SEP] 4, CreditCard, 0.944, 0.908, -1.879, 0, 0, 0, 67 [SEP] 5, CreditCard, 0.754, 0.491, -0.565, 0, 270, 0, 65 [SEP] 6, ButterKnife, -1.292, 0.933, -0.380, 0, 0, 0, 61 [SEP] 7, Glassbottle, 1.126, 2.208, -1.517, 0, 270, 0, 68 [SEP] 8, Glassbottle, 1.055, 1.667, -2.029, 0, 270, 0, 60 [SEP] 9, Fork, 0.794, 0.702, -0.690, 0, 180, 0, 59 [SEP] 10, Spoon, 0.834, 0.496, -0.607, 0, 270, 0, 65 [SEP] 11, Spatula, -0.920, 0.948, -1.386, 0, 90, 0, 61 [SEP] 12, Spatula, -0.624, 0.948, -1.231, 0, 0, 0, 61 [SEP] 13, Knife, 0.859, 0.934, -0.729, 0, 0, 0, 62 [SEP] 14, Knife, -1.104, 0.957, -1.167, 0, 90, 0, 61 [SEP] 15, Egg, -1.054, 0.214, 0.641, 0, 180, 0, 81 [SEP] 16, Egg, -1.041, 0.971, -1.430, 0, 0, 0, 61 [SEP] 17, Tomato, 1.026, 1.683, 1.158, 0, 270, 0, 84 [SEP] 18, Tomato, 1.029, 0.952, -1.793, 0, 0, 0, 67 [SEP] 19, SoapBottle, -0.550, 0.933, -1.154, 0, 0, 0, 61 [SEP] 20, SoapBottle, 1.199, 0.911, -1.793, 0, 0, 0, 67 [SEP] 21, SaltShaker, 1.114, 0.907, -0.208, 0, 0, 0, 62 [SEP] 22, PepperShaker, -1.674, 0.878, 2.746, 0, 0, 0, 88 [SEP] 23, PepperShaker, 1.193, 1.662, 0.280, 0, 270, 0, 69 [SEP] 24, Bread, 0.966, 1.482, 1.349, 0, 270, 0, 84 [SEP] 25, Apple, -0.808, 0.830, -0.400, 0, 90, 0, 82 [SEP] 26, Apple, 0.995, 1.845, -1.132, 0, 270, 0, 83 [SEP] 27, Statue, -1.292, 0.936, -0.643, 0, 0, 0, 61 [SEP] 28, Glassbottle, 0.688, 0.912, -2.051, 0, 0, 0, 67 [SEP] 29, Bread, -0.779, 0.996, 0.21, 0, 258.641, 0, 61 [SEP] 30, CreditCard, -1.355, 0.930, -1.167, 0, 0, 0, 61 [SEP] 31, CellPhone, 1.199, 0.908, 0.139, 0, 0, 0, 62 [SEP] 32, Potato, 1.026, 1.165, 1.063, 0, 270, 0, 84 [SEP] 33, Knife, 0.859, 0.934, -0.207, 0, 180, 0, 62 [SEP] 34, Fork, -1.290, 0.921, -1.287, 0, 0, 0, 61 [SEP] 35, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 55 [SEP] 36, Lettuce, 0.859, 0.988, 0.139, 0, 0, 0, 62 [SEP] 37, Plate, -1.355, 0.936, -0.905, 0, 0, 0, 61 [SEP] 38, Apple, -0.587, 0.830, -0.400, 0, 90, 0, 82 [SEP] 39, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 57 [SEP] 40, Spatula, 0.915, 0.510, -0.524, 0, 0, 0, 65 [SEP] 41, PaperTowelRoll, -0.960, 0.281, 0.543, 0, 180, 0, 81 [SEP] 42, Tomato, 1.026, 1.683, 1.444, 0, 270, 0, 84 [SEP] 43, Egg, 0.844, 0.900, 1.254, 0, 270, 0, 84 [SEP] 44, SaltShaker, -1.469, 0.878, 2.719, 0, 0, 0, 88 [SEP] 45, PepperShaker, -1.881, 0.550, 2.667, 0, 0, 0, 87 [SEP] 46, Vase, 1.148, 1.666, -0.337, 0, 270, 0, 70 [SEP] 47, ButterKnife, 1.114, 0.911, -0.034, 0, 180, 0, 62 [SEP] 48, SoapBottle, -0.550, 0.933, 0.239, 0, 0, 0, 61 [SEP] 49, Vase, 1.126, 2.209, -1.191, 0, 270, 0, 68 [SEP] 50, Bowl, 1.199, 0.914, -0.381, 0, 0, 0, 62 [SEP] 51, DishSponge, 0.773, 0.910, -1.879, 0, 0, 0, 67 [SEP] 52, Spoon, 0.793, 0.154, -0.611, 0, 270, 0, 64 [SEP] 53, Cup, 0.905, 1.132, 1.349, 0, 270, 0, 84 [SEP] 54, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 80 [SEP] 55, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 56, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 57, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 58, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 59, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 60, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 61, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 62, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 63, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 64, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 65, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 66, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 67, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 68, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 69, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 70, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 71, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 72, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 73, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 74, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 75, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 76, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 77, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 78, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 79, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 80, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 81, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 82, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 83, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 84, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 85, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 86, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 87, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 88, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 89, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 90, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 91, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 92, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 93, NorthWall, , , , , , , [SEP] 94, EastWall, , , , , , , [SEP] 95, SouthWall, , , , , , , [SEP] 96, WestWall, , , , , , , ", "output": ["STEP 1: Turn around, go forward, turn right, go forward a bit, turn left to the counter | STEP 2: Pick up the knife on the counter | STEP 3: Move a bit to the left | STEP 4: Slice the lettuce on the counter | STEP 5: Move a bit to the right | STEP 6: Put the knife on the counter | STEP 7: Move a bit to the left | STEP 8: Pick up a lettuce slice from the counter | STEP 9: Turn left and go to the front of the fridge | STEP 10: Put the lettuce slice in the fridge, wait, pick up the lettuce slice from the fridge | STEP 11: Turn around, go forward a bit, turn left | STEP 12: Put the lettuce in the basket | END"]} +{"id": "trial_T20190909_061232_368489-0", "input": "Place a washed bowl 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, 0.25, 0.900, -1.0, 0, 270, 0, [SEP] 1, Pan, 0.842, 0.950, -1.098, 0, 0, 0, 50 [SEP] 2, Vase, -1.355, 0.934, -0.118, 0, 0, 0, 56 [SEP] 3, Potato, 1.026, 1.432, 1.158, 0, 270, 0, 79 [SEP] 4, CreditCard, 0.773, 0.908, 0.313, 0, 0, 0, 57 [SEP] 5, Glassbottle, -1.007, 0.179, 0.641, 0, 180, 0, 76 [SEP] 6, Glassbottle, 1.114, 0.912, -0.381, 0, 0, 0, 57 [SEP] 7, Fork, 0.875, 0.702, -0.772, 0, 0, 0, 54 [SEP] 8, Fork, 0.859, 0.911, -0.729, 0, 0, 0, 57 [SEP] 9, Spoon, -0.772, 0.934, 0.009, 0, 0, 0, 56 [SEP] 10, Spoon, 0.834, 0.496, -0.607, 0, 270, 0, 60 [SEP] 11, Spatula, 0.915, 0.509, -0.690, 0, 0, 0, 60 [SEP] 12, Knife, 0.859, 0.934, -0.555, 0, 0, 0, 57 [SEP] 13, Egg, 0.688, 0.949, -1.793, 0, 0, 0, 62 [SEP] 14, Egg, -1.101, 0.214, 0.576, 0, 180, 0, 76 [SEP] 15, Cup, 0.944, 0.908, -0.555, 0, 0, 0, 57 [SEP] 16, Cup, 1.087, 1.640, 1.444, 0, 270, 0, 79 [SEP] 17, Tomato, -0.865, 0.217, 0.608, 0, 180, 0, 76 [SEP] 18, Bowl, 1.055, 1.669, 0.089, 0, 270, 0, 64 [SEP] 19, Lettuce, 0.859, 0.988, 0.139, 0, 0, 0, 57 [SEP] 20, Apple, 0.905, 1.452, 0.967, 0, 270, 0, 79 [SEP] 21, Apple, 0.773, 0.961, -1.793, 0, 0, 0, 62 [SEP] 22, Statue, -1.104, 0.936, -1.167, 0, 0, 0, 56 [SEP] 23, Glassbottle, -1.007, 0.177, 0.510, 0, 180, 0, 76 [SEP] 24, Bread, -0.779, 0.996, 0.209, 0, 258.641, 0, 56 [SEP] 25, CreditCard, 1.114, 0.908, -0.555, 0, 0, 0, 57 [SEP] 26, CellPhone, -1.292, 0.930, -0.905, 0, 0, 0, 56 [SEP] 27, Potato, 0.783, 1.673, 1.063, 0, 270, 0, 79 [SEP] 28, Knife, 1.199, 0.934, -0.207, 0, 90, 0, 57 [SEP] 29, Fork, 0.794, 0.494, -0.772, 0, 180, 0, 60 [SEP] 30, Pan, 0.773, 0.909, -0.208, 0, 0, 0, 57 [SEP] 31, Lettuce, 1.114, 0.988, -0.034, 0, 0, 0, 57 [SEP] 32, Plate, -1.104, 0.936, -0.905, 0, 0, 0, 56 [SEP] 33, Apple, 0.783, 1.452, 1.063, 0, 270, 0, 79 [SEP] 34, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 52 [SEP] 35, Spatula, 0.915, 0.509, -0.565, 0, 0, 0, 60 [SEP] 36, PaperTowelRoll, -0.624, 1.037, -1.308, 0, 0, 0, 56 [SEP] 37, Tomato, 0.905, 0.903, 1.254, 0, 270, 0, 79 [SEP] 38, Egg, 1.148, 1.172, 1.540, 0, 270, 0, 79 [SEP] 39, SaltShaker, 1.148, 1.662, -2.234, 0, 270, 0, 55 [SEP] 40, PepperShaker, -1.985, 0.550, 2.718, 0, 0, 0, 82 [SEP] 41, Vase, 0.944, 0.911, -1.793, 0, 0, 0, 62 [SEP] 42, ButterKnife, -0.920, 0.933, -1.386, 0, 90, 0, 56 [SEP] 43, SoapBottle, -0.846, 0.933, -1.540, 0, 0, 0, 56 [SEP] 44, Vase, 1.148, 1.667, -0.337, 0, 270, 0, 65 [SEP] 45, Bowl, -1.363, 0.557, 2.770, 0, 0, 0, 82 [SEP] 46, DishSponge, 0.874, 0.153, -0.571, 0, 270, 0, 59 [SEP] 47, Spoon, -1.104, 0.934, 0.144, 0, 0, 0, 56 [SEP] 48, Cup, 0.859, 0.908, -0.555, 0, 0, 0, 57 [SEP] 49, Mug, 1.028, 1.790, -1.339, 0, 270, 0, 78 [SEP] 50, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 51, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 52, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 53, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 54, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 55, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 56, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 57, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 58, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 59, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 60, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 61, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 62, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 63, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 64, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 65, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 66, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 67, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 68, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 69, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 70, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 71, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 72, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 73, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 74, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 75, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 76, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 77, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 78, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 79, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 80, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 81, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 82, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 83, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 84, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 85, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 86, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 87, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 88, NorthWall, , , , , , , [SEP] 89, EastWall, , , , , , , [SEP] 90, SouthWall, , , , , , , [SEP] 91, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and move left to the toaster. | STEP 2: Take the bowl out of the cabinet on the top left. | STEP 3: Turn around and walk to the sink. | STEP 4: Wash the bowl in the sink. | STEP 5: Turn around and look up. | STEP 6: Open the counter on the top left and place the bowl inside of it, to the right of the red container. | END"]} +{"id": "trial_T20190909_061232_368489-1", "input": "Put a bowl of water into the cupboard 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, Pan, 0.842, 0.950, -1.098, 0, 0, 0, 50 [SEP] 2, Vase, -1.355, 0.934, -0.118, 0, 0, 0, 56 [SEP] 3, Potato, 1.026, 1.432, 1.158, 0, 270, 0, 79 [SEP] 4, CreditCard, 0.773, 0.908, 0.313, 0, 0, 0, 57 [SEP] 5, Glassbottle, -1.007, 0.179, 0.641, 0, 180, 0, 76 [SEP] 6, Glassbottle, 1.114, 0.912, -0.381, 0, 0, 0, 57 [SEP] 7, Fork, 0.875, 0.702, -0.772, 0, 0, 0, 54 [SEP] 8, Fork, 0.859, 0.911, -0.729, 0, 0, 0, 57 [SEP] 9, Spoon, -0.772, 0.934, 0.009, 0, 0, 0, 56 [SEP] 10, Spoon, 0.834, 0.496, -0.607, 0, 270, 0, 60 [SEP] 11, Spatula, 0.915, 0.509, -0.690, 0, 0, 0, 60 [SEP] 12, Knife, 0.859, 0.934, -0.555, 0, 0, 0, 57 [SEP] 13, Egg, 0.688, 0.949, -1.793, 0, 0, 0, 62 [SEP] 14, Egg, -1.101, 0.214, 0.576, 0, 180, 0, 76 [SEP] 15, Cup, 0.944, 0.908, -0.555, 0, 0, 0, 57 [SEP] 16, Cup, 1.087, 1.640, 1.444, 0, 270, 0, 79 [SEP] 17, Tomato, -0.865, 0.217, 0.608, 0, 180, 0, 76 [SEP] 18, Bowl, 1.055, 1.669, 0.089, 0, 270, 0, 64 [SEP] 19, Lettuce, 0.859, 0.988, 0.139, 0, 0, 0, 57 [SEP] 20, Apple, 0.905, 1.452, 0.967, 0, 270, 0, 79 [SEP] 21, Apple, 0.773, 0.961, -1.793, 0, 0, 0, 62 [SEP] 22, Statue, -1.104, 0.936, -1.167, 0, 0, 0, 56 [SEP] 23, Glassbottle, -1.007, 0.177, 0.510, 0, 180, 0, 76 [SEP] 24, Bread, -0.779, 0.996, 0.209, 0, 258.641, 0, 56 [SEP] 25, CreditCard, 1.114, 0.908, -0.555, 0, 0, 0, 57 [SEP] 26, CellPhone, -1.292, 0.930, -0.905, 0, 0, 0, 56 [SEP] 27, Potato, 0.783, 1.673, 1.063, 0, 270, 0, 79 [SEP] 28, Knife, 1.199, 0.934, -0.207, 0, 90, 0, 57 [SEP] 29, Fork, 0.794, 0.494, -0.772, 0, 180, 0, 60 [SEP] 30, Pan, 0.773, 0.909, -0.208, 0, 0, 0, 57 [SEP] 31, Lettuce, 1.114, 0.988, -0.034, 0, 0, 0, 57 [SEP] 32, Plate, -1.104, 0.936, -0.905, 0, 0, 0, 56 [SEP] 33, Apple, 0.783, 1.452, 1.063, 0, 270, 0, 79 [SEP] 34, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 52 [SEP] 35, Spatula, 0.915, 0.509, -0.565, 0, 0, 0, 60 [SEP] 36, PaperTowelRoll, -0.624, 1.037, -1.308, 0, 0, 0, 56 [SEP] 37, Tomato, 0.905, 0.903, 1.254, 0, 270, 0, 79 [SEP] 38, Egg, 1.148, 1.172, 1.540, 0, 270, 0, 79 [SEP] 39, SaltShaker, 1.148, 1.662, -2.234, 0, 270, 0, 55 [SEP] 40, PepperShaker, -1.985, 0.550, 2.718, 0, 0, 0, 82 [SEP] 41, Vase, 0.944, 0.911, -1.793, 0, 0, 0, 62 [SEP] 42, ButterKnife, -0.920, 0.933, -1.386, 0, 90, 0, 56 [SEP] 43, SoapBottle, -0.846, 0.933, -1.540, 0, 0, 0, 56 [SEP] 44, Vase, 1.148, 1.667, -0.337, 0, 270, 0, 65 [SEP] 45, Bowl, -1.363, 0.557, 2.770, 0, 0, 0, 82 [SEP] 46, DishSponge, 0.874, 0.153, -0.571, 0, 270, 0, 59 [SEP] 47, Spoon, -1.104, 0.934, 0.144, 0, 0, 0, 56 [SEP] 48, Cup, 0.859, 0.908, -0.555, 0, 0, 0, 57 [SEP] 49, Mug, 1.028, 1.790, -1.339, 0, 270, 0, 78 [SEP] 50, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 51, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 52, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 53, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 54, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 55, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 56, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 57, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 58, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 59, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 60, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 61, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 62, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 63, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 64, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 65, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 66, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 67, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 68, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 69, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 70, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 71, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 72, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 73, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 74, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 75, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 76, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 77, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 78, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 79, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 80, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 81, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 82, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 83, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 84, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 85, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 86, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 87, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 88, NorthWall, , , , , , , [SEP] 89, EastWall, , , , , , , [SEP] 90, SouthWall, , , , , , , [SEP] 91, WestWall, , , , , , , ", "output": ["STEP 1: Step back from the sink, turn right and walk across the kitchen, turn right and face the counter. | STEP 2: Open the cupboard above your head and get the bowl | STEP 3: Turn around to the right and carry the bowl to the sink | STEP 4: Turn the sink on and fill the bowl with water | STEP 5: Turn around to the left, carry the bowl back to the counter, and raise it up to the cupboard | STEP 6: Put the bowl in the cupboard | END"]} +{"id": "trial_T20190909_061232_368489-2", "input": "Place a bowl filled with water next to the red vase 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, 0.900, -1.0, 0, 270, 0, [SEP] 1, Pan, 0.842, 0.950, -1.098, 0, 0, 0, 50 [SEP] 2, Vase, -1.355, 0.934, -0.118, 0, 0, 0, 56 [SEP] 3, Potato, 1.026, 1.432, 1.158, 0, 270, 0, 79 [SEP] 4, CreditCard, 0.773, 0.908, 0.313, 0, 0, 0, 57 [SEP] 5, Glassbottle, -1.007, 0.179, 0.641, 0, 180, 0, 76 [SEP] 6, Glassbottle, 1.114, 0.912, -0.381, 0, 0, 0, 57 [SEP] 7, Fork, 0.875, 0.702, -0.772, 0, 0, 0, 54 [SEP] 8, Fork, 0.859, 0.911, -0.729, 0, 0, 0, 57 [SEP] 9, Spoon, -0.772, 0.934, 0.009, 0, 0, 0, 56 [SEP] 10, Spoon, 0.834, 0.496, -0.607, 0, 270, 0, 60 [SEP] 11, Spatula, 0.915, 0.509, -0.690, 0, 0, 0, 60 [SEP] 12, Knife, 0.859, 0.934, -0.555, 0, 0, 0, 57 [SEP] 13, Egg, 0.688, 0.949, -1.793, 0, 0, 0, 62 [SEP] 14, Egg, -1.101, 0.214, 0.576, 0, 180, 0, 76 [SEP] 15, Cup, 0.944, 0.908, -0.555, 0, 0, 0, 57 [SEP] 16, Cup, 1.087, 1.640, 1.444, 0, 270, 0, 79 [SEP] 17, Tomato, -0.865, 0.217, 0.608, 0, 180, 0, 76 [SEP] 18, Bowl, 1.055, 1.669, 0.089, 0, 270, 0, 64 [SEP] 19, Lettuce, 0.859, 0.988, 0.139, 0, 0, 0, 57 [SEP] 20, Apple, 0.905, 1.452, 0.967, 0, 270, 0, 79 [SEP] 21, Apple, 0.773, 0.961, -1.793, 0, 0, 0, 62 [SEP] 22, Statue, -1.104, 0.936, -1.167, 0, 0, 0, 56 [SEP] 23, Glassbottle, -1.007, 0.177, 0.510, 0, 180, 0, 76 [SEP] 24, Bread, -0.779, 0.996, 0.209, 0, 258.641, 0, 56 [SEP] 25, CreditCard, 1.114, 0.908, -0.555, 0, 0, 0, 57 [SEP] 26, CellPhone, -1.292, 0.930, -0.905, 0, 0, 0, 56 [SEP] 27, Potato, 0.783, 1.673, 1.063, 0, 270, 0, 79 [SEP] 28, Knife, 1.199, 0.934, -0.207, 0, 90, 0, 57 [SEP] 29, Fork, 0.794, 0.494, -0.772, 0, 180, 0, 60 [SEP] 30, Pan, 0.773, 0.909, -0.208, 0, 0, 0, 57 [SEP] 31, Lettuce, 1.114, 0.988, -0.034, 0, 0, 0, 57 [SEP] 32, Plate, -1.104, 0.936, -0.905, 0, 0, 0, 56 [SEP] 33, Apple, 0.783, 1.452, 1.063, 0, 270, 0, 79 [SEP] 34, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 52 [SEP] 35, Spatula, 0.915, 0.509, -0.565, 0, 0, 0, 60 [SEP] 36, PaperTowelRoll, -0.624, 1.037, -1.308, 0, 0, 0, 56 [SEP] 37, Tomato, 0.905, 0.903, 1.254, 0, 270, 0, 79 [SEP] 38, Egg, 1.148, 1.172, 1.540, 0, 270, 0, 79 [SEP] 39, SaltShaker, 1.148, 1.662, -2.234, 0, 270, 0, 55 [SEP] 40, PepperShaker, -1.985, 0.550, 2.718, 0, 0, 0, 82 [SEP] 41, Vase, 0.944, 0.911, -1.793, 0, 0, 0, 62 [SEP] 42, ButterKnife, -0.920, 0.933, -1.386, 0, 90, 0, 56 [SEP] 43, SoapBottle, -0.846, 0.933, -1.540, 0, 0, 0, 56 [SEP] 44, Vase, 1.148, 1.667, -0.337, 0, 270, 0, 65 [SEP] 45, Bowl, -1.363, 0.557, 2.770, 0, 0, 0, 82 [SEP] 46, DishSponge, 0.874, 0.153, -0.571, 0, 270, 0, 59 [SEP] 47, Spoon, -1.104, 0.934, 0.144, 0, 0, 0, 56 [SEP] 48, Cup, 0.859, 0.908, -0.555, 0, 0, 0, 57 [SEP] 49, Mug, 1.028, 1.790, -1.339, 0, 270, 0, 78 [SEP] 50, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 51, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 52, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 53, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 54, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 55, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 56, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 57, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 58, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 59, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 60, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 61, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 62, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 63, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 64, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 65, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 66, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 67, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 68, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 69, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 70, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 71, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 72, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 73, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 74, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 75, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 76, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 77, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 78, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 79, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 80, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 81, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 82, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 83, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 84, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 85, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 86, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 87, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 88, NorthWall, , , , , , , [SEP] 89, EastWall, , , , , , , [SEP] 90, SouthWall, , , , , , , [SEP] 91, WestWall, , , , , , , ", "output": ["STEP 1: Turn right, walk the toaster on the counter to your right and look up to the cabinet. | STEP 2: Grab the bowl inside the cabinet. | STEP 3: Turn right and walk to the sink to your right. | STEP 4: Fill the bowl up with water and grab the bowl. | STEP 5: Turn left, a quick left again and look up to the cabinet. | STEP 6: Place the bowl filled with water next to the red vase in the cabinet. | END"]} +{"id": "trial_T20190909_000045_648853-0", "input": "place a cup with a knife in it on the kitchen counter space 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, -1.0, 0, 0, 0, [SEP] 1, CreditCard, 0.773, 0.908, -1.965, 0, 0, 0, 63 [SEP] 2, CellPhone, -1.467, 0.550, 2.718, 0, 0, 0, 83 [SEP] 3, CellPhone, 0.794, 0.700, -0.690, 0, 270, 0, 55 [SEP] 4, DishSponge, 1.029, 0.910, -0.729, 0, 0, 0, 58 [SEP] 5, DishSponge, 0.914, 0.153, -0.729, 0, 270, 0, 60 [SEP] 6, ButterKnife, -1.292, 0.933, -0.905, 0, 0, 0, 57 [SEP] 7, Fork, 0.794, 0.494, -0.648, 0, 180, 0, 61 [SEP] 8, Fork, 0.875, 0.494, -0.772, 0, 0, 0, 61 [SEP] 9, Spatula, 1.114, 0.926, -0.208, 0, 0, 0, 58 [SEP] 10, Spatula, -0.808, 0.795, -0.745, 0, 180, 0, 78 [SEP] 11, Knife, -0.698, 0.957, -1.463, 0, 0, 0, 57 [SEP] 12, Knife, -1.104, 0.957, -1.167, 0, 90, 0, 57 [SEP] 13, Cup, -0.753, 0.773, -0.832, 0, 90, 0, 78 [SEP] 14, Cup, 1.082, 2.205, -1.082, 0, 270, 0, 64 [SEP] 15, Plate, -1.104, 0.936, -0.118, 0, 0, 0, 57 [SEP] 16, Tomato, -0.912, 0.219, 0.576, 0, 180, 0, 77 [SEP] 17, SaltShaker, 1.029, 0.907, -1.879, 0, 0, 0, 63 [SEP] 18, SaltShaker, 1.194, 1.662, -0.593, 0, 270, 0, 66 [SEP] 19, Mug, 1.060, 1.790, -1.339, 0, 270, 0, 79 [SEP] 20, Mug, 0.760, 0.115, 0.374, 0, 270, 0, 52 [SEP] 21, Apple, 0.783, 0.913, 1.254, 0, 270, 0, 80 [SEP] 22, Apple, 0.844, 1.185, 1.540, 0, 270, 0, 80 [SEP] 23, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 57 [SEP] 24, Glassbottle, 1.082, 2.208, -1.408, 0, 270, 0, 64 [SEP] 25, Bread, 0.773, 0.992, -0.729, 0, 0, 0, 58 [SEP] 26, CreditCard, 0.915, 0.491, -0.690, 0, 270, 0, 61 [SEP] 27, CellPhone, 1.029, 0.908, 0.139, 0, 0, 0, 58 [SEP] 28, Potato, 0.944, 0.941, -1.793, 0, 0, 0, 63 [SEP] 29, Knife, 0.944, 0.934, -0.034, 0, 0, 0, 58 [SEP] 30, Fork, 0.944, 0.911, -0.381, 0, 0, 0, 58 [SEP] 31, Pan, 0.966, 1.399, 1.349, 0, 0, 0, 80 [SEP] 32, Lettuce, 1.114, 0.988, -0.555, 0, 0, 0, 58 [SEP] 33, Plate, 1.193, 1.669, 0.153, 0, 270, 0, 65 [SEP] 34, Apple, 1.060, 1.845, -1.132, 0, 270, 0, 79 [SEP] 35, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 53 [SEP] 36, Spatula, 0.754, 0.718, -0.607, 0, 180, 0, 55 [SEP] 37, PaperTowelRoll, -0.477, 1.037, 0.315, 0, 0, 0, 57 [SEP] 38, Tomato, 0.905, 0.903, 0.967, 0, 270, 0, 80 [SEP] 39, Egg, 0.844, 1.439, 1.540, 0, 270, 0, 80 [SEP] 40, SaltShaker, 0.875, 0.698, -0.772, 0, 270, 0, 55 [SEP] 41, PepperShaker, -1.881, 0.550, 2.615, 0, 0, 0, 83 [SEP] 42, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 83 [SEP] 43, ButterKnife, -1.229, 0.933, -0.380, 0, 0, 0, 57 [SEP] 44, SoapBottle, -0.624, 0.933, -1.386, 0, 0, 0, 57 [SEP] 45, Vase, 1.101, 1.667, -2.029, 0, 270, 0, 56 [SEP] 46, Bowl, 0.844, 0.866, 1.444, 0, 270, 0, 80 [SEP] 47, DishSponge, 1.199, 0.910, -0.729, 0, 0, 0, 58 [SEP] 48, Spoon, 0.793, 0.154, -0.650, 0, 270, 0, 60 [SEP] 49, Cup, -0.642, 0.777, -0.918, 0, 90, 0, 78 [SEP] 50, Mug, -0.753, 0.775, -0.659, 0, 90, 0, 78 [SEP] 51, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 52, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 53, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 54, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 55, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 56, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 57, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 58, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 59, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 60, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 61, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 62, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 63, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 64, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 65, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 66, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 67, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 68, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 69, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 70, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 71, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 72, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 73, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 74, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 75, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 76, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 77, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 78, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 79, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 80, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 81, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 82, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 83, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 84, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 85, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 86, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 87, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 88, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 89, NorthWall, , , , , , , [SEP] 90, EastWall, , , , , , , [SEP] 91, SouthWall, , , , , , , [SEP] 92, WestWall, , , , , , , ", "output": ["STEP 1: turn right and walk up to the kitchen island counter ahead | STEP 2: grab a butter knife off of the kitchen island counter space there | STEP 3: move to the right side of the room past the kitchen island, then take a left and walk to the front of the stove ahead on the left | STEP 4: place the knife inside the cabinet above the microwave which is above the stove, but place it in a green cup | STEP 5: pick up the green up from out of the cabinet above the microwave | STEP 6: move to the right a bit to face the kitchen counter space to the right of the stove | STEP 7: place the cup down on the kitchen counter space | END"]} +{"id": "trial_T20190909_000045_648853-1", "input": "Place a glass with a knife 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, -3.25, 0.900, -1.0, 0, 0, 0, [SEP] 1, CreditCard, 0.773, 0.908, -1.965, 0, 0, 0, 63 [SEP] 2, CellPhone, -1.467, 0.550, 2.718, 0, 0, 0, 83 [SEP] 3, CellPhone, 0.794, 0.700, -0.690, 0, 270, 0, 55 [SEP] 4, DishSponge, 1.029, 0.910, -0.729, 0, 0, 0, 58 [SEP] 5, DishSponge, 0.914, 0.153, -0.729, 0, 270, 0, 60 [SEP] 6, ButterKnife, -1.292, 0.933, -0.905, 0, 0, 0, 57 [SEP] 7, Fork, 0.794, 0.494, -0.648, 0, 180, 0, 61 [SEP] 8, Fork, 0.875, 0.494, -0.772, 0, 0, 0, 61 [SEP] 9, Spatula, 1.114, 0.926, -0.208, 0, 0, 0, 58 [SEP] 10, Spatula, -0.808, 0.795, -0.745, 0, 180, 0, 78 [SEP] 11, Knife, -0.698, 0.957, -1.463, 0, 0, 0, 57 [SEP] 12, Knife, -1.104, 0.957, -1.167, 0, 90, 0, 57 [SEP] 13, Cup, -0.753, 0.773, -0.832, 0, 90, 0, 78 [SEP] 14, Cup, 1.082, 2.205, -1.082, 0, 270, 0, 64 [SEP] 15, Plate, -1.104, 0.936, -0.118, 0, 0, 0, 57 [SEP] 16, Tomato, -0.912, 0.219, 0.576, 0, 180, 0, 77 [SEP] 17, SaltShaker, 1.029, 0.907, -1.879, 0, 0, 0, 63 [SEP] 18, SaltShaker, 1.194, 1.662, -0.593, 0, 270, 0, 66 [SEP] 19, Mug, 1.060, 1.790, -1.339, 0, 270, 0, 79 [SEP] 20, Mug, 0.760, 0.115, 0.374, 0, 270, 0, 52 [SEP] 21, Apple, 0.783, 0.913, 1.254, 0, 270, 0, 80 [SEP] 22, Apple, 0.844, 1.185, 1.540, 0, 270, 0, 80 [SEP] 23, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 57 [SEP] 24, Glassbottle, 1.082, 2.208, -1.408, 0, 270, 0, 64 [SEP] 25, Bread, 0.773, 0.992, -0.729, 0, 0, 0, 58 [SEP] 26, CreditCard, 0.915, 0.491, -0.690, 0, 270, 0, 61 [SEP] 27, CellPhone, 1.029, 0.908, 0.139, 0, 0, 0, 58 [SEP] 28, Potato, 0.944, 0.941, -1.793, 0, 0, 0, 63 [SEP] 29, Knife, 0.944, 0.934, -0.034, 0, 0, 0, 58 [SEP] 30, Fork, 0.944, 0.911, -0.381, 0, 0, 0, 58 [SEP] 31, Pan, 0.966, 1.399, 1.349, 0, 0, 0, 80 [SEP] 32, Lettuce, 1.114, 0.988, -0.555, 0, 0, 0, 58 [SEP] 33, Plate, 1.193, 1.669, 0.153, 0, 270, 0, 65 [SEP] 34, Apple, 1.060, 1.845, -1.132, 0, 270, 0, 79 [SEP] 35, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 53 [SEP] 36, Spatula, 0.754, 0.718, -0.607, 0, 180, 0, 55 [SEP] 37, PaperTowelRoll, -0.477, 1.037, 0.315, 0, 0, 0, 57 [SEP] 38, Tomato, 0.905, 0.903, 0.967, 0, 270, 0, 80 [SEP] 39, Egg, 0.844, 1.439, 1.540, 0, 270, 0, 80 [SEP] 40, SaltShaker, 0.875, 0.698, -0.772, 0, 270, 0, 55 [SEP] 41, PepperShaker, -1.881, 0.550, 2.615, 0, 0, 0, 83 [SEP] 42, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 83 [SEP] 43, ButterKnife, -1.229, 0.933, -0.380, 0, 0, 0, 57 [SEP] 44, SoapBottle, -0.624, 0.933, -1.386, 0, 0, 0, 57 [SEP] 45, Vase, 1.101, 1.667, -2.029, 0, 270, 0, 56 [SEP] 46, Bowl, 0.844, 0.866, 1.444, 0, 270, 0, 80 [SEP] 47, DishSponge, 1.199, 0.910, -0.729, 0, 0, 0, 58 [SEP] 48, Spoon, 0.793, 0.154, -0.650, 0, 270, 0, 60 [SEP] 49, Cup, -0.642, 0.777, -0.918, 0, 90, 0, 78 [SEP] 50, Mug, -0.753, 0.775, -0.659, 0, 90, 0, 78 [SEP] 51, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 52, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 53, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 54, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 55, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 56, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 57, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 58, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 59, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 60, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 61, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 62, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 63, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 64, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 65, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 66, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 67, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 68, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 69, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 70, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 71, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 72, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 73, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 74, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 75, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 76, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 77, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 78, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 79, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 80, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 81, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 82, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 83, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 84, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 85, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 86, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 87, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 88, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 89, NorthWall, , , , , , , [SEP] 90, EastWall, , , , , , , [SEP] 91, SouthWall, , , , , , , [SEP] 92, WestWall, , , , , , , ", "output": ["STEP 1: Walk to the counter on the right. | STEP 2: Pick up the knife in front of the sink on the left side on the counter. | STEP 3: Turn around, head left, hang a left at the windows, turn left, walk to the stove on the right and look up at the microwave. | STEP 4: Open the upper cabinets and put the knife inside the green glass on the left side. | STEP 5: Pick up the green glass with the knife inside and close the doors. | STEP 6: Turn right and walk to the counter with the coffee maker on the left. | STEP 7: Put the glass with the knife inside on the counter to the left of the coffee maker. | END"]} +{"id": "trial_T20190909_000045_648853-2", "input": "Put a cup with a knife in 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, -3.25, 0.900, -1.0, 0, 0, 0, [SEP] 1, CreditCard, 0.773, 0.908, -1.965, 0, 0, 0, 63 [SEP] 2, CellPhone, -1.467, 0.550, 2.718, 0, 0, 0, 83 [SEP] 3, CellPhone, 0.794, 0.700, -0.690, 0, 270, 0, 55 [SEP] 4, DishSponge, 1.029, 0.910, -0.729, 0, 0, 0, 58 [SEP] 5, DishSponge, 0.914, 0.153, -0.729, 0, 270, 0, 60 [SEP] 6, ButterKnife, -1.292, 0.933, -0.905, 0, 0, 0, 57 [SEP] 7, Fork, 0.794, 0.494, -0.648, 0, 180, 0, 61 [SEP] 8, Fork, 0.875, 0.494, -0.772, 0, 0, 0, 61 [SEP] 9, Spatula, 1.114, 0.926, -0.208, 0, 0, 0, 58 [SEP] 10, Spatula, -0.808, 0.795, -0.745, 0, 180, 0, 78 [SEP] 11, Knife, -0.698, 0.957, -1.463, 0, 0, 0, 57 [SEP] 12, Knife, -1.104, 0.957, -1.167, 0, 90, 0, 57 [SEP] 13, Cup, -0.753, 0.773, -0.832, 0, 90, 0, 78 [SEP] 14, Cup, 1.082, 2.205, -1.082, 0, 270, 0, 64 [SEP] 15, Plate, -1.104, 0.936, -0.118, 0, 0, 0, 57 [SEP] 16, Tomato, -0.912, 0.219, 0.576, 0, 180, 0, 77 [SEP] 17, SaltShaker, 1.029, 0.907, -1.879, 0, 0, 0, 63 [SEP] 18, SaltShaker, 1.194, 1.662, -0.593, 0, 270, 0, 66 [SEP] 19, Mug, 1.060, 1.790, -1.339, 0, 270, 0, 79 [SEP] 20, Mug, 0.760, 0.115, 0.374, 0, 270, 0, 52 [SEP] 21, Apple, 0.783, 0.913, 1.254, 0, 270, 0, 80 [SEP] 22, Apple, 0.844, 1.185, 1.540, 0, 270, 0, 80 [SEP] 23, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 57 [SEP] 24, Glassbottle, 1.082, 2.208, -1.408, 0, 270, 0, 64 [SEP] 25, Bread, 0.773, 0.992, -0.729, 0, 0, 0, 58 [SEP] 26, CreditCard, 0.915, 0.491, -0.690, 0, 270, 0, 61 [SEP] 27, CellPhone, 1.029, 0.908, 0.139, 0, 0, 0, 58 [SEP] 28, Potato, 0.944, 0.941, -1.793, 0, 0, 0, 63 [SEP] 29, Knife, 0.944, 0.934, -0.034, 0, 0, 0, 58 [SEP] 30, Fork, 0.944, 0.911, -0.381, 0, 0, 0, 58 [SEP] 31, Pan, 0.966, 1.399, 1.349, 0, 0, 0, 80 [SEP] 32, Lettuce, 1.114, 0.988, -0.555, 0, 0, 0, 58 [SEP] 33, Plate, 1.193, 1.669, 0.153, 0, 270, 0, 65 [SEP] 34, Apple, 1.060, 1.845, -1.132, 0, 270, 0, 79 [SEP] 35, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 53 [SEP] 36, Spatula, 0.754, 0.718, -0.607, 0, 180, 0, 55 [SEP] 37, PaperTowelRoll, -0.477, 1.037, 0.315, 0, 0, 0, 57 [SEP] 38, Tomato, 0.905, 0.903, 0.967, 0, 270, 0, 80 [SEP] 39, Egg, 0.844, 1.439, 1.540, 0, 270, 0, 80 [SEP] 40, SaltShaker, 0.875, 0.698, -0.772, 0, 270, 0, 55 [SEP] 41, PepperShaker, -1.881, 0.550, 2.615, 0, 0, 0, 83 [SEP] 42, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 83 [SEP] 43, ButterKnife, -1.229, 0.933, -0.380, 0, 0, 0, 57 [SEP] 44, SoapBottle, -0.624, 0.933, -1.386, 0, 0, 0, 57 [SEP] 45, Vase, 1.101, 1.667, -2.029, 0, 270, 0, 56 [SEP] 46, Bowl, 0.844, 0.866, 1.444, 0, 270, 0, 80 [SEP] 47, DishSponge, 1.199, 0.910, -0.729, 0, 0, 0, 58 [SEP] 48, Spoon, 0.793, 0.154, -0.650, 0, 270, 0, 60 [SEP] 49, Cup, -0.642, 0.777, -0.918, 0, 90, 0, 78 [SEP] 50, Mug, -0.753, 0.775, -0.659, 0, 90, 0, 78 [SEP] 51, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 52, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 53, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 54, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 55, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 56, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 57, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 58, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 59, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 60, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 61, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 62, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 63, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 64, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 65, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 66, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 67, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 68, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 69, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 70, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 71, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 72, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 73, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 74, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 75, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 76, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 77, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 78, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 79, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 80, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 81, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 82, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 83, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 84, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 85, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 86, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 87, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 88, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 89, NorthWall, , , , , , , [SEP] 90, EastWall, , , , , , , [SEP] 91, SouthWall, , , , , , , [SEP] 92, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and take a step to your left then walk to the counter in front of you. | STEP 2: Pick up the butter knife that's in front of you. | STEP 3: Turn right and take a step to your right then walk to the window and turn left then walk to the left side of the stove that's off to your left. | STEP 4: Open the cupboard that's above the left side of the microwave then put the knife in the green cup. | STEP 5: Pick up the green cup with the knife in it and close the cupboard.. | STEP 6: Take a few steps to your right to face the coffee maker. | STEP 7: Put the cup under and to the left of the credit card that's in front of you. | END"]} +{"id": "trial_T20190908_015839_519239-0", "input": "Put a vase and plate from a cabinet 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, -3.5, 0.900, -0.25, 0, 180, 0, [SEP] 1, CreditCard, 0.753, 0.150, -0.650, 0, 270, 0, 58 [SEP] 2, CellPhone, -1.467, 0.550, 2.718, 0, 0, 0, 81 [SEP] 3, CellPhone, 0.875, 0.492, -0.648, 0, 270, 0, 59 [SEP] 4, DishSponge, -1.041, 0.933, -1.430, 0, 0, 0, 55 [SEP] 5, ButterKnife, 0.773, 0.911, 0.313, 0, 0, 0, 56 [SEP] 6, Spoon, 0.773, 0.912, -0.381, 0, 0, 0, 56 [SEP] 7, Cup, -0.550, 0.930, -1.308, 0, 0, 0, 55 [SEP] 8, Cup, 1.148, 1.132, 0.967, 0, 270, 0, 78 [SEP] 9, Plate, 1.101, 1.669, -2.166, 0, 270, 0, 54 [SEP] 10, Bowl, -1.467, 0.557, 2.615, 0, 0, 0, 81 [SEP] 11, Bowl, 0.905, 1.646, 0.967, 0, 270, 0, 78 [SEP] 12, SaltShaker, 0.713, 0.699, -0.524, 0, 270, 0, 53 [SEP] 13, SaltShaker, 0.859, 0.907, -1.879, 0, 0, 0, 61 [SEP] 14, Lettuce, -0.753, 0.857, -0.745, 0, 90, 0, 76 [SEP] 15, Lettuce, 0.966, 1.479, 1.349, 0, 270, 0, 78 [SEP] 16, Bread, -1.229, 1.014, -0.118, 0, 0, 0, 55 [SEP] 17, Bread, 0.905, 1.216, 1.349, 0, 270, 0, 78 [SEP] 18, Mug, 0.966, 0.858, 1.063, 0, 270, 0, 78 [SEP] 19, Apple, -0.865, 0.227, 0.543, 0, 180, 0, 75 [SEP] 20, Apple, 1.093, 1.833, -1.236, 0, 270, 0, 77 [SEP] 21, Statue, -1.292, 0.936, 0.144, 0, 0, 0, 55 [SEP] 22, Glassbottle, 1.148, 1.667, -1.893, 0, 270, 0, 54 [SEP] 23, Bread, -0.846, 1.014, -1.463, 0, 0, 0, 55 [SEP] 24, CreditCard, 0.944, 0.908, -0.729, 0, 0, 0, 56 [SEP] 25, CellPhone, 1.029, 0.908, -0.034, 0, 0, 0, 56 [SEP] 26, Potato, -0.587, 0.807, -0.486, 0, 90, 0, 76 [SEP] 27, Knife, -0.772, 0.957, -1.386, 0, 180, 0, 55 [SEP] 28, Fork, 1.114, 0.911, -0.208, 0, 90, 0, 56 [SEP] 29, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 49 [SEP] 30, Lettuce, 0.866, 1.688, 1.209, 9.746, 11.116, 0, 78 [SEP] 31, Plate, 0.944, 0.914, -0.208, 0, 0, 0, 56 [SEP] 32, Apple, -1.054, 0.229, 0.510, 0, 180, 0, 75 [SEP] 33, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 51 [SEP] 34, Spatula, 0.834, 0.717, -0.731, 0, 90, 0, 53 [SEP] 35, PaperTowelRoll, 0.773, 1.015, -2.308, 0, 0, 0, 61 [SEP] 36, Tomato, 0.844, 0.903, 1.444, 0, 270, 0, 78 [SEP] 37, Egg, 1.087, 0.900, 1.158, 0, 270, 0, 78 [SEP] 38, SaltShaker, 1.014, 0.117, 0.374, 0, 270, 0, 56 [SEP] 39, PepperShaker, -1.878, 0.878, 2.746, 0, 0, 0, 82 [SEP] 40, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 81 [SEP] 41, ButterKnife, -0.550, 0.933, 0.239, 0, 0, 0, 55 [SEP] 42, SoapBottle, -1.981, 0.882, 2.692, 0, 0, 0, 82 [SEP] 43, Vase, -1.881, 0.555, 2.615, 0, 0, 0, 81 [SEP] 44, Bowl, 0.966, 1.405, 1.158, 0, 270, 0, 78 [SEP] 45, DishSponge, -1.571, 0.881, 2.746, 0, 0, 0, 81 [SEP] 46, Spoon, -1.292, 0.934, -0.643, 0, 0, 0, 55 [SEP] 47, Cup, 0.811, 0.105, -2.052, 0, 0, 0, 60 [SEP] 48, Mug, 1.029, 0.906, 0.139, 0, 0, 0, 56 [SEP] 49, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 50, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 51, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 52, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 53, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 54, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 55, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 56, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 57, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 58, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 59, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 60, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 61, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 62, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 63, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 64, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 65, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 66, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 67, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 68, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 69, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 70, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 71, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 72, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 73, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 74, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 75, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 76, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 77, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 78, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 79, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 80, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 81, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 82, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 83, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 84, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 85, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 86, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 87, NorthWall, , , , , , , [SEP] 88, EastWall, , , , , , , [SEP] 89, SouthWall, , , , , , , [SEP] 90, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and go to the cabinet above the coffee maker | STEP 2: Open the cabinet and take out the glass vase and close the doors | STEP 3: Turn right then left back to the cabinet | STEP 4: Open the cabinet above the coffee maker | STEP 5: Put the vase on top of the plate and take them both from the cabinet | STEP 6: Turn left and walk to the sink on the left | STEP 7: Put the glass and plate in the sink to the left of the lettuce | END"]} +{"id": "trial_T20190908_015839_519239-1", "input": "To put the plate and jar 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, -3.5, 0.900, -0.25, 0, 180, 0, [SEP] 1, CreditCard, 0.753, 0.150, -0.650, 0, 270, 0, 58 [SEP] 2, CellPhone, -1.467, 0.550, 2.718, 0, 0, 0, 81 [SEP] 3, CellPhone, 0.875, 0.492, -0.648, 0, 270, 0, 59 [SEP] 4, DishSponge, -1.041, 0.933, -1.430, 0, 0, 0, 55 [SEP] 5, ButterKnife, 0.773, 0.911, 0.313, 0, 0, 0, 56 [SEP] 6, Spoon, 0.773, 0.912, -0.381, 0, 0, 0, 56 [SEP] 7, Cup, -0.550, 0.930, -1.308, 0, 0, 0, 55 [SEP] 8, Cup, 1.148, 1.132, 0.967, 0, 270, 0, 78 [SEP] 9, Plate, 1.101, 1.669, -2.166, 0, 270, 0, 54 [SEP] 10, Bowl, -1.467, 0.557, 2.615, 0, 0, 0, 81 [SEP] 11, Bowl, 0.905, 1.646, 0.967, 0, 270, 0, 78 [SEP] 12, SaltShaker, 0.713, 0.699, -0.524, 0, 270, 0, 53 [SEP] 13, SaltShaker, 0.859, 0.907, -1.879, 0, 0, 0, 61 [SEP] 14, Lettuce, -0.753, 0.857, -0.745, 0, 90, 0, 76 [SEP] 15, Lettuce, 0.966, 1.479, 1.349, 0, 270, 0, 78 [SEP] 16, Bread, -1.229, 1.014, -0.118, 0, 0, 0, 55 [SEP] 17, Bread, 0.905, 1.216, 1.349, 0, 270, 0, 78 [SEP] 18, Mug, 0.966, 0.858, 1.063, 0, 270, 0, 78 [SEP] 19, Apple, -0.865, 0.227, 0.543, 0, 180, 0, 75 [SEP] 20, Apple, 1.093, 1.833, -1.236, 0, 270, 0, 77 [SEP] 21, Statue, -1.292, 0.936, 0.144, 0, 0, 0, 55 [SEP] 22, Glassbottle, 1.148, 1.667, -1.893, 0, 270, 0, 54 [SEP] 23, Bread, -0.846, 1.014, -1.463, 0, 0, 0, 55 [SEP] 24, CreditCard, 0.944, 0.908, -0.729, 0, 0, 0, 56 [SEP] 25, CellPhone, 1.029, 0.908, -0.034, 0, 0, 0, 56 [SEP] 26, Potato, -0.587, 0.807, -0.486, 0, 90, 0, 76 [SEP] 27, Knife, -0.772, 0.957, -1.386, 0, 180, 0, 55 [SEP] 28, Fork, 1.114, 0.911, -0.208, 0, 90, 0, 56 [SEP] 29, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 49 [SEP] 30, Lettuce, 0.866, 1.688, 1.209, 9.746, 11.116, 0, 78 [SEP] 31, Plate, 0.944, 0.914, -0.208, 0, 0, 0, 56 [SEP] 32, Apple, -1.054, 0.229, 0.510, 0, 180, 0, 75 [SEP] 33, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 51 [SEP] 34, Spatula, 0.834, 0.717, -0.731, 0, 90, 0, 53 [SEP] 35, PaperTowelRoll, 0.773, 1.015, -2.308, 0, 0, 0, 61 [SEP] 36, Tomato, 0.844, 0.903, 1.444, 0, 270, 0, 78 [SEP] 37, Egg, 1.087, 0.900, 1.158, 0, 270, 0, 78 [SEP] 38, SaltShaker, 1.014, 0.117, 0.374, 0, 270, 0, 56 [SEP] 39, PepperShaker, -1.878, 0.878, 2.746, 0, 0, 0, 82 [SEP] 40, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 81 [SEP] 41, ButterKnife, -0.550, 0.933, 0.239, 0, 0, 0, 55 [SEP] 42, SoapBottle, -1.981, 0.882, 2.692, 0, 0, 0, 82 [SEP] 43, Vase, -1.881, 0.555, 2.615, 0, 0, 0, 81 [SEP] 44, Bowl, 0.966, 1.405, 1.158, 0, 270, 0, 78 [SEP] 45, DishSponge, -1.571, 0.881, 2.746, 0, 0, 0, 81 [SEP] 46, Spoon, -1.292, 0.934, -0.643, 0, 0, 0, 55 [SEP] 47, Cup, 0.811, 0.105, -2.052, 0, 0, 0, 60 [SEP] 48, Mug, 1.029, 0.906, 0.139, 0, 0, 0, 56 [SEP] 49, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 50, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 51, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 52, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 53, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 54, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 55, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 56, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 57, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 58, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 59, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 60, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 61, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 62, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 63, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 64, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 65, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 66, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 67, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 68, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 69, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 70, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 71, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 72, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 73, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 74, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 75, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 76, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 77, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 78, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 79, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 80, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 81, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 82, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 83, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 84, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 85, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 86, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 87, NorthWall, , , , , , , [SEP] 88, EastWall, , , , , , , [SEP] 89, SouthWall, , , , , , , [SEP] 90, WestWall, , , , , , , ", "output": ["STEP 1: Walk across the room, then turn left and walk across the room. | STEP 2: Look above the coffee maker and open the cabinet to take the glass jar. | STEP 3: Turn to the right and take one step, then turn left and look above the coffee maker. | STEP 4: Put the glass jar in the cabinet on top of the plate. | STEP 5: Take the plate with the jar on it out of the cupboard. | STEP 6: Turn left and take two steps, then turn left. | STEP 7: Place the plate and jar in the sink to the right of the lettuce. | END"]} +{"id": "trial_T20190908_015839_519239-2", "input": "Put a plate with a bottle on 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, -3.5, 0.900, -0.25, 0, 180, 0, [SEP] 1, CreditCard, 0.753, 0.150, -0.650, 0, 270, 0, 58 [SEP] 2, CellPhone, -1.467, 0.550, 2.718, 0, 0, 0, 81 [SEP] 3, CellPhone, 0.875, 0.492, -0.648, 0, 270, 0, 59 [SEP] 4, DishSponge, -1.041, 0.933, -1.430, 0, 0, 0, 55 [SEP] 5, ButterKnife, 0.773, 0.911, 0.313, 0, 0, 0, 56 [SEP] 6, Spoon, 0.773, 0.912, -0.381, 0, 0, 0, 56 [SEP] 7, Cup, -0.550, 0.930, -1.308, 0, 0, 0, 55 [SEP] 8, Cup, 1.148, 1.132, 0.967, 0, 270, 0, 78 [SEP] 9, Plate, 1.101, 1.669, -2.166, 0, 270, 0, 54 [SEP] 10, Bowl, -1.467, 0.557, 2.615, 0, 0, 0, 81 [SEP] 11, Bowl, 0.905, 1.646, 0.967, 0, 270, 0, 78 [SEP] 12, SaltShaker, 0.713, 0.699, -0.524, 0, 270, 0, 53 [SEP] 13, SaltShaker, 0.859, 0.907, -1.879, 0, 0, 0, 61 [SEP] 14, Lettuce, -0.753, 0.857, -0.745, 0, 90, 0, 76 [SEP] 15, Lettuce, 0.966, 1.479, 1.349, 0, 270, 0, 78 [SEP] 16, Bread, -1.229, 1.014, -0.118, 0, 0, 0, 55 [SEP] 17, Bread, 0.905, 1.216, 1.349, 0, 270, 0, 78 [SEP] 18, Mug, 0.966, 0.858, 1.063, 0, 270, 0, 78 [SEP] 19, Apple, -0.865, 0.227, 0.543, 0, 180, 0, 75 [SEP] 20, Apple, 1.093, 1.833, -1.236, 0, 270, 0, 77 [SEP] 21, Statue, -1.292, 0.936, 0.144, 0, 0, 0, 55 [SEP] 22, Glassbottle, 1.148, 1.667, -1.893, 0, 270, 0, 54 [SEP] 23, Bread, -0.846, 1.014, -1.463, 0, 0, 0, 55 [SEP] 24, CreditCard, 0.944, 0.908, -0.729, 0, 0, 0, 56 [SEP] 25, CellPhone, 1.029, 0.908, -0.034, 0, 0, 0, 56 [SEP] 26, Potato, -0.587, 0.807, -0.486, 0, 90, 0, 76 [SEP] 27, Knife, -0.772, 0.957, -1.386, 0, 180, 0, 55 [SEP] 28, Fork, 1.114, 0.911, -0.208, 0, 90, 0, 56 [SEP] 29, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 49 [SEP] 30, Lettuce, 0.866, 1.688, 1.209, 9.746, 11.116, 0, 78 [SEP] 31, Plate, 0.944, 0.914, -0.208, 0, 0, 0, 56 [SEP] 32, Apple, -1.054, 0.229, 0.510, 0, 180, 0, 75 [SEP] 33, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 51 [SEP] 34, Spatula, 0.834, 0.717, -0.731, 0, 90, 0, 53 [SEP] 35, PaperTowelRoll, 0.773, 1.015, -2.308, 0, 0, 0, 61 [SEP] 36, Tomato, 0.844, 0.903, 1.444, 0, 270, 0, 78 [SEP] 37, Egg, 1.087, 0.900, 1.158, 0, 270, 0, 78 [SEP] 38, SaltShaker, 1.014, 0.117, 0.374, 0, 270, 0, 56 [SEP] 39, PepperShaker, -1.878, 0.878, 2.746, 0, 0, 0, 82 [SEP] 40, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 81 [SEP] 41, ButterKnife, -0.550, 0.933, 0.239, 0, 0, 0, 55 [SEP] 42, SoapBottle, -1.981, 0.882, 2.692, 0, 0, 0, 82 [SEP] 43, Vase, -1.881, 0.555, 2.615, 0, 0, 0, 81 [SEP] 44, Bowl, 0.966, 1.405, 1.158, 0, 270, 0, 78 [SEP] 45, DishSponge, -1.571, 0.881, 2.746, 0, 0, 0, 81 [SEP] 46, Spoon, -1.292, 0.934, -0.643, 0, 0, 0, 55 [SEP] 47, Cup, 0.811, 0.105, -2.052, 0, 0, 0, 60 [SEP] 48, Mug, 1.029, 0.906, 0.139, 0, 0, 0, 56 [SEP] 49, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 50, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 51, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 52, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 53, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 54, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 55, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 56, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 57, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 58, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 59, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 60, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 61, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 62, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 63, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 64, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 65, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 66, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 67, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 68, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 69, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 70, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 71, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 72, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 73, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 74, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 75, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 76, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 77, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 78, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 79, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 80, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 81, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 82, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 83, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 84, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 85, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 86, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 87, NorthWall, , , , , , , [SEP] 88, EastWall, , , , , , , [SEP] 89, SouthWall, , , , , , , [SEP] 90, WestWall, , , , , , , ", "output": ["STEP 1: Walk to the wall then turn left and walk to the coffee maker and then take a small step left. | STEP 2: Get the glass bottle from the cupboard above the coffee maker then close the doors. | STEP 3: Take a small step to your right. | STEP 4: Put the bottle on the plate in the cupboard above the coffee maker. | STEP 5: Pick up the plate with the bottle on it and close the cupboard doors.. | STEP 6: Turn left and walk to the sink and face it. | STEP 7: Put the plate in the sink. | END"]} +{"id": "trial_T20190906_202926_527010-0", "input": "Put toilet paper rolls in a 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, -1.25, 0.901, 2.0, 0, 0, 0, [SEP] 1, Cloth, -0.178, 0.075, 2.291, 0, 270, 0, 29 [SEP] 2, SprayBottle, -0.279, 0.076, 3.100, 0, 0, 0, 28 [SEP] 3, Candle, -0.331, 0.076, 3.507, 0, 0, 0, 28 [SEP] 4, Candle, -0.388, 0.954, 2.843, 0, 0, 0, 27 [SEP] 5, SoapBar, -0.131, 0.953, 1.481, 0, 0, 0, 35 [SEP] 6, SoapBar, -0.051, 0.953, 1.294, 0, 0, 0, 35 [SEP] 7, SoapBottle, -0.330, 0.076, 2.336, 0, 0, 0, 29 [SEP] 8, SoapBottle, -0.382, 0.077, 2.654, 0, 0, 0, 24 [SEP] 9, ToiletPaper, -0.326, 0.951, 2.913, 0, 0, 0, 27 [SEP] 10, HandTowel, -0.038, 1.619, 1.887, 0, 90, 0, 33 [SEP] 11, Towel, -1.082, 1.326, 1.302, 0, 0, 0, 30 [SEP] 12, SoapBar, -0.302, 0.826, 2.378, 0, 0, 0, 41 [SEP] 13, ToiletPaper, -0.117, 0.945, 1.629, 0, 0, 0, 35 [SEP] 14, Plunger, -0.112, -0.000, 1.848, 0, 0, 0, [SEP] 15, Candle, -0.264, 0.954, 2.948, 0, 0, 0, 27 [SEP] 16, ToiletPaper, -0.280, 0.654, 1.985, 0, 180, 90, 32 [SEP] 17, SprayBottle, -0.141, 0.955, 2.913, 0, 0, 0, 27 [SEP] 18, Cloth, -0.230, 0.076, 3.417, 0, 180, 0, 28 [SEP] 19, ScrubBrush, -0.322, 3.109, 1.950, 0, 0, 0, [SEP] 20, SoapBottle, -0.388, 0.955, 2.772, 0, 0, 0, 27 [SEP] 21, Mirror, -0.030, 1.544, 2.864, 0, 0, 0, [SEP] 22, Sink, -0.302, 0.799, 3.263, 0, 270, 0, [SEP] 23, Cabinet, -0.491, 0.404, 2.863, 0, 0, 0, [SEP] 24, Cabinet, -0.495, 0.384, 2.842, 0, 0, 0, [SEP] 25, ShowerDoor, -1.647, 1.017, 1.180, 0, 0, 0, [SEP] 26, ShowerGlass, -0.909, 0.788, 0.485, 0, 0, 0, [SEP] 27, CounterTop, -0.261, 0.927, 2.843, 0, 0, 0, [SEP] 28, Cabinet, -0.495, 0.384, 3.650, 0, 0, 0, [SEP] 29, Cabinet, -0.491, 0.404, 2.055, 0, 0, 0, [SEP] 30, TowelHolder, -1.082, 1.312, 1.195, 0, 0, 0, [SEP] 31, LightSwitch, -2.424, 1.447, 3.338, 0, 90, 0, [SEP] 32, ToiletPaperHanger, -0.266, 0.786, 2.043, 0, 180, 0, [SEP] 33, HandTowelHolder, 0.000, 1.721, 1.887, 0, 180, 0, [SEP] 34, HandTowelHolder, 0.000, 1.721, 3.799, 0, 180, 0, [SEP] 35, Toilet, -0.542, 3.109, 1.493, 0, 270, 0, [SEP] 36, GarbageCan, -2.159, -0.000, 3.756, 0, 0, 0, [SEP] 37, SinkBasin, -0.308, 0.820, 3.266, 0, 0, 0, [SEP] 38, ShowerHead, -0.134, 1.888, 0.564, 0, 90, 0, [SEP] 39, Faucet, 0.0, 1.009, 3.265, 0, 0, 0, [SEP] 40, Faucet, 0.0, 1.009, 2.421, 0, 0, 0, [SEP] 41, SinkBasin, -0.308, 0.820, 2.422, 0, 0, 0, [SEP] 42, Sink, -0.302, 0.799, 2.419, 0, 270, 0, [SEP] 43, NorthWall, , , , , , , [SEP] 44, SouthWall, , , , , , , [SEP] 45, SouthWall, , , , , , , ", "output": ["STEP 1: Turn right and go towards the sink and toilet. | STEP 2: Take the toilet paper roll from on top of the toilet. | STEP 3: Go backwards while facing towards the sink. | STEP 4: Open the left cabinet door under the sink, put the toilet paper to the right of the bottle in the cabinet. | STEP 5: Move towards the sink and toilet. | STEP 6: Take the cardboard roll on the floor next to the plunger. | STEP 7: Go backwards while facing towards the sink. | STEP 8: Open the left cabinet door under the sink, put the toilet paper to the left of the bottle in the cabinet. | END"]} +{"id": "trial_T20190906_202926_527010-1", "input": "place the toilet paper with the cover inside 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, 2.0, 0, 0, 0, [SEP] 1, Cloth, -0.178, 0.075, 2.291, 0, 270, 0, 29 [SEP] 2, SprayBottle, -0.279, 0.076, 3.100, 0, 0, 0, 28 [SEP] 3, Candle, -0.331, 0.076, 3.507, 0, 0, 0, 28 [SEP] 4, Candle, -0.388, 0.954, 2.843, 0, 0, 0, 27 [SEP] 5, SoapBar, -0.131, 0.953, 1.481, 0, 0, 0, 35 [SEP] 6, SoapBar, -0.051, 0.953, 1.294, 0, 0, 0, 35 [SEP] 7, SoapBottle, -0.330, 0.076, 2.336, 0, 0, 0, 29 [SEP] 8, SoapBottle, -0.382, 0.077, 2.654, 0, 0, 0, 24 [SEP] 9, ToiletPaper, -0.326, 0.951, 2.913, 0, 0, 0, 27 [SEP] 10, HandTowel, -0.038, 1.619, 1.887, 0, 90, 0, 33 [SEP] 11, Towel, -1.082, 1.326, 1.302, 0, 0, 0, 30 [SEP] 12, SoapBar, -0.302, 0.826, 2.378, 0, 0, 0, 41 [SEP] 13, ToiletPaper, -0.117, 0.945, 1.629, 0, 0, 0, 35 [SEP] 14, Plunger, -0.112, -0.000, 1.848, 0, 0, 0, [SEP] 15, Candle, -0.264, 0.954, 2.948, 0, 0, 0, 27 [SEP] 16, ToiletPaper, -0.280, 0.654, 1.985, 0, 180, 90, 32 [SEP] 17, SprayBottle, -0.141, 0.955, 2.913, 0, 0, 0, 27 [SEP] 18, Cloth, -0.230, 0.076, 3.417, 0, 180, 0, 28 [SEP] 19, ScrubBrush, -0.322, 3.109, 1.950, 0, 0, 0, [SEP] 20, SoapBottle, -0.388, 0.955, 2.772, 0, 0, 0, 27 [SEP] 21, Mirror, -0.030, 1.544, 2.864, 0, 0, 0, [SEP] 22, Sink, -0.302, 0.799, 3.263, 0, 270, 0, [SEP] 23, Cabinet, -0.491, 0.404, 2.863, 0, 0, 0, [SEP] 24, Cabinet, -0.495, 0.384, 2.842, 0, 0, 0, [SEP] 25, ShowerDoor, -1.647, 1.017, 1.180, 0, 0, 0, [SEP] 26, ShowerGlass, -0.909, 0.788, 0.485, 0, 0, 0, [SEP] 27, CounterTop, -0.261, 0.927, 2.843, 0, 0, 0, [SEP] 28, Cabinet, -0.495, 0.384, 3.650, 0, 0, 0, [SEP] 29, Cabinet, -0.491, 0.404, 2.055, 0, 0, 0, [SEP] 30, TowelHolder, -1.082, 1.312, 1.195, 0, 0, 0, [SEP] 31, LightSwitch, -2.424, 1.447, 3.338, 0, 90, 0, [SEP] 32, ToiletPaperHanger, -0.266, 0.786, 2.043, 0, 180, 0, [SEP] 33, HandTowelHolder, 0.000, 1.721, 1.887, 0, 180, 0, [SEP] 34, HandTowelHolder, 0.000, 1.721, 3.799, 0, 180, 0, [SEP] 35, Toilet, -0.542, 3.109, 1.493, 0, 270, 0, [SEP] 36, GarbageCan, -2.159, -0.000, 3.756, 0, 0, 0, [SEP] 37, SinkBasin, -0.308, 0.820, 3.266, 0, 0, 0, [SEP] 38, ShowerHead, -0.134, 1.888, 0.564, 0, 90, 0, [SEP] 39, Faucet, 0.0, 1.009, 3.265, 0, 0, 0, [SEP] 40, Faucet, 0.0, 1.009, 2.421, 0, 0, 0, [SEP] 41, SinkBasin, -0.308, 0.820, 2.422, 0, 0, 0, [SEP] 42, Sink, -0.302, 0.799, 2.419, 0, 270, 0, [SEP] 43, NorthWall, , , , , , , [SEP] 44, SouthWall, , , , , , , [SEP] 45, SouthWall, , , , , , , ", "output": ["STEP 1: turn right and walk towards the water closet | STEP 2: pick up the toilet roll from the top of the water closet | STEP 3: turn left and go for the cupboard underneath the sink | STEP 4: open the cupboard and place the toilet roll in it. | STEP 5: head for the water closet at the right | STEP 6: pick up a toilet roll cover from the top of the water closet | STEP 7: head for the cupboard at the left | STEP 8: place the toilet paper cover inside the cupboard | END"]} +{"id": "trial_T20190906_202926_527010-2", "input": "Take the empty toilet paper roll off. 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, 0, 0, [SEP] 1, Cloth, -0.178, 0.075, 2.291, 0, 270, 0, 29 [SEP] 2, SprayBottle, -0.279, 0.076, 3.100, 0, 0, 0, 28 [SEP] 3, Candle, -0.331, 0.076, 3.507, 0, 0, 0, 28 [SEP] 4, Candle, -0.388, 0.954, 2.843, 0, 0, 0, 27 [SEP] 5, SoapBar, -0.131, 0.953, 1.481, 0, 0, 0, 35 [SEP] 6, SoapBar, -0.051, 0.953, 1.294, 0, 0, 0, 35 [SEP] 7, SoapBottle, -0.330, 0.076, 2.336, 0, 0, 0, 29 [SEP] 8, SoapBottle, -0.382, 0.077, 2.654, 0, 0, 0, 24 [SEP] 9, ToiletPaper, -0.326, 0.951, 2.913, 0, 0, 0, 27 [SEP] 10, HandTowel, -0.038, 1.619, 1.887, 0, 90, 0, 33 [SEP] 11, Towel, -1.082, 1.326, 1.302, 0, 0, 0, 30 [SEP] 12, SoapBar, -0.302, 0.826, 2.378, 0, 0, 0, 41 [SEP] 13, ToiletPaper, -0.117, 0.945, 1.629, 0, 0, 0, 35 [SEP] 14, Plunger, -0.112, -0.000, 1.848, 0, 0, 0, [SEP] 15, Candle, -0.264, 0.954, 2.948, 0, 0, 0, 27 [SEP] 16, ToiletPaper, -0.280, 0.654, 1.985, 0, 180, 90, 32 [SEP] 17, SprayBottle, -0.141, 0.955, 2.913, 0, 0, 0, 27 [SEP] 18, Cloth, -0.230, 0.076, 3.417, 0, 180, 0, 28 [SEP] 19, ScrubBrush, -0.322, 3.109, 1.950, 0, 0, 0, [SEP] 20, SoapBottle, -0.388, 0.955, 2.772, 0, 0, 0, 27 [SEP] 21, Mirror, -0.030, 1.544, 2.864, 0, 0, 0, [SEP] 22, Sink, -0.302, 0.799, 3.263, 0, 270, 0, [SEP] 23, Cabinet, -0.491, 0.404, 2.863, 0, 0, 0, [SEP] 24, Cabinet, -0.495, 0.384, 2.842, 0, 0, 0, [SEP] 25, ShowerDoor, -1.647, 1.017, 1.180, 0, 0, 0, [SEP] 26, ShowerGlass, -0.909, 0.788, 0.485, 0, 0, 0, [SEP] 27, CounterTop, -0.261, 0.927, 2.843, 0, 0, 0, [SEP] 28, Cabinet, -0.495, 0.384, 3.650, 0, 0, 0, [SEP] 29, Cabinet, -0.491, 0.404, 2.055, 0, 0, 0, [SEP] 30, TowelHolder, -1.082, 1.312, 1.195, 0, 0, 0, [SEP] 31, LightSwitch, -2.424, 1.447, 3.338, 0, 90, 0, [SEP] 32, ToiletPaperHanger, -0.266, 0.786, 2.043, 0, 180, 0, [SEP] 33, HandTowelHolder, 0.000, 1.721, 1.887, 0, 180, 0, [SEP] 34, HandTowelHolder, 0.000, 1.721, 3.799, 0, 180, 0, [SEP] 35, Toilet, -0.542, 3.109, 1.493, 0, 270, 0, [SEP] 36, GarbageCan, -2.159, -0.000, 3.756, 0, 0, 0, [SEP] 37, SinkBasin, -0.308, 0.820, 3.266, 0, 0, 0, [SEP] 38, ShowerHead, -0.134, 1.888, 0.564, 0, 90, 0, [SEP] 39, Faucet, 0.0, 1.009, 3.265, 0, 0, 0, [SEP] 40, Faucet, 0.0, 1.009, 2.421, 0, 0, 0, [SEP] 41, SinkBasin, -0.308, 0.820, 2.422, 0, 0, 0, [SEP] 42, Sink, -0.302, 0.799, 2.419, 0, 270, 0, [SEP] 43, NorthWall, , , , , , , [SEP] 44, SouthWall, , , , , , , [SEP] 45, SouthWall, , , , , , , ", "output": ["STEP 1: Turn right and go to the toilet. | STEP 2: Pick up the roll of paper towels on the back of the toilet. | STEP 3: Turn all the way around move towards the door some and then turn back around. | STEP 4: Open the cabinet door under the sink. Place the paper towels under the sink to the right of the object under there. | STEP 5: Shut the door to the cabinet | STEP 6: Take the empty roll of toilet paper off the holder. | STEP 7: Open the door to the cabinet under the sink. | STEP 8: Place the empty roll to the left of the green bottle. Shut the door to the cabinet. | END"]} +{"id": "trial_T20190907_080825_222432-0", "input": "Clean a spatula to put it away. 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, 0, 0, [SEP] 1, Statue, 0.773, 0.914, -0.729, 0, 0, 0, 61 [SEP] 2, Vase, -0.846, 0.934, 0.086, 0, 0, 0, 60 [SEP] 3, Potato, -0.753, 0.807, -0.400, 0, 90, 0, 81 [SEP] 4, CreditCard, 0.875, 0.492, -0.731, 0, 270, 0, 64 [SEP] 5, CreditCard, -1.104, 0.930, -0.118, 0, 0, 0, 60 [SEP] 6, CellPhone, -0.624, 0.930, -1.463, 0, 0, 0, 60 [SEP] 7, DishSponge, 0.960, 0.107, -2.052, 0, 0, 0, 65 [SEP] 8, ButterKnife, 1.114, 0.911, -0.381, 0, 0, 0, 61 [SEP] 9, Spoon, 0.833, 0.154, -0.650, 0, 270, 0, 63 [SEP] 10, Spoon, 1.114, 0.912, 0.139, 0, 270, 0, 61 [SEP] 11, Spatula, -0.698, 0.948, 0.315, 0, 0, 0, 60 [SEP] 12, Spatula, 0.859, 0.926, -0.381, 0, 0, 0, 61 [SEP] 13, Egg, -0.772, 0.971, -1.154, 0, 0, 0, 60 [SEP] 14, Egg, 0.905, 1.439, 1.444, 0, 270, 0, 83 [SEP] 15, Plate, 1.101, 1.669, -1.961, 0, 270, 0, 59 [SEP] 16, Tomato, -0.477, 0.974, 0.086, 0, 0, 0, 60 [SEP] 17, Tomato, 1.199, 0.952, -0.034, 0, 0, 0, 61 [SEP] 18, SoapBottle, 0.960, 0.108, -2.292, 0, 0, 0, 65 [SEP] 19, SaltShaker, -1.981, 0.878, 2.719, 0, 0, 0, 87 [SEP] 20, SaltShaker, 1.082, 2.204, -1.626, 0, 270, 0, 67 [SEP] 21, PepperShaker, 0.773, 0.907, -1.965, 0, 0, 0, 66 [SEP] 22, PepperShaker, -1.467, 0.550, 2.718, 0, 0, 0, 86 [SEP] 23, Bread, 0.944, 0.992, 0.139, 0, 0, 0, 61 [SEP] 24, Bread, 0.905, 0.944, 1.063, 0, 270, 0, 83 [SEP] 25, Mug, -1.292, 0.928, -0.905, 0, 0, 0, 60 [SEP] 26, Statue, -1.292, 0.936, 0.144, 0, 0, 0, 60 [SEP] 27, Glassbottle, -1.054, 0.179, 0.641, 0, 180, 0, 80 [SEP] 28, Bread, 0.944, 0.992, -0.381, 0, 0, 0, 61 [SEP] 29, CreditCard, 0.773, 0.908, -2.308, 0, 0, 0, 66 [SEP] 30, CellPhone, -0.698, 0.930, -0.143, 0, 90, 0, 60 [SEP] 31, Potato, 0.966, 1.673, 1.349, 0, 270, 0, 83 [SEP] 32, Knife, -0.624, 0.957, -1.154, 0, 0, 0, 60 [SEP] 33, Fork, 0.773, 0.911, -0.208, 0, 0, 0, 61 [SEP] 34, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 54 [SEP] 35, Lettuce, 0.866, 1.688, 1.209, 9.746, 11.103, 0, 83 [SEP] 36, Plate, -0.753, 0.783, -0.832, 0, 90, 0, 81 [SEP] 37, Apple, 1.028, 1.845, -1.339, 0, 270, 0, 82 [SEP] 38, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 56 [SEP] 39, Spatula, -1.167, 0.948, -0.380, 0, 0, 0, 60 [SEP] 40, PaperTowelRoll, -1.878, 0.986, 2.746, 0, 0, 0, 87 [SEP] 41, Tomato, -0.587, 0.821, -0.573, 0, 90, 0, 81 [SEP] 42, Egg, 0.966, 1.172, 1.158, 0, 270, 0, 83 [SEP] 43, SaltShaker, 0.794, 0.490, -0.648, 0, 270, 0, 64 [SEP] 44, PepperShaker, 0.713, 0.491, -0.607, 0, 270, 0, 64 [SEP] 45, Vase, 1.126, 2.207, -0.973, 0, 270, 0, 67 [SEP] 46, ButterKnife, 0.773, 0.911, 0.313, 0, 0, 0, 61 [SEP] 47, SoapBottle, -0.846, 0.933, -1.386, 0, 0, 0, 60 [SEP] 48, Vase, 1.082, 2.209, -1.408, 0, 270, 0, 67 [SEP] 49, Bowl, 1.029, 0.914, -1.793, 0, 0, 0, 66 [SEP] 50, DishSponge, 1.055, 1.665, -2.234, 0, 270, 0, 59 [SEP] 51, Spoon, 0.875, 0.496, -0.607, 0, 90, 0, 64 [SEP] 52, Cup, 0.844, 1.132, 1.444, 0, 270, 0, 83 [SEP] 53, Mug, 0.905, 1.396, 1.254, 0, 270, 0, 83 [SEP] 54, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 55, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 56, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 57, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 58, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 59, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 60, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 61, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 62, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 63, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 64, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 65, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 66, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 67, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 68, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 69, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 70, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 71, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 72, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 73, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 74, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 75, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 76, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 77, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 78, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 79, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 80, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 81, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 82, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 83, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 84, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 85, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 86, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 87, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 88, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 89, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 90, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 91, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 92, NorthWall, , , , , , , [SEP] 93, EastWall, , , , , , , [SEP] 94, SouthWall, , , , , , , [SEP] 95, WestWall, , , , , , , ", "output": ["STEP 1: Turn to the right and go across the room. Turn to the right again, and then the left at the counter beside the stove. | STEP 2: Pick up the spatula from the counter. | STEP 3: Take the spatula and turn around to the sink. | STEP 4: Place the spatula in the sink, turn on the water and then off again. Pick up the spatula. | STEP 5: Take the spatula and turn around to the counter. | STEP 6: Open the top drawer and place the spatula inside. | END"]} +{"id": "trial_T20190907_080825_222432-1", "input": "Put a rinsed spatula into a drawer. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.5, 0.900, 1.0, 0, 0, 0, [SEP] 1, Statue, 0.773, 0.914, -0.729, 0, 0, 0, 61 [SEP] 2, Vase, -0.846, 0.934, 0.086, 0, 0, 0, 60 [SEP] 3, Potato, -0.753, 0.807, -0.400, 0, 90, 0, 81 [SEP] 4, CreditCard, 0.875, 0.492, -0.731, 0, 270, 0, 64 [SEP] 5, CreditCard, -1.104, 0.930, -0.118, 0, 0, 0, 60 [SEP] 6, CellPhone, -0.624, 0.930, -1.463, 0, 0, 0, 60 [SEP] 7, DishSponge, 0.960, 0.107, -2.052, 0, 0, 0, 65 [SEP] 8, ButterKnife, 1.114, 0.911, -0.381, 0, 0, 0, 61 [SEP] 9, Spoon, 0.833, 0.154, -0.650, 0, 270, 0, 63 [SEP] 10, Spoon, 1.114, 0.912, 0.139, 0, 270, 0, 61 [SEP] 11, Spatula, -0.698, 0.948, 0.315, 0, 0, 0, 60 [SEP] 12, Spatula, 0.859, 0.926, -0.381, 0, 0, 0, 61 [SEP] 13, Egg, -0.772, 0.971, -1.154, 0, 0, 0, 60 [SEP] 14, Egg, 0.905, 1.439, 1.444, 0, 270, 0, 83 [SEP] 15, Plate, 1.101, 1.669, -1.961, 0, 270, 0, 59 [SEP] 16, Tomato, -0.477, 0.974, 0.086, 0, 0, 0, 60 [SEP] 17, Tomato, 1.199, 0.952, -0.034, 0, 0, 0, 61 [SEP] 18, SoapBottle, 0.960, 0.108, -2.292, 0, 0, 0, 65 [SEP] 19, SaltShaker, -1.981, 0.878, 2.719, 0, 0, 0, 87 [SEP] 20, SaltShaker, 1.082, 2.204, -1.626, 0, 270, 0, 67 [SEP] 21, PepperShaker, 0.773, 0.907, -1.965, 0, 0, 0, 66 [SEP] 22, PepperShaker, -1.467, 0.550, 2.718, 0, 0, 0, 86 [SEP] 23, Bread, 0.944, 0.992, 0.139, 0, 0, 0, 61 [SEP] 24, Bread, 0.905, 0.944, 1.063, 0, 270, 0, 83 [SEP] 25, Mug, -1.292, 0.928, -0.905, 0, 0, 0, 60 [SEP] 26, Statue, -1.292, 0.936, 0.144, 0, 0, 0, 60 [SEP] 27, Glassbottle, -1.054, 0.179, 0.641, 0, 180, 0, 80 [SEP] 28, Bread, 0.944, 0.992, -0.381, 0, 0, 0, 61 [SEP] 29, CreditCard, 0.773, 0.908, -2.308, 0, 0, 0, 66 [SEP] 30, CellPhone, -0.698, 0.930, -0.143, 0, 90, 0, 60 [SEP] 31, Potato, 0.966, 1.673, 1.349, 0, 270, 0, 83 [SEP] 32, Knife, -0.624, 0.957, -1.154, 0, 0, 0, 60 [SEP] 33, Fork, 0.773, 0.911, -0.208, 0, 0, 0, 61 [SEP] 34, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 54 [SEP] 35, Lettuce, 0.866, 1.688, 1.209, 9.746, 11.103, 0, 83 [SEP] 36, Plate, -0.753, 0.783, -0.832, 0, 90, 0, 81 [SEP] 37, Apple, 1.028, 1.845, -1.339, 0, 270, 0, 82 [SEP] 38, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 56 [SEP] 39, Spatula, -1.167, 0.948, -0.380, 0, 0, 0, 60 [SEP] 40, PaperTowelRoll, -1.878, 0.986, 2.746, 0, 0, 0, 87 [SEP] 41, Tomato, -0.587, 0.821, -0.573, 0, 90, 0, 81 [SEP] 42, Egg, 0.966, 1.172, 1.158, 0, 270, 0, 83 [SEP] 43, SaltShaker, 0.794, 0.490, -0.648, 0, 270, 0, 64 [SEP] 44, PepperShaker, 0.713, 0.491, -0.607, 0, 270, 0, 64 [SEP] 45, Vase, 1.126, 2.207, -0.973, 0, 270, 0, 67 [SEP] 46, ButterKnife, 0.773, 0.911, 0.313, 0, 0, 0, 61 [SEP] 47, SoapBottle, -0.846, 0.933, -1.386, 0, 0, 0, 60 [SEP] 48, Vase, 1.082, 2.209, -1.408, 0, 270, 0, 67 [SEP] 49, Bowl, 1.029, 0.914, -1.793, 0, 0, 0, 66 [SEP] 50, DishSponge, 1.055, 1.665, -2.234, 0, 270, 0, 59 [SEP] 51, Spoon, 0.875, 0.496, -0.607, 0, 90, 0, 64 [SEP] 52, Cup, 0.844, 1.132, 1.444, 0, 270, 0, 83 [SEP] 53, Mug, 0.905, 1.396, 1.254, 0, 270, 0, 83 [SEP] 54, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 55, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 56, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 57, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 58, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 59, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 60, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 61, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 62, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 63, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 64, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 65, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 66, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 67, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 68, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 69, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 70, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 71, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 72, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 73, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 74, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 75, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 76, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 77, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 78, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 79, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 80, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 81, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 82, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 83, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 84, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 85, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 86, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 87, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 88, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 89, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 90, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 91, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 92, NorthWall, , , , , , , [SEP] 93, EastWall, , , , , , , [SEP] 94, SouthWall, , , , , , , [SEP] 95, WestWall, , , , , , , ", "output": ["STEP 1: Turn to the right and walk to the fridge. Turn right and walk to the counter that is to the right of the fridge. Face the counter. | STEP 2: Pick up the spatula that is on the counter in front of the bread. | STEP 3: Holding the spatula, turn around 180 degrees to face the sink. | STEP 4: Put the spatula in the sink to the left of the tomato, fill the sink with water, then drain the sink. Take the spatula from out of the sink. | STEP 5: Turn around 180 degrees to face the stove top and counter to the left of the stove top. | STEP 6: Open the top drawer that is left of the stove top underneath the counter, place the spatula in the drawer, and close the drawer. | END"]} +{"id": "trial_T20190907_080825_222432-2", "input": "put a clean spatula 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, -3.5, 0.900, 1.0, 0, 0, 0, [SEP] 1, Statue, 0.773, 0.914, -0.729, 0, 0, 0, 61 [SEP] 2, Vase, -0.846, 0.934, 0.086, 0, 0, 0, 60 [SEP] 3, Potato, -0.753, 0.807, -0.400, 0, 90, 0, 81 [SEP] 4, CreditCard, 0.875, 0.492, -0.731, 0, 270, 0, 64 [SEP] 5, CreditCard, -1.104, 0.930, -0.118, 0, 0, 0, 60 [SEP] 6, CellPhone, -0.624, 0.930, -1.463, 0, 0, 0, 60 [SEP] 7, DishSponge, 0.960, 0.107, -2.052, 0, 0, 0, 65 [SEP] 8, ButterKnife, 1.114, 0.911, -0.381, 0, 0, 0, 61 [SEP] 9, Spoon, 0.833, 0.154, -0.650, 0, 270, 0, 63 [SEP] 10, Spoon, 1.114, 0.912, 0.139, 0, 270, 0, 61 [SEP] 11, Spatula, -0.698, 0.948, 0.315, 0, 0, 0, 60 [SEP] 12, Spatula, 0.859, 0.926, -0.381, 0, 0, 0, 61 [SEP] 13, Egg, -0.772, 0.971, -1.154, 0, 0, 0, 60 [SEP] 14, Egg, 0.905, 1.439, 1.444, 0, 270, 0, 83 [SEP] 15, Plate, 1.101, 1.669, -1.961, 0, 270, 0, 59 [SEP] 16, Tomato, -0.477, 0.974, 0.086, 0, 0, 0, 60 [SEP] 17, Tomato, 1.199, 0.952, -0.034, 0, 0, 0, 61 [SEP] 18, SoapBottle, 0.960, 0.108, -2.292, 0, 0, 0, 65 [SEP] 19, SaltShaker, -1.981, 0.878, 2.719, 0, 0, 0, 87 [SEP] 20, SaltShaker, 1.082, 2.204, -1.626, 0, 270, 0, 67 [SEP] 21, PepperShaker, 0.773, 0.907, -1.965, 0, 0, 0, 66 [SEP] 22, PepperShaker, -1.467, 0.550, 2.718, 0, 0, 0, 86 [SEP] 23, Bread, 0.944, 0.992, 0.139, 0, 0, 0, 61 [SEP] 24, Bread, 0.905, 0.944, 1.063, 0, 270, 0, 83 [SEP] 25, Mug, -1.292, 0.928, -0.905, 0, 0, 0, 60 [SEP] 26, Statue, -1.292, 0.936, 0.144, 0, 0, 0, 60 [SEP] 27, Glassbottle, -1.054, 0.179, 0.641, 0, 180, 0, 80 [SEP] 28, Bread, 0.944, 0.992, -0.381, 0, 0, 0, 61 [SEP] 29, CreditCard, 0.773, 0.908, -2.308, 0, 0, 0, 66 [SEP] 30, CellPhone, -0.698, 0.930, -0.143, 0, 90, 0, 60 [SEP] 31, Potato, 0.966, 1.673, 1.349, 0, 270, 0, 83 [SEP] 32, Knife, -0.624, 0.957, -1.154, 0, 0, 0, 60 [SEP] 33, Fork, 0.773, 0.911, -0.208, 0, 0, 0, 61 [SEP] 34, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 54 [SEP] 35, Lettuce, 0.866, 1.688, 1.209, 9.746, 11.103, 0, 83 [SEP] 36, Plate, -0.753, 0.783, -0.832, 0, 90, 0, 81 [SEP] 37, Apple, 1.028, 1.845, -1.339, 0, 270, 0, 82 [SEP] 38, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 56 [SEP] 39, Spatula, -1.167, 0.948, -0.380, 0, 0, 0, 60 [SEP] 40, PaperTowelRoll, -1.878, 0.986, 2.746, 0, 0, 0, 87 [SEP] 41, Tomato, -0.587, 0.821, -0.573, 0, 90, 0, 81 [SEP] 42, Egg, 0.966, 1.172, 1.158, 0, 270, 0, 83 [SEP] 43, SaltShaker, 0.794, 0.490, -0.648, 0, 270, 0, 64 [SEP] 44, PepperShaker, 0.713, 0.491, -0.607, 0, 270, 0, 64 [SEP] 45, Vase, 1.126, 2.207, -0.973, 0, 270, 0, 67 [SEP] 46, ButterKnife, 0.773, 0.911, 0.313, 0, 0, 0, 61 [SEP] 47, SoapBottle, -0.846, 0.933, -1.386, 0, 0, 0, 60 [SEP] 48, Vase, 1.082, 2.209, -1.408, 0, 270, 0, 67 [SEP] 49, Bowl, 1.029, 0.914, -1.793, 0, 0, 0, 66 [SEP] 50, DishSponge, 1.055, 1.665, -2.234, 0, 270, 0, 59 [SEP] 51, Spoon, 0.875, 0.496, -0.607, 0, 90, 0, 64 [SEP] 52, Cup, 0.844, 1.132, 1.444, 0, 270, 0, 83 [SEP] 53, Mug, 0.905, 1.396, 1.254, 0, 270, 0, 83 [SEP] 54, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 55, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 56, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 57, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 58, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 59, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 60, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 61, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 62, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 63, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 64, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 65, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 66, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 67, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 68, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 69, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 70, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 71, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 72, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 73, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 74, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 75, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 76, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 77, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 78, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 79, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 80, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 81, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 82, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 83, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 84, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 85, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 86, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 87, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 88, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 89, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 90, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 91, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 92, NorthWall, , , , , , , [SEP] 93, EastWall, , , , , , , [SEP] 94, SouthWall, , , , , , , [SEP] 95, WestWall, , , , , , , ", "output": ["STEP 1: turn to the right and move across the room towards the refrigerator, turn right at the refrigerator moving forward towards the dishwasher on the left, turn left to face the counter | STEP 2: pick up the spatula that is on the counter in front of the loaf of bread on the right | STEP 3: turn around and move towards the sink | STEP 4: put the spatula into the sink and turn on the water to clean the spatula and pick up the spatula out from of the sink | STEP 5: turn around to face the counter to the left of the stove | STEP 6: open the top drawer that is to the left of the stove, put the spatula into the drawer and close it | END"]} +{"id": "trial_T20190907_161210_531813-0", "input": "Look at a basketball 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, -2.0, 0.900, 1.25, 0, 180, 0, [SEP] 1, CD, -2.240, 0.039, 2.682, 0, 180, 0, 48 [SEP] 2, CellPhone, 1.409, 0.784, 1.655, 0, 0, 0, 24 [SEP] 3, CreditCard, -0.511, 0.364, -1.013, 0, 0, 0, 32 [SEP] 4, KeyChain, -2.151, 1.349, 0.366, 0, 180, 0, 35 [SEP] 5, Book, 0.598, 0.783, 2.234, 0, 0, 0, 24 [SEP] 6, Pillow, 1.409, 0.918, 1.655, 0, 0, 0, 24 [SEP] 7, Laptop, 1.409, 0.781, 1.076, 0, 0, 0, 24 [SEP] 8, AlarmClock, -1.233, 1.724, 0.489, 0, 0, 0, 37 [SEP] 9, AlarmClock, -0.735, 0.858, -0.663, 0, 0, 0, 33 [SEP] 10, Book, 1.815, 0.783, 1.366, 0, 0, 0, 24 [SEP] 11, AlarmClock, -0.514, 0.851, -0.619, 0, 56.206, 0, 33 [SEP] 12, BasketBall, 1.976, 0.120, 0.211, 0, 331.076, 0, [SEP] 13, Pen, -0.549, 0.089, -0.852, 0, 0, 0, 32 [SEP] 14, Laptop, -1.783, 0.871, 0.732, 0, 0, 0, 43 [SEP] 15, BaseballBat, 1.953, 0.659, -1.81, 346.388, 0, 0, [SEP] 16, Bowl, -0.827, 0.850, -1.641, 0, 0, 0, 33 [SEP] 17, Pillow, 1.003, 0.918, 1.366, 0, 0, 0, 24 [SEP] 18, KeyChain, -2.083, 0.039, 2.682, 0, 180, 0, 48 [SEP] 19, CreditCard, -1.918, 0.878, 0.498, 0, 0, 0, 36 [SEP] 20, CellPhone, -2.292, 0.040, 2.522, 0, 180, 0, 48 [SEP] 21, CD, -0.511, 0.083, -0.692, 0, 0, 0, 32 [SEP] 22, Pencil, -0.473, 0.368, -0.692, 0, 0, 0, 34 [SEP] 23, Mug, -1.406, 0.871, 0.684, 0, 156.757, 0, 43 [SEP] 24, Bed, 1.227, -0.002, 1.664, 0, 0, 0, [SEP] 25, LightSwitch, 2.151, 1.233, -0.518, 0, 270, 0, [SEP] 26, GarbageCan, -0.747, 0.014, -0.327, 0, 0, 0, [SEP] 27, Mirror, -1.358, 1.427, 2.855, 0, 0, 0, [SEP] 28, DeskLamp, -2.296, 0.858, 0.750, 0, 0, 0, [SEP] 29, Window, -0.421, 1.534, -1.947, 90, 0, 0, [SEP] 30, Window, 0.579, 1.534, -1.947, 90, 0, 0, [SEP] 31, Drawer, -0.491, 0.739, -0.855, 0, 90, 0, [SEP] 32, Drawer, -0.491, 0.204, -0.855, 0, 90, 0, [SEP] 33, Desk, -0.639, 0.009, -1.187, 0, 90, 0, [SEP] 34, Drawer, -0.491, 0.487, -0.855, 0, 90, 0, [SEP] 35, Shelf, -1.965, 1.514, 0.416, 0, 0, 0, [SEP] 36, Shelf, -1.965, 1.092, 0.416, 0, 0, 0, [SEP] 37, Shelf, -1.312, 1.888, 0.416, 0, 0, 0, [SEP] 38, Shelf, -1.965, 1.888, 0.416, 0, 0, 0, [SEP] 39, Shelf, -1.312, 1.092, 0.416, 0, 0, 0, [SEP] 40, Shelf, -1.312, 1.514, 0.416, 0, 0, 0, [SEP] 41, Blinds, 0.601, 2.161, -1.916, 0, 0, 0, [SEP] 42, Blinds, -0.402, 2.161, -1.916, 0, 0, 0, [SEP] 43, Desk, -1.726, 0.001, 0.575, 0, 0, 0, [SEP] 44, Drawer, -2.058, 0.733, 0.734, 0, 0, 0, [SEP] 45, Drawer, -2.058, 0.482, 0.734, 0, 0, 0, [SEP] 46, Drawer, -2.058, 0.198, 0.735, 0, 0, 0, [SEP] 47, Chair, -0.137, 0.000, -1.587, 0, 315, 0, [SEP] 48, Safe, -2.183, -7.748, 2.576, 0, 180, 0, [SEP] 49, Chair, -1.433, 0.009, 0.780, 357.672, 206.726, 0, [SEP] 50, LaundryHamper, 0.163, 0.003, 2.635, 0, 86.390, 0, [SEP] 51, NorthWall, , , , , , , [SEP] 52, EastWall, , , , , , , [SEP] 53, SouthWall, , , , , , , [SEP] 54, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and go to the foot of the bed. | STEP 2: Pick up the basketball from the floor. | STEP 3: Turn around and go to the desk in the corner. | STEP 4: Turn on the lamp. | END"]} +{"id": "trial_T20190907_161210_531813-1", "input": "Examine a basketball 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, -2.0, 0.900, 1.25, 0, 180, 0, [SEP] 1, CD, -2.240, 0.039, 2.682, 0, 180, 0, 48 [SEP] 2, CellPhone, 1.409, 0.784, 1.655, 0, 0, 0, 24 [SEP] 3, CreditCard, -0.511, 0.364, -1.013, 0, 0, 0, 32 [SEP] 4, KeyChain, -2.151, 1.349, 0.366, 0, 180, 0, 35 [SEP] 5, Book, 0.598, 0.783, 2.234, 0, 0, 0, 24 [SEP] 6, Pillow, 1.409, 0.918, 1.655, 0, 0, 0, 24 [SEP] 7, Laptop, 1.409, 0.781, 1.076, 0, 0, 0, 24 [SEP] 8, AlarmClock, -1.233, 1.724, 0.489, 0, 0, 0, 37 [SEP] 9, AlarmClock, -0.735, 0.858, -0.663, 0, 0, 0, 33 [SEP] 10, Book, 1.815, 0.783, 1.366, 0, 0, 0, 24 [SEP] 11, AlarmClock, -0.514, 0.851, -0.619, 0, 56.206, 0, 33 [SEP] 12, BasketBall, 1.976, 0.120, 0.211, 0, 331.076, 0, [SEP] 13, Pen, -0.549, 0.089, -0.852, 0, 0, 0, 32 [SEP] 14, Laptop, -1.783, 0.871, 0.732, 0, 0, 0, 43 [SEP] 15, BaseballBat, 1.953, 0.659, -1.81, 346.388, 0, 0, [SEP] 16, Bowl, -0.827, 0.850, -1.641, 0, 0, 0, 33 [SEP] 17, Pillow, 1.003, 0.918, 1.366, 0, 0, 0, 24 [SEP] 18, KeyChain, -2.083, 0.039, 2.682, 0, 180, 0, 48 [SEP] 19, CreditCard, -1.918, 0.878, 0.498, 0, 0, 0, 36 [SEP] 20, CellPhone, -2.292, 0.040, 2.522, 0, 180, 0, 48 [SEP] 21, CD, -0.511, 0.083, -0.692, 0, 0, 0, 32 [SEP] 22, Pencil, -0.473, 0.368, -0.692, 0, 0, 0, 34 [SEP] 23, Mug, -1.406, 0.871, 0.684, 0, 156.757, 0, 43 [SEP] 24, Bed, 1.227, -0.002, 1.664, 0, 0, 0, [SEP] 25, LightSwitch, 2.151, 1.233, -0.518, 0, 270, 0, [SEP] 26, GarbageCan, -0.747, 0.014, -0.327, 0, 0, 0, [SEP] 27, Mirror, -1.358, 1.427, 2.855, 0, 0, 0, [SEP] 28, DeskLamp, -2.296, 0.858, 0.750, 0, 0, 0, [SEP] 29, Window, -0.421, 1.534, -1.947, 90, 0, 0, [SEP] 30, Window, 0.579, 1.534, -1.947, 90, 0, 0, [SEP] 31, Drawer, -0.491, 0.739, -0.855, 0, 90, 0, [SEP] 32, Drawer, -0.491, 0.204, -0.855, 0, 90, 0, [SEP] 33, Desk, -0.639, 0.009, -1.187, 0, 90, 0, [SEP] 34, Drawer, -0.491, 0.487, -0.855, 0, 90, 0, [SEP] 35, Shelf, -1.965, 1.514, 0.416, 0, 0, 0, [SEP] 36, Shelf, -1.965, 1.092, 0.416, 0, 0, 0, [SEP] 37, Shelf, -1.312, 1.888, 0.416, 0, 0, 0, [SEP] 38, Shelf, -1.965, 1.888, 0.416, 0, 0, 0, [SEP] 39, Shelf, -1.312, 1.092, 0.416, 0, 0, 0, [SEP] 40, Shelf, -1.312, 1.514, 0.416, 0, 0, 0, [SEP] 41, Blinds, 0.601, 2.161, -1.916, 0, 0, 0, [SEP] 42, Blinds, -0.402, 2.161, -1.916, 0, 0, 0, [SEP] 43, Desk, -1.726, 0.001, 0.575, 0, 0, 0, [SEP] 44, Drawer, -2.058, 0.733, 0.734, 0, 0, 0, [SEP] 45, Drawer, -2.058, 0.482, 0.734, 0, 0, 0, [SEP] 46, Drawer, -2.058, 0.198, 0.735, 0, 0, 0, [SEP] 47, Chair, -0.137, 0.000, -1.587, 0, 315, 0, [SEP] 48, Safe, -2.183, -7.748, 2.576, 0, 180, 0, [SEP] 49, Chair, -1.433, 0.009, 0.780, 357.672, 206.726, 0, [SEP] 50, LaundryHamper, 0.163, 0.003, 2.635, 0, 86.390, 0, [SEP] 51, NorthWall, , , , , , , [SEP] 52, EastWall, , , , , , , [SEP] 53, SouthWall, , , , , , , [SEP] 54, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and walk to the basketball on the floor by the bed. | STEP 2: Pick up the basketball from the floor. | STEP 3: Turn left and walk to the lamp on the desk which is to the left of the bed. | STEP 4: Turn on the lamp. | END"]} +{"id": "trial_T20190907_161210_531813-2", "input": "Turn on a lamp while holding a basketball 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, 180, 0, [SEP] 1, CD, -2.240, 0.039, 2.682, 0, 180, 0, 48 [SEP] 2, CellPhone, 1.409, 0.784, 1.655, 0, 0, 0, 24 [SEP] 3, CreditCard, -0.511, 0.364, -1.013, 0, 0, 0, 32 [SEP] 4, KeyChain, -2.151, 1.349, 0.366, 0, 180, 0, 35 [SEP] 5, Book, 0.598, 0.783, 2.234, 0, 0, 0, 24 [SEP] 6, Pillow, 1.409, 0.918, 1.655, 0, 0, 0, 24 [SEP] 7, Laptop, 1.409, 0.781, 1.076, 0, 0, 0, 24 [SEP] 8, AlarmClock, -1.233, 1.724, 0.489, 0, 0, 0, 37 [SEP] 9, AlarmClock, -0.735, 0.858, -0.663, 0, 0, 0, 33 [SEP] 10, Book, 1.815, 0.783, 1.366, 0, 0, 0, 24 [SEP] 11, AlarmClock, -0.514, 0.851, -0.619, 0, 56.206, 0, 33 [SEP] 12, BasketBall, 1.976, 0.120, 0.211, 0, 331.076, 0, [SEP] 13, Pen, -0.549, 0.089, -0.852, 0, 0, 0, 32 [SEP] 14, Laptop, -1.783, 0.871, 0.732, 0, 0, 0, 43 [SEP] 15, BaseballBat, 1.953, 0.659, -1.81, 346.388, 0, 0, [SEP] 16, Bowl, -0.827, 0.850, -1.641, 0, 0, 0, 33 [SEP] 17, Pillow, 1.003, 0.918, 1.366, 0, 0, 0, 24 [SEP] 18, KeyChain, -2.083, 0.039, 2.682, 0, 180, 0, 48 [SEP] 19, CreditCard, -1.918, 0.878, 0.498, 0, 0, 0, 36 [SEP] 20, CellPhone, -2.292, 0.040, 2.522, 0, 180, 0, 48 [SEP] 21, CD, -0.511, 0.083, -0.692, 0, 0, 0, 32 [SEP] 22, Pencil, -0.473, 0.368, -0.692, 0, 0, 0, 34 [SEP] 23, Mug, -1.406, 0.871, 0.684, 0, 156.757, 0, 43 [SEP] 24, Bed, 1.227, -0.002, 1.664, 0, 0, 0, [SEP] 25, LightSwitch, 2.151, 1.233, -0.518, 0, 270, 0, [SEP] 26, GarbageCan, -0.747, 0.014, -0.327, 0, 0, 0, [SEP] 27, Mirror, -1.358, 1.427, 2.855, 0, 0, 0, [SEP] 28, DeskLamp, -2.296, 0.858, 0.750, 0, 0, 0, [SEP] 29, Window, -0.421, 1.534, -1.947, 90, 0, 0, [SEP] 30, Window, 0.579, 1.534, -1.947, 90, 0, 0, [SEP] 31, Drawer, -0.491, 0.739, -0.855, 0, 90, 0, [SEP] 32, Drawer, -0.491, 0.204, -0.855, 0, 90, 0, [SEP] 33, Desk, -0.639, 0.009, -1.187, 0, 90, 0, [SEP] 34, Drawer, -0.491, 0.487, -0.855, 0, 90, 0, [SEP] 35, Shelf, -1.965, 1.514, 0.416, 0, 0, 0, [SEP] 36, Shelf, -1.965, 1.092, 0.416, 0, 0, 0, [SEP] 37, Shelf, -1.312, 1.888, 0.416, 0, 0, 0, [SEP] 38, Shelf, -1.965, 1.888, 0.416, 0, 0, 0, [SEP] 39, Shelf, -1.312, 1.092, 0.416, 0, 0, 0, [SEP] 40, Shelf, -1.312, 1.514, 0.416, 0, 0, 0, [SEP] 41, Blinds, 0.601, 2.161, -1.916, 0, 0, 0, [SEP] 42, Blinds, -0.402, 2.161, -1.916, 0, 0, 0, [SEP] 43, Desk, -1.726, 0.001, 0.575, 0, 0, 0, [SEP] 44, Drawer, -2.058, 0.733, 0.734, 0, 0, 0, [SEP] 45, Drawer, -2.058, 0.482, 0.734, 0, 0, 0, [SEP] 46, Drawer, -2.058, 0.198, 0.735, 0, 0, 0, [SEP] 47, Chair, -0.137, 0.000, -1.587, 0, 315, 0, [SEP] 48, Safe, -2.183, -7.748, 2.576, 0, 180, 0, [SEP] 49, Chair, -1.433, 0.009, 0.780, 357.672, 206.726, 0, [SEP] 50, LaundryHamper, 0.163, 0.003, 2.635, 0, 86.390, 0, [SEP] 51, NorthWall, , , , , , , [SEP] 52, EastWall, , , , , , , [SEP] 53, SouthWall, , , , , , , [SEP] 54, WestWall, , , , , , , ", "output": ["STEP 1: Move to the foot of the bed closest to the wall | STEP 2: Pick up the basketball sitting on the floor next to the foot of the bed | STEP 3: Carry the basketball to the left side of the wooden desk top | STEP 4: Turn on the lamp that is on top of the desk | END"]} +{"id": "trial_T20190908_100632_546757-0", "input": "Put a clean wash cloth 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, 2.75, 0, 180, 0, [SEP] 1, Cloth, -0.279, 0.075, 3.055, 0, 0, 0, 18 [SEP] 2, Cloth, -0.264, 0.954, 2.843, 0, 0, 0, 22 [SEP] 3, Candle, -0.388, 0.954, 2.843, 0, 0, 0, 22 [SEP] 4, SoapBottle, -0.229, 0.076, 2.202, 0, 0, 0, 24 [SEP] 5, HandTowel, -0.038, 1.619, 3.799, 0, 90, 0, 29 [SEP] 6, Towel, -1.082, 1.326, 1.302, 0, 0, 0, 25 [SEP] 7, SoapBar, -0.302, 0.826, 3.310, 0, 0, 0, 32 [SEP] 8, ToiletPaper, -0.117, 0.945, 1.629, 0, 0, 0, 30 [SEP] 9, Plunger, -0.112, -0.000, 1.848, 0, 0, 0, [SEP] 10, Candle, -0.077, 0.953, 1.481, 0, 0, 0, 30 [SEP] 11, ToiletPaper, -0.280, 0.654, 1.985, 0, 180, 90, 27 [SEP] 12, SprayBottle, -0.326, 0.955, 2.948, 0, 0, 0, 22 [SEP] 13, Cloth, -0.280, 0.076, 3.507, 0, 0, 0, 23 [SEP] 14, ScrubBrush, -0.322, 3.109, 1.950, 0, 0, 0, [SEP] 15, SoapBottle, -0.280, 0.077, 2.743, 0, 0, 0, 19 [SEP] 16, Mirror, -0.030, 1.544, 2.864, 0, 0, 0, [SEP] 17, Sink, -0.302, 0.799, 3.263, 0, 270, 0, [SEP] 18, Cabinet, -0.491, 0.404, 2.863, 0, 0, 0, [SEP] 19, Cabinet, -0.495, 0.384, 2.842, 0, 0, 0, [SEP] 20, ShowerDoor, -1.647, 1.017, 1.180, 0, 0, 0, [SEP] 21, ShowerGlass, -0.909, 0.788, 0.485, 0, 0, 0, [SEP] 22, CounterTop, -0.261, 0.927, 2.843, 0, 0, 0, [SEP] 23, Cabinet, -0.495, 0.384, 3.650, 0, 0, 0, [SEP] 24, Cabinet, -0.491, 0.404, 2.055, 0, 0, 0, [SEP] 25, TowelHolder, -1.082, 1.312, 1.195, 0, 0, 0, [SEP] 26, LightSwitch, -2.424, 1.447, 3.338, 0, 90, 0, [SEP] 27, ToiletPaperHanger, -0.266, 0.786, 2.043, 0, 180, 0, [SEP] 28, HandTowelHolder, 0.000, 1.721, 1.887, 0, 180, 0, [SEP] 29, HandTowelHolder, 0.000, 1.721, 3.799, 0, 180, 0, [SEP] 30, Toilet, -0.542, 3.109, 1.493, 0, 270, 0, [SEP] 31, GarbageCan, -2.159, -0.000, 3.756, 0, 0, 0, [SEP] 32, SinkBasin, -0.308, 0.820, 3.266, 0, 0, 0, [SEP] 33, ShowerHead, -0.134, 1.888, 0.564, 0, 90, 0, [SEP] 34, Faucet, 0.0, 1.009, 3.265, 0, 0, 0, [SEP] 35, Faucet, 0.0, 1.009, 2.421, 0, 0, 0, [SEP] 36, SinkBasin, -0.308, 0.820, 2.422, 0, 0, 0, [SEP] 37, Sink, -0.302, 0.799, 2.419, 0, 270, 0, [SEP] 38, NorthWall, , , , , , , [SEP] 39, SouthWall, , , , , , , [SEP] 40, SouthWall, , , , , , , ", "output": ["STEP 1: Turn left and walk to the counter in between the two sinks. | STEP 2: Pick up the dirty green washcloth that's in front of you between the sinks. | STEP 3: Take a step to your right then a small step backwards. | STEP 4: Wash the wash cloth in the sink and then pick it back up and shut off the water. | STEP 5: Move back to where you got the wash cloth from. | STEP 6: Put the wash cloth back where you got it from. | END"]} +{"id": "trial_T20190908_100632_546757-1", "input": "Put a clean cloth 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, 2.75, 0, 180, 0, [SEP] 1, Cloth, -0.279, 0.075, 3.055, 0, 0, 0, 18 [SEP] 2, Cloth, -0.264, 0.954, 2.843, 0, 0, 0, 22 [SEP] 3, Candle, -0.388, 0.954, 2.843, 0, 0, 0, 22 [SEP] 4, SoapBottle, -0.229, 0.076, 2.202, 0, 0, 0, 24 [SEP] 5, HandTowel, -0.038, 1.619, 3.799, 0, 90, 0, 29 [SEP] 6, Towel, -1.082, 1.326, 1.302, 0, 0, 0, 25 [SEP] 7, SoapBar, -0.302, 0.826, 3.310, 0, 0, 0, 32 [SEP] 8, ToiletPaper, -0.117, 0.945, 1.629, 0, 0, 0, 30 [SEP] 9, Plunger, -0.112, -0.000, 1.848, 0, 0, 0, [SEP] 10, Candle, -0.077, 0.953, 1.481, 0, 0, 0, 30 [SEP] 11, ToiletPaper, -0.280, 0.654, 1.985, 0, 180, 90, 27 [SEP] 12, SprayBottle, -0.326, 0.955, 2.948, 0, 0, 0, 22 [SEP] 13, Cloth, -0.280, 0.076, 3.507, 0, 0, 0, 23 [SEP] 14, ScrubBrush, -0.322, 3.109, 1.950, 0, 0, 0, [SEP] 15, SoapBottle, -0.280, 0.077, 2.743, 0, 0, 0, 19 [SEP] 16, Mirror, -0.030, 1.544, 2.864, 0, 0, 0, [SEP] 17, Sink, -0.302, 0.799, 3.263, 0, 270, 0, [SEP] 18, Cabinet, -0.491, 0.404, 2.863, 0, 0, 0, [SEP] 19, Cabinet, -0.495, 0.384, 2.842, 0, 0, 0, [SEP] 20, ShowerDoor, -1.647, 1.017, 1.180, 0, 0, 0, [SEP] 21, ShowerGlass, -0.909, 0.788, 0.485, 0, 0, 0, [SEP] 22, CounterTop, -0.261, 0.927, 2.843, 0, 0, 0, [SEP] 23, Cabinet, -0.495, 0.384, 3.650, 0, 0, 0, [SEP] 24, Cabinet, -0.491, 0.404, 2.055, 0, 0, 0, [SEP] 25, TowelHolder, -1.082, 1.312, 1.195, 0, 0, 0, [SEP] 26, LightSwitch, -2.424, 1.447, 3.338, 0, 90, 0, [SEP] 27, ToiletPaperHanger, -0.266, 0.786, 2.043, 0, 180, 0, [SEP] 28, HandTowelHolder, 0.000, 1.721, 1.887, 0, 180, 0, [SEP] 29, HandTowelHolder, 0.000, 1.721, 3.799, 0, 180, 0, [SEP] 30, Toilet, -0.542, 3.109, 1.493, 0, 270, 0, [SEP] 31, GarbageCan, -2.159, -0.000, 3.756, 0, 0, 0, [SEP] 32, SinkBasin, -0.308, 0.820, 3.266, 0, 0, 0, [SEP] 33, ShowerHead, -0.134, 1.888, 0.564, 0, 90, 0, [SEP] 34, Faucet, 0.0, 1.009, 3.265, 0, 0, 0, [SEP] 35, Faucet, 0.0, 1.009, 2.421, 0, 0, 0, [SEP] 36, SinkBasin, -0.308, 0.820, 2.422, 0, 0, 0, [SEP] 37, Sink, -0.302, 0.799, 2.419, 0, 270, 0, [SEP] 38, NorthWall, , , , , , , [SEP] 39, SouthWall, , , , , , , [SEP] 40, SouthWall, , , , , , , ", "output": ["STEP 1: Turn to the left and face the counter between the counter between the two sinks. | STEP 2: Pick the cloth up from the counter. | STEP 3: Go right and turn to face the sink on the right side of the counter. | STEP 4: Put the cloth in the sink and turn the water on and then off and take the cloth out of the sink. | STEP 5: Move to the left. | STEP 6: Put the cloth down on the counter between the two sinks. | END"]} +{"id": "trial_T20190908_100632_546757-2", "input": "Place a clean rag 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, 0.901, 2.75, 0, 180, 0, [SEP] 1, Cloth, -0.279, 0.075, 3.055, 0, 0, 0, 18 [SEP] 2, Cloth, -0.264, 0.954, 2.843, 0, 0, 0, 22 [SEP] 3, Candle, -0.388, 0.954, 2.843, 0, 0, 0, 22 [SEP] 4, SoapBottle, -0.229, 0.076, 2.202, 0, 0, 0, 24 [SEP] 5, HandTowel, -0.038, 1.619, 3.799, 0, 90, 0, 29 [SEP] 6, Towel, -1.082, 1.326, 1.302, 0, 0, 0, 25 [SEP] 7, SoapBar, -0.302, 0.826, 3.310, 0, 0, 0, 32 [SEP] 8, ToiletPaper, -0.117, 0.945, 1.629, 0, 0, 0, 30 [SEP] 9, Plunger, -0.112, -0.000, 1.848, 0, 0, 0, [SEP] 10, Candle, -0.077, 0.953, 1.481, 0, 0, 0, 30 [SEP] 11, ToiletPaper, -0.280, 0.654, 1.985, 0, 180, 90, 27 [SEP] 12, SprayBottle, -0.326, 0.955, 2.948, 0, 0, 0, 22 [SEP] 13, Cloth, -0.280, 0.076, 3.507, 0, 0, 0, 23 [SEP] 14, ScrubBrush, -0.322, 3.109, 1.950, 0, 0, 0, [SEP] 15, SoapBottle, -0.280, 0.077, 2.743, 0, 0, 0, 19 [SEP] 16, Mirror, -0.030, 1.544, 2.864, 0, 0, 0, [SEP] 17, Sink, -0.302, 0.799, 3.263, 0, 270, 0, [SEP] 18, Cabinet, -0.491, 0.404, 2.863, 0, 0, 0, [SEP] 19, Cabinet, -0.495, 0.384, 2.842, 0, 0, 0, [SEP] 20, ShowerDoor, -1.647, 1.017, 1.180, 0, 0, 0, [SEP] 21, ShowerGlass, -0.909, 0.788, 0.485, 0, 0, 0, [SEP] 22, CounterTop, -0.261, 0.927, 2.843, 0, 0, 0, [SEP] 23, Cabinet, -0.495, 0.384, 3.650, 0, 0, 0, [SEP] 24, Cabinet, -0.491, 0.404, 2.055, 0, 0, 0, [SEP] 25, TowelHolder, -1.082, 1.312, 1.195, 0, 0, 0, [SEP] 26, LightSwitch, -2.424, 1.447, 3.338, 0, 90, 0, [SEP] 27, ToiletPaperHanger, -0.266, 0.786, 2.043, 0, 180, 0, [SEP] 28, HandTowelHolder, 0.000, 1.721, 1.887, 0, 180, 0, [SEP] 29, HandTowelHolder, 0.000, 1.721, 3.799, 0, 180, 0, [SEP] 30, Toilet, -0.542, 3.109, 1.493, 0, 270, 0, [SEP] 31, GarbageCan, -2.159, -0.000, 3.756, 0, 0, 0, [SEP] 32, SinkBasin, -0.308, 0.820, 3.266, 0, 0, 0, [SEP] 33, ShowerHead, -0.134, 1.888, 0.564, 0, 90, 0, [SEP] 34, Faucet, 0.0, 1.009, 3.265, 0, 0, 0, [SEP] 35, Faucet, 0.0, 1.009, 2.421, 0, 0, 0, [SEP] 36, SinkBasin, -0.308, 0.820, 2.422, 0, 0, 0, [SEP] 37, Sink, -0.302, 0.799, 2.419, 0, 270, 0, [SEP] 38, NorthWall, , , , , , , [SEP] 39, SouthWall, , , , , , , [SEP] 40, SouthWall, , , , , , , ", "output": ["STEP 1: Turn left and walk to the sinks. | STEP 2: Pick up the dirty blue rag. | STEP 3: Take a step right. | STEP 4: Wash the rag in the right sink. | STEP 5: Take a step left. | STEP 6: Place the rag on the counter between the sinks. | END"]} +{"id": "trial_T20190909_124126_852630-0", "input": "Putting a hot 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, 0.25, 0.900, 0.25, 0, 90, 0, [SEP] 1, Statue, -1.229, 0.936, -0.905, 0, 0, 0, 61 [SEP] 2, CreditCard, -1.674, 0.878, 2.665, 0, 0, 0, 88 [SEP] 3, CreditCard, 1.114, 0.908, -0.208, 0, 0, 0, 62 [SEP] 4, CellPhone, 0.794, 0.491, -0.648, 0, 270, 0, 65 [SEP] 5, CellPhone, -0.477, 0.930, -1.540, 0, 0, 0, 61 [SEP] 6, DishSponge, 0.915, 0.702, -0.607, 0, 270, 0, 59 [SEP] 7, Glassbottle, -0.550, 0.934, -1.308, 0, 0, 0, 61 [SEP] 8, Glassbottle, 1.169, 2.208, -1.299, 0, 270, 0, 68 [SEP] 9, Fork, -0.753, 0.780, -0.573, 0, 180, 0, 82 [SEP] 10, Spoon, -0.642, 0.781, -0.918, 0, 0, 0, 82 [SEP] 11, Spatula, 0.834, 0.717, -0.565, 0, 270, 0, 59 [SEP] 12, Knife, -0.624, 0.957, -1.386, 0, 90, 0, 61 [SEP] 13, Knife, -0.772, 0.957, 0.162, 0, 90, 0, 61 [SEP] 14, Egg, 0.773, 0.949, -0.208, 0, 0, 0, 62 [SEP] 15, Plate, 1.101, 1.669, -2.029, 0, 270, 0, 60 [SEP] 16, Tomato, 0.859, 0.952, -1.793, 0, 0, 0, 67 [SEP] 17, Bowl, 1.026, 1.405, 1.063, 0, 270, 0, 84 [SEP] 18, Bowl, 0.965, 1.405, 1.540, 0, 270, 0, 84 [SEP] 19, SaltShaker, -1.469, 0.878, 2.719, 0, 0, 0, 88 [SEP] 20, PepperShaker, -0.772, 0.929, -1.540, 0, 0, 0, 61 [SEP] 21, PepperShaker, 1.148, 1.662, -0.593, 0, 270, 0, 70 [SEP] 22, Lettuce, 0.966, 0.940, 1.158, 0, 270, 0, 84 [SEP] 23, Bread, 1.026, 1.216, 1.444, 0, 270, 0, 84 [SEP] 24, Bread, 1.029, 0.992, -0.034, 0, 0, 0, 62 [SEP] 25, Apple, -0.865, 0.229, 0.543, 0, 180, 0, 81 [SEP] 26, Apple, -0.698, 0.983, -1.231, 0, 0, 0, 61 [SEP] 27, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 61 [SEP] 28, Glassbottle, 1.199, 0.912, -1.879, 0, 0, 0, 67 [SEP] 29, Bread, 0.773, 0.992, 0.139, 0, 0, 0, 62 [SEP] 30, CreditCard, 0.874, 0.150, -0.729, 0, 270, 0, 64 [SEP] 31, CellPhone, 0.874, 0.150, -0.650, 0, 270, 0, 64 [SEP] 32, Potato, 1.029, 0.941, -1.879, 0, 0, 0, 67 [SEP] 33, Knife, -0.772, 0.957, 0.009, 0, 0, 0, 61 [SEP] 34, Fork, -1.229, 0.934, -0.380, 0, 0, 0, 61 [SEP] 35, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 55 [SEP] 36, Lettuce, 1.026, 1.479, 1.254, 0, 270, 0, 84 [SEP] 37, Plate, 0.905, 0.866, 1.444, 0, 270, 0, 84 [SEP] 38, Apple, -1.041, 0.983, 0.144, 0, 0, 0, 61 [SEP] 39, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 57 [SEP] 40, Spatula, -0.808, 0.791, -0.659, 0, 180, 0, 82 [SEP] 41, PaperTowelRoll, -1.778, 0.658, 2.874, 0, 0, 0, 87 [SEP] 42, Tomato, -1.007, 0.217, 0.576, 0, 180, 0, 81 [SEP] 43, Egg, -0.753, 0.818, -0.745, 0, 90, 0, 82 [SEP] 44, SaltShaker, 0.875, 0.490, -0.524, 0, 270, 0, 65 [SEP] 45, PepperShaker, 0.811, 0.104, -1.892, 0, 0, 0, 66 [SEP] 46, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 87 [SEP] 47, ButterKnife, 0.773, 0.911, -1.879, 0, 0, 0, 67 [SEP] 48, SoapBottle, -0.477, 0.933, 0.086, 0, 0, 0, 61 [SEP] 49, Vase, 0.773, 0.912, -0.729, 0, 0, 0, 62 [SEP] 50, Bowl, -1.467, 0.557, 2.667, 0, 0, 0, 87 [SEP] 51, DishSponge, 1.029, 0.910, -0.381, 0, 0, 0, 62 [SEP] 52, Spoon, 0.773, 0.912, -0.555, 0, 0, 0, 62 [SEP] 53, Cup, 1.087, 1.640, 1.540, 0, 270, 0, 84 [SEP] 54, Mug, 1.093, 1.790, -1.132, 0, 270, 0, 83 [SEP] 55, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 56, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 57, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 58, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 59, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 60, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 61, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 62, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 63, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 64, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 65, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 66, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 67, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 68, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 69, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 70, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 71, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 72, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 73, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 74, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 75, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 76, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 77, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 78, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 79, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 80, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 81, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 82, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 83, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 84, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 85, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 86, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 87, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 88, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 89, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 90, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 91, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 92, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 93, NorthWall, , , , , , , [SEP] 94, EastWall, , , , , , , [SEP] 95, SouthWall, , , , , , , [SEP] 96, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and go to the counter with the coffee maker | STEP 2: Grab the knife off of the counter | STEP 3: Look up at the counter | STEP 4: Slice the potato on the counter | STEP 5: Put the knife down on the counter | STEP 6: Grab a potato slice off of the counter | STEP 7: Turn left and go to the microwave | STEP 8: Heat the potato slice in the microwave and then take it out | STEP 9: Turn left and go to the fridge | STEP 10: Put the potato slice in the fridge | END"]} +{"id": "trial_T20190909_124126_852630-1", "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, 0.25, 0.900, 0.25, 0, 90, 0, [SEP] 1, Statue, -1.229, 0.936, -0.905, 0, 0, 0, 61 [SEP] 2, CreditCard, -1.674, 0.878, 2.665, 0, 0, 0, 88 [SEP] 3, CreditCard, 1.114, 0.908, -0.208, 0, 0, 0, 62 [SEP] 4, CellPhone, 0.794, 0.491, -0.648, 0, 270, 0, 65 [SEP] 5, CellPhone, -0.477, 0.930, -1.540, 0, 0, 0, 61 [SEP] 6, DishSponge, 0.915, 0.702, -0.607, 0, 270, 0, 59 [SEP] 7, Glassbottle, -0.550, 0.934, -1.308, 0, 0, 0, 61 [SEP] 8, Glassbottle, 1.169, 2.208, -1.299, 0, 270, 0, 68 [SEP] 9, Fork, -0.753, 0.780, -0.573, 0, 180, 0, 82 [SEP] 10, Spoon, -0.642, 0.781, -0.918, 0, 0, 0, 82 [SEP] 11, Spatula, 0.834, 0.717, -0.565, 0, 270, 0, 59 [SEP] 12, Knife, -0.624, 0.957, -1.386, 0, 90, 0, 61 [SEP] 13, Knife, -0.772, 0.957, 0.162, 0, 90, 0, 61 [SEP] 14, Egg, 0.773, 0.949, -0.208, 0, 0, 0, 62 [SEP] 15, Plate, 1.101, 1.669, -2.029, 0, 270, 0, 60 [SEP] 16, Tomato, 0.859, 0.952, -1.793, 0, 0, 0, 67 [SEP] 17, Bowl, 1.026, 1.405, 1.063, 0, 270, 0, 84 [SEP] 18, Bowl, 0.965, 1.405, 1.540, 0, 270, 0, 84 [SEP] 19, SaltShaker, -1.469, 0.878, 2.719, 0, 0, 0, 88 [SEP] 20, PepperShaker, -0.772, 0.929, -1.540, 0, 0, 0, 61 [SEP] 21, PepperShaker, 1.148, 1.662, -0.593, 0, 270, 0, 70 [SEP] 22, Lettuce, 0.966, 0.940, 1.158, 0, 270, 0, 84 [SEP] 23, Bread, 1.026, 1.216, 1.444, 0, 270, 0, 84 [SEP] 24, Bread, 1.029, 0.992, -0.034, 0, 0, 0, 62 [SEP] 25, Apple, -0.865, 0.229, 0.543, 0, 180, 0, 81 [SEP] 26, Apple, -0.698, 0.983, -1.231, 0, 0, 0, 61 [SEP] 27, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 61 [SEP] 28, Glassbottle, 1.199, 0.912, -1.879, 0, 0, 0, 67 [SEP] 29, Bread, 0.773, 0.992, 0.139, 0, 0, 0, 62 [SEP] 30, CreditCard, 0.874, 0.150, -0.729, 0, 270, 0, 64 [SEP] 31, CellPhone, 0.874, 0.150, -0.650, 0, 270, 0, 64 [SEP] 32, Potato, 1.029, 0.941, -1.879, 0, 0, 0, 67 [SEP] 33, Knife, -0.772, 0.957, 0.009, 0, 0, 0, 61 [SEP] 34, Fork, -1.229, 0.934, -0.380, 0, 0, 0, 61 [SEP] 35, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 55 [SEP] 36, Lettuce, 1.026, 1.479, 1.254, 0, 270, 0, 84 [SEP] 37, Plate, 0.905, 0.866, 1.444, 0, 270, 0, 84 [SEP] 38, Apple, -1.041, 0.983, 0.144, 0, 0, 0, 61 [SEP] 39, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 57 [SEP] 40, Spatula, -0.808, 0.791, -0.659, 0, 180, 0, 82 [SEP] 41, PaperTowelRoll, -1.778, 0.658, 2.874, 0, 0, 0, 87 [SEP] 42, Tomato, -1.007, 0.217, 0.576, 0, 180, 0, 81 [SEP] 43, Egg, -0.753, 0.818, -0.745, 0, 90, 0, 82 [SEP] 44, SaltShaker, 0.875, 0.490, -0.524, 0, 270, 0, 65 [SEP] 45, PepperShaker, 0.811, 0.104, -1.892, 0, 0, 0, 66 [SEP] 46, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 87 [SEP] 47, ButterKnife, 0.773, 0.911, -1.879, 0, 0, 0, 67 [SEP] 48, SoapBottle, -0.477, 0.933, 0.086, 0, 0, 0, 61 [SEP] 49, Vase, 0.773, 0.912, -0.729, 0, 0, 0, 62 [SEP] 50, Bowl, -1.467, 0.557, 2.667, 0, 0, 0, 87 [SEP] 51, DishSponge, 1.029, 0.910, -0.381, 0, 0, 0, 62 [SEP] 52, Spoon, 0.773, 0.912, -0.555, 0, 0, 0, 62 [SEP] 53, Cup, 1.087, 1.640, 1.540, 0, 270, 0, 84 [SEP] 54, Mug, 1.093, 1.790, -1.132, 0, 270, 0, 83 [SEP] 55, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 56, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 57, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 58, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 59, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 60, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 61, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 62, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 63, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 64, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 65, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 66, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 67, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 68, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 69, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 70, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 71, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 72, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 73, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 74, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 75, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 76, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 77, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 78, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 79, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 80, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 81, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 82, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 83, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 84, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 85, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 86, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 87, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 88, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 89, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 90, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 91, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 92, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 93, NorthWall, , , , , , , [SEP] 94, EastWall, , , , , , , [SEP] 95, SouthWall, , , , , , , [SEP] 96, WestWall, , , , , , , ", "output": ["STEP 1: move right to the table | STEP 2: pick up the knife | STEP 3: move up to the potato on the table | STEP 4: slice the potato on the table | STEP 5: drop the knife on the coffee maker | STEP 6: pick up a slice of the potato | STEP 7: move left to the oven | STEP 8: cook the potato in the oven and take it out | STEP 9: move left to the fridge | STEP 10: place the potato in the fridge | END"]} +{"id": "trial_T20190909_124126_852630-2", "input": "Put a cooked slice of 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, 0.900, 0.25, 0, 90, 0, [SEP] 1, Statue, -1.229, 0.936, -0.905, 0, 0, 0, 61 [SEP] 2, CreditCard, -1.674, 0.878, 2.665, 0, 0, 0, 88 [SEP] 3, CreditCard, 1.114, 0.908, -0.208, 0, 0, 0, 62 [SEP] 4, CellPhone, 0.794, 0.491, -0.648, 0, 270, 0, 65 [SEP] 5, CellPhone, -0.477, 0.930, -1.540, 0, 0, 0, 61 [SEP] 6, DishSponge, 0.915, 0.702, -0.607, 0, 270, 0, 59 [SEP] 7, Glassbottle, -0.550, 0.934, -1.308, 0, 0, 0, 61 [SEP] 8, Glassbottle, 1.169, 2.208, -1.299, 0, 270, 0, 68 [SEP] 9, Fork, -0.753, 0.780, -0.573, 0, 180, 0, 82 [SEP] 10, Spoon, -0.642, 0.781, -0.918, 0, 0, 0, 82 [SEP] 11, Spatula, 0.834, 0.717, -0.565, 0, 270, 0, 59 [SEP] 12, Knife, -0.624, 0.957, -1.386, 0, 90, 0, 61 [SEP] 13, Knife, -0.772, 0.957, 0.162, 0, 90, 0, 61 [SEP] 14, Egg, 0.773, 0.949, -0.208, 0, 0, 0, 62 [SEP] 15, Plate, 1.101, 1.669, -2.029, 0, 270, 0, 60 [SEP] 16, Tomato, 0.859, 0.952, -1.793, 0, 0, 0, 67 [SEP] 17, Bowl, 1.026, 1.405, 1.063, 0, 270, 0, 84 [SEP] 18, Bowl, 0.965, 1.405, 1.540, 0, 270, 0, 84 [SEP] 19, SaltShaker, -1.469, 0.878, 2.719, 0, 0, 0, 88 [SEP] 20, PepperShaker, -0.772, 0.929, -1.540, 0, 0, 0, 61 [SEP] 21, PepperShaker, 1.148, 1.662, -0.593, 0, 270, 0, 70 [SEP] 22, Lettuce, 0.966, 0.940, 1.158, 0, 270, 0, 84 [SEP] 23, Bread, 1.026, 1.216, 1.444, 0, 270, 0, 84 [SEP] 24, Bread, 1.029, 0.992, -0.034, 0, 0, 0, 62 [SEP] 25, Apple, -0.865, 0.229, 0.543, 0, 180, 0, 81 [SEP] 26, Apple, -0.698, 0.983, -1.231, 0, 0, 0, 61 [SEP] 27, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 61 [SEP] 28, Glassbottle, 1.199, 0.912, -1.879, 0, 0, 0, 67 [SEP] 29, Bread, 0.773, 0.992, 0.139, 0, 0, 0, 62 [SEP] 30, CreditCard, 0.874, 0.150, -0.729, 0, 270, 0, 64 [SEP] 31, CellPhone, 0.874, 0.150, -0.650, 0, 270, 0, 64 [SEP] 32, Potato, 1.029, 0.941, -1.879, 0, 0, 0, 67 [SEP] 33, Knife, -0.772, 0.957, 0.009, 0, 0, 0, 61 [SEP] 34, Fork, -1.229, 0.934, -0.380, 0, 0, 0, 61 [SEP] 35, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 55 [SEP] 36, Lettuce, 1.026, 1.479, 1.254, 0, 270, 0, 84 [SEP] 37, Plate, 0.905, 0.866, 1.444, 0, 270, 0, 84 [SEP] 38, Apple, -1.041, 0.983, 0.144, 0, 0, 0, 61 [SEP] 39, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 57 [SEP] 40, Spatula, -0.808, 0.791, -0.659, 0, 180, 0, 82 [SEP] 41, PaperTowelRoll, -1.778, 0.658, 2.874, 0, 0, 0, 87 [SEP] 42, Tomato, -1.007, 0.217, 0.576, 0, 180, 0, 81 [SEP] 43, Egg, -0.753, 0.818, -0.745, 0, 90, 0, 82 [SEP] 44, SaltShaker, 0.875, 0.490, -0.524, 0, 270, 0, 65 [SEP] 45, PepperShaker, 0.811, 0.104, -1.892, 0, 0, 0, 66 [SEP] 46, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 87 [SEP] 47, ButterKnife, 0.773, 0.911, -1.879, 0, 0, 0, 67 [SEP] 48, SoapBottle, -0.477, 0.933, 0.086, 0, 0, 0, 61 [SEP] 49, Vase, 0.773, 0.912, -0.729, 0, 0, 0, 62 [SEP] 50, Bowl, -1.467, 0.557, 2.667, 0, 0, 0, 87 [SEP] 51, DishSponge, 1.029, 0.910, -0.381, 0, 0, 0, 62 [SEP] 52, Spoon, 0.773, 0.912, -0.555, 0, 0, 0, 62 [SEP] 53, Cup, 1.087, 1.640, 1.540, 0, 270, 0, 84 [SEP] 54, Mug, 1.093, 1.790, -1.132, 0, 270, 0, 83 [SEP] 55, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 56, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 57, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 58, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 59, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 60, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 61, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 62, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 63, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 64, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 65, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 66, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 67, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 68, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 69, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 70, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 71, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 72, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 73, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 74, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 75, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 76, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 77, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 78, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 79, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 80, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 81, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 82, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 83, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 84, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 85, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 86, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 87, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 88, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 89, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 90, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 91, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 92, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 93, NorthWall, , , , , , , [SEP] 94, EastWall, , , , , , , [SEP] 95, SouthWall, , , , , , , [SEP] 96, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and go to the coffee maker. | STEP 2: Pick up the knife on the counter. | STEP 3: Look up at the potato on the counter. | STEP 4: Cut the potato on the counter. | STEP 5: Put the knife on the counter in front of the coffee maker. | STEP 6: Pick up a slice of potato. | STEP 7: Go left to the microwave above the stove. | STEP 8: Cook the slice of potato in the microwave and pick it back up. | STEP 9: Turn left and go to the fridge. | STEP 10: Put the slice of potato on the shelf in the fridge with the lettuce. | END"]} +{"id": "trial_T20190907_171806_406231-0", "input": "Place a warmed mug in a coffee machine. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.5, 0.900, 0.75, 0, 180, 0, [SEP] 1, Statue, -0.772, 0.936, -1.231, 0, 90, 0, 59 [SEP] 2, Potato, 0.905, 1.165, 1.349, 0, 270, 0, 82 [SEP] 3, CreditCard, -1.985, 0.551, 2.874, 0, 0, 0, 85 [SEP] 4, CellPhone, 0.688, 0.908, -0.381, 0, 0, 0, 60 [SEP] 5, DishSponge, 1.101, 1.665, -1.961, 0, 270, 0, 58 [SEP] 6, ButterKnife, -0.697, 0.780, -0.573, 0, 90, 0, 80 [SEP] 7, ButterKnife, 0.859, 0.911, -0.555, 0, 90, 0, 60 [SEP] 8, Fork, -0.642, 0.781, -0.832, 0, 0, 0, 80 [SEP] 9, Spoon, -0.753, 0.781, -0.573, 0, 90, 0, 80 [SEP] 10, Spoon, -1.104, 0.934, -0.643, 0, 0, 0, 59 [SEP] 11, Egg, 1.060, 1.833, -1.132, 0, 270, 0, 81 [SEP] 12, Egg, 0.966, 1.172, 1.158, 0, 270, 0, 82 [SEP] 13, Cup, 0.944, 0.908, -0.729, 0, 0, 0, 60 [SEP] 14, Plate, 0.773, 0.914, -0.034, 0, 0, 0, 60 [SEP] 15, Plate, 1.082, 2.211, -1.626, 0, 270, 0, 66 [SEP] 16, SoapBottle, -1.054, 0.177, 0.608, 0, 180, 0, 79 [SEP] 17, Bowl, 0.965, 1.405, 1.540, 0, 270, 0, 82 [SEP] 18, SaltShaker, 0.688, 0.907, -2.051, 0, 0, 0, 65 [SEP] 19, PepperShaker, -0.698, 0.929, -1.386, 0, 0, 0, 59 [SEP] 20, Lettuce, 0.773, 0.988, -0.381, 0, 0, 0, 60 [SEP] 21, Lettuce, -1.355, 1.010, 0.144, 0, 0, 0, 59 [SEP] 22, Bread, 0.966, 1.482, 1.254, 0, 270, 0, 82 [SEP] 23, Mug, 1.212, 2.203, -1.408, 0, 270, 0, 66 [SEP] 24, Apple, -0.698, 0.983, -1.540, 0, 0, 0, 59 [SEP] 25, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 59 [SEP] 26, Glassbottle, 0.811, 0.109, -1.972, 0, 0, 0, 64 [SEP] 27, Bread, 1.114, 0.992, -0.034, 0, 0, 0, 60 [SEP] 28, CreditCard, 0.688, 0.908, -2.136, 0, 0, 0, 65 [SEP] 29, CellPhone, 0.773, 0.908, -0.208, 0, 0, 0, 60 [SEP] 30, Potato, 1.029, 0.941, -0.381, 0, 0, 0, 60 [SEP] 31, Knife, 0.859, 0.934, -0.381, 0, 180, 0, 60 [SEP] 32, Fork, 0.794, 0.494, -0.648, 0, 180, 0, 63 [SEP] 33, Pan, 0.905, 1.640, 1.254, 0, 270, 0, 82 [SEP] 34, Lettuce, -1.229, 1.010, -0.118, 0, 0, 0, 59 [SEP] 35, Plate, 1.126, 2.211, -1.082, 0, 270, 0, 66 [SEP] 36, Apple, -0.912, 0.227, 0.543, 0, 180, 0, 79 [SEP] 37, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 55 [SEP] 38, Spatula, 0.859, 0.926, -0.208, 0, 180, 0, 60 [SEP] 39, PaperTowelRoll, 1.029, 1.015, 0.139, 0, 90, 0, 60 [SEP] 40, Tomato, -0.587, 0.821, -0.486, 0, 90, 0, 80 [SEP] 41, Egg, 0.783, 1.680, 1.158, 0, 270, 0, 82 [SEP] 42, SaltShaker, -1.881, 0.550, 2.563, 0, 0, 0, 85 [SEP] 43, PepperShaker, 0.688, 0.907, -2.222, 0, 0, 0, 65 [SEP] 44, Vase, 1.114, 0.911, -1.793, 0, 0, 0, 65 [SEP] 45, ButterKnife, -1.167, 0.933, -1.430, 0, 0, 0, 59 [SEP] 46, SoapBottle, 1.102, 1.666, -0.529, 0, 270, 0, 68 [SEP] 47, Vase, 1.194, 1.667, -2.166, 0, 270, 0, 58 [SEP] 48, Bowl, -0.772, 0.936, 0.162, 0, 0, 0, 59 [SEP] 49, DishSponge, -0.624, 0.933, -1.231, 0, 0, 0, 59 [SEP] 50, Spoon, 0.874, 0.154, -0.611, 0, 270, 0, 62 [SEP] 51, Cup, -1.363, 0.551, 2.770, 0, 0, 0, 85 [SEP] 52, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 78 [SEP] 53, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 54, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 55, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 56, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 57, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 58, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 59, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 60, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 61, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 62, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 63, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 64, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 65, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 66, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 67, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 68, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 69, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 70, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 71, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 72, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 73, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 74, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 75, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 76, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 77, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 78, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 79, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 80, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 81, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 82, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 83, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 84, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 85, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 86, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 87, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 88, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 89, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 90, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 91, NorthWall, , , , , , , [SEP] 92, EastWall, , , , , , , [SEP] 93, SouthWall, , , , , , , [SEP] 94, WestWall, , , , , , , ", "output": ["STEP 1: Turn around, then turn left at the window and walk to the counter with the coffee machine on it. | STEP 2: Pick up the mug from the coffee machine. | STEP 3: Turn to the stove to the left of the counter. | STEP 4: Place the mug in the microwave above the stove, warm it, then take it out. | STEP 5: Walk back to the coffee machine. | STEP 6: Place the mug in the coffee machine. | END"]} +{"id": "trial_T20190907_171806_406231-1", "input": "Put the warm 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, -2.5, 0.900, 0.75, 0, 180, 0, [SEP] 1, Statue, -0.772, 0.936, -1.231, 0, 90, 0, 59 [SEP] 2, Potato, 0.905, 1.165, 1.349, 0, 270, 0, 82 [SEP] 3, CreditCard, -1.985, 0.551, 2.874, 0, 0, 0, 85 [SEP] 4, CellPhone, 0.688, 0.908, -0.381, 0, 0, 0, 60 [SEP] 5, DishSponge, 1.101, 1.665, -1.961, 0, 270, 0, 58 [SEP] 6, ButterKnife, -0.697, 0.780, -0.573, 0, 90, 0, 80 [SEP] 7, ButterKnife, 0.859, 0.911, -0.555, 0, 90, 0, 60 [SEP] 8, Fork, -0.642, 0.781, -0.832, 0, 0, 0, 80 [SEP] 9, Spoon, -0.753, 0.781, -0.573, 0, 90, 0, 80 [SEP] 10, Spoon, -1.104, 0.934, -0.643, 0, 0, 0, 59 [SEP] 11, Egg, 1.060, 1.833, -1.132, 0, 270, 0, 81 [SEP] 12, Egg, 0.966, 1.172, 1.158, 0, 270, 0, 82 [SEP] 13, Cup, 0.944, 0.908, -0.729, 0, 0, 0, 60 [SEP] 14, Plate, 0.773, 0.914, -0.034, 0, 0, 0, 60 [SEP] 15, Plate, 1.082, 2.211, -1.626, 0, 270, 0, 66 [SEP] 16, SoapBottle, -1.054, 0.177, 0.608, 0, 180, 0, 79 [SEP] 17, Bowl, 0.965, 1.405, 1.540, 0, 270, 0, 82 [SEP] 18, SaltShaker, 0.688, 0.907, -2.051, 0, 0, 0, 65 [SEP] 19, PepperShaker, -0.698, 0.929, -1.386, 0, 0, 0, 59 [SEP] 20, Lettuce, 0.773, 0.988, -0.381, 0, 0, 0, 60 [SEP] 21, Lettuce, -1.355, 1.010, 0.144, 0, 0, 0, 59 [SEP] 22, Bread, 0.966, 1.482, 1.254, 0, 270, 0, 82 [SEP] 23, Mug, 1.212, 2.203, -1.408, 0, 270, 0, 66 [SEP] 24, Apple, -0.698, 0.983, -1.540, 0, 0, 0, 59 [SEP] 25, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 59 [SEP] 26, Glassbottle, 0.811, 0.109, -1.972, 0, 0, 0, 64 [SEP] 27, Bread, 1.114, 0.992, -0.034, 0, 0, 0, 60 [SEP] 28, CreditCard, 0.688, 0.908, -2.136, 0, 0, 0, 65 [SEP] 29, CellPhone, 0.773, 0.908, -0.208, 0, 0, 0, 60 [SEP] 30, Potato, 1.029, 0.941, -0.381, 0, 0, 0, 60 [SEP] 31, Knife, 0.859, 0.934, -0.381, 0, 180, 0, 60 [SEP] 32, Fork, 0.794, 0.494, -0.648, 0, 180, 0, 63 [SEP] 33, Pan, 0.905, 1.640, 1.254, 0, 270, 0, 82 [SEP] 34, Lettuce, -1.229, 1.010, -0.118, 0, 0, 0, 59 [SEP] 35, Plate, 1.126, 2.211, -1.082, 0, 270, 0, 66 [SEP] 36, Apple, -0.912, 0.227, 0.543, 0, 180, 0, 79 [SEP] 37, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 55 [SEP] 38, Spatula, 0.859, 0.926, -0.208, 0, 180, 0, 60 [SEP] 39, PaperTowelRoll, 1.029, 1.015, 0.139, 0, 90, 0, 60 [SEP] 40, Tomato, -0.587, 0.821, -0.486, 0, 90, 0, 80 [SEP] 41, Egg, 0.783, 1.680, 1.158, 0, 270, 0, 82 [SEP] 42, SaltShaker, -1.881, 0.550, 2.563, 0, 0, 0, 85 [SEP] 43, PepperShaker, 0.688, 0.907, -2.222, 0, 0, 0, 65 [SEP] 44, Vase, 1.114, 0.911, -1.793, 0, 0, 0, 65 [SEP] 45, ButterKnife, -1.167, 0.933, -1.430, 0, 0, 0, 59 [SEP] 46, SoapBottle, 1.102, 1.666, -0.529, 0, 270, 0, 68 [SEP] 47, Vase, 1.194, 1.667, -2.166, 0, 270, 0, 58 [SEP] 48, Bowl, -0.772, 0.936, 0.162, 0, 0, 0, 59 [SEP] 49, DishSponge, -0.624, 0.933, -1.231, 0, 0, 0, 59 [SEP] 50, Spoon, 0.874, 0.154, -0.611, 0, 270, 0, 62 [SEP] 51, Cup, -1.363, 0.551, 2.770, 0, 0, 0, 85 [SEP] 52, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 78 [SEP] 53, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 54, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 55, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 56, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 57, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 58, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 59, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 60, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 61, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 62, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 63, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 64, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 65, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 66, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 67, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 68, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 69, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 70, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 71, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 72, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 73, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 74, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 75, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 76, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 77, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 78, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 79, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 80, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 81, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 82, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 83, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 84, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 85, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 86, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 87, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 88, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 89, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 90, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 91, NorthWall, , , , , , , [SEP] 92, EastWall, , , , , , , [SEP] 93, SouthWall, , , , , , , [SEP] 94, WestWall, , , , , , , ", "output": ["STEP 1: Move forward then left, then head to the coffee maker | STEP 2: Pick up the mug on the coffee maker | STEP 3: Turn to your left head toward the microwave above the stove | STEP 4: Open the microwave put in the mug then pick it up and close the microwave | STEP 5: Turn to your right move forward face the coffee maker | STEP 6: Put the mug on the coffee maker | END"]} +{"id": "trial_T20190907_171806_406231-2", "input": "Heating up a cup of coffee 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, 180, 0, [SEP] 1, Statue, -0.772, 0.936, -1.231, 0, 90, 0, 59 [SEP] 2, Potato, 0.905, 1.165, 1.349, 0, 270, 0, 82 [SEP] 3, CreditCard, -1.985, 0.551, 2.874, 0, 0, 0, 85 [SEP] 4, CellPhone, 0.688, 0.908, -0.381, 0, 0, 0, 60 [SEP] 5, DishSponge, 1.101, 1.665, -1.961, 0, 270, 0, 58 [SEP] 6, ButterKnife, -0.697, 0.780, -0.573, 0, 90, 0, 80 [SEP] 7, ButterKnife, 0.859, 0.911, -0.555, 0, 90, 0, 60 [SEP] 8, Fork, -0.642, 0.781, -0.832, 0, 0, 0, 80 [SEP] 9, Spoon, -0.753, 0.781, -0.573, 0, 90, 0, 80 [SEP] 10, Spoon, -1.104, 0.934, -0.643, 0, 0, 0, 59 [SEP] 11, Egg, 1.060, 1.833, -1.132, 0, 270, 0, 81 [SEP] 12, Egg, 0.966, 1.172, 1.158, 0, 270, 0, 82 [SEP] 13, Cup, 0.944, 0.908, -0.729, 0, 0, 0, 60 [SEP] 14, Plate, 0.773, 0.914, -0.034, 0, 0, 0, 60 [SEP] 15, Plate, 1.082, 2.211, -1.626, 0, 270, 0, 66 [SEP] 16, SoapBottle, -1.054, 0.177, 0.608, 0, 180, 0, 79 [SEP] 17, Bowl, 0.965, 1.405, 1.540, 0, 270, 0, 82 [SEP] 18, SaltShaker, 0.688, 0.907, -2.051, 0, 0, 0, 65 [SEP] 19, PepperShaker, -0.698, 0.929, -1.386, 0, 0, 0, 59 [SEP] 20, Lettuce, 0.773, 0.988, -0.381, 0, 0, 0, 60 [SEP] 21, Lettuce, -1.355, 1.010, 0.144, 0, 0, 0, 59 [SEP] 22, Bread, 0.966, 1.482, 1.254, 0, 270, 0, 82 [SEP] 23, Mug, 1.212, 2.203, -1.408, 0, 270, 0, 66 [SEP] 24, Apple, -0.698, 0.983, -1.540, 0, 0, 0, 59 [SEP] 25, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 59 [SEP] 26, Glassbottle, 0.811, 0.109, -1.972, 0, 0, 0, 64 [SEP] 27, Bread, 1.114, 0.992, -0.034, 0, 0, 0, 60 [SEP] 28, CreditCard, 0.688, 0.908, -2.136, 0, 0, 0, 65 [SEP] 29, CellPhone, 0.773, 0.908, -0.208, 0, 0, 0, 60 [SEP] 30, Potato, 1.029, 0.941, -0.381, 0, 0, 0, 60 [SEP] 31, Knife, 0.859, 0.934, -0.381, 0, 180, 0, 60 [SEP] 32, Fork, 0.794, 0.494, -0.648, 0, 180, 0, 63 [SEP] 33, Pan, 0.905, 1.640, 1.254, 0, 270, 0, 82 [SEP] 34, Lettuce, -1.229, 1.010, -0.118, 0, 0, 0, 59 [SEP] 35, Plate, 1.126, 2.211, -1.082, 0, 270, 0, 66 [SEP] 36, Apple, -0.912, 0.227, 0.543, 0, 180, 0, 79 [SEP] 37, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 55 [SEP] 38, Spatula, 0.859, 0.926, -0.208, 0, 180, 0, 60 [SEP] 39, PaperTowelRoll, 1.029, 1.015, 0.139, 0, 90, 0, 60 [SEP] 40, Tomato, -0.587, 0.821, -0.486, 0, 90, 0, 80 [SEP] 41, Egg, 0.783, 1.680, 1.158, 0, 270, 0, 82 [SEP] 42, SaltShaker, -1.881, 0.550, 2.563, 0, 0, 0, 85 [SEP] 43, PepperShaker, 0.688, 0.907, -2.222, 0, 0, 0, 65 [SEP] 44, Vase, 1.114, 0.911, -1.793, 0, 0, 0, 65 [SEP] 45, ButterKnife, -1.167, 0.933, -1.430, 0, 0, 0, 59 [SEP] 46, SoapBottle, 1.102, 1.666, -0.529, 0, 270, 0, 68 [SEP] 47, Vase, 1.194, 1.667, -2.166, 0, 270, 0, 58 [SEP] 48, Bowl, -0.772, 0.936, 0.162, 0, 0, 0, 59 [SEP] 49, DishSponge, -0.624, 0.933, -1.231, 0, 0, 0, 59 [SEP] 50, Spoon, 0.874, 0.154, -0.611, 0, 270, 0, 62 [SEP] 51, Cup, -1.363, 0.551, 2.770, 0, 0, 0, 85 [SEP] 52, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 78 [SEP] 53, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 54, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 55, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 56, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 57, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 58, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 59, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 60, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 61, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 62, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 63, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 64, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 65, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 66, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 67, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 68, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 69, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 70, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 71, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 72, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 73, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 74, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 75, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 76, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 77, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 78, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 79, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 80, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 81, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 82, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 83, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 84, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 85, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 86, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 87, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 88, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 89, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 90, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 91, NorthWall, , , , , , , [SEP] 92, EastWall, , , , , , , [SEP] 93, SouthWall, , , , , , , [SEP] 94, WestWall, , , , , , , ", "output": ["STEP 1: Walk to the coffee pot | STEP 2: Grab the coffee cup that is under on coffee pot | STEP 3: Carry the cup to the microwave | STEP 4: Put the coffee cup in the microwave | STEP 5: Take the coffee cup out of the microwave | STEP 6: Carry the cup back to the coffee pot | END"]} +{"id": "trial_T20190908_022345_347148-0", "input": "rinse the rag in the sink 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, -1.75, 0.901, 2.0, 0, 0, 0, [SEP] 1, SprayBottle, -0.280, 0.077, 2.743, 0, 0, 0, 20 [SEP] 2, SoapBar, -0.432, 0.076, 3.372, 0, 0, 0, 24 [SEP] 3, SoapBar, -0.051, 0.953, 1.481, 0, 0, 0, 31 [SEP] 4, SoapBottle, -0.104, 0.954, 1.294, 0, 0, 0, 31 [SEP] 5, HandTowel, -0.038, 1.619, 1.887, 0, 90, 0, 29 [SEP] 6, HandTowel, -0.038, 1.619, 3.799, 0, 90, 0, 30 [SEP] 7, Towel, -1.082, 1.326, 1.302, 0, 0, 0, 26 [SEP] 8, SoapBar, -0.258, 0.826, 2.466, 0, 0, 0, 37 [SEP] 9, ToiletPaper, -0.179, 0.073, 3.462, 0, 0, 0, 24 [SEP] 10, Plunger, -0.112, -0.000, 1.848, 0, 0, 0, [SEP] 11, Candle, -0.131, 0.953, 1.419, 0, 0, 0, 31 [SEP] 12, ToiletPaper, -0.229, 0.072, 2.966, 0, 0, 0, 19 [SEP] 13, SprayBottle, -0.178, 0.076, 2.291, 0, 0, 0, 25 [SEP] 14, Cloth, -0.351, 0.946, 2.074, 0, 0, 0, 37 [SEP] 15, ScrubBrush, -0.322, 3.109, 1.950, 0, 0, 0, [SEP] 16, SoapBottle, -0.381, 0.076, 3.011, 0, 0, 0, 19 [SEP] 17, Mirror, -0.030, 1.544, 2.864, 0, 0, 0, [SEP] 18, Sink, -0.302, 0.799, 3.263, 0, 270, 0, [SEP] 19, Cabinet, -0.491, 0.404, 2.863, 0, 0, 0, [SEP] 20, Cabinet, -0.495, 0.384, 2.842, 0, 0, 0, [SEP] 21, ShowerDoor, -1.647, 1.017, 1.180, 0, 0, 0, [SEP] 22, ShowerGlass, -0.909, 0.788, 0.485, 0, 0, 0, [SEP] 23, CounterTop, -0.261, 0.927, 2.843, 0, 0, 0, [SEP] 24, Cabinet, -0.495, 0.384, 3.650, 0, 0, 0, [SEP] 25, Cabinet, -0.491, 0.404, 2.055, 0, 0, 0, [SEP] 26, TowelHolder, -1.082, 1.312, 1.195, 0, 0, 0, [SEP] 27, LightSwitch, -2.424, 1.447, 3.338, 0, 90, 0, [SEP] 28, ToiletPaperHanger, -0.266, 0.786, 2.043, 0, 180, 0, [SEP] 29, HandTowelHolder, 0.000, 1.721, 1.887, 0, 180, 0, [SEP] 30, HandTowelHolder, 0.000, 1.721, 3.799, 0, 180, 0, [SEP] 31, Toilet, -0.542, 3.109, 1.493, 0, 270, 0, [SEP] 32, GarbageCan, -2.159, -0.000, 3.756, 0, 0, 0, [SEP] 33, SinkBasin, -0.308, 0.820, 3.266, 0, 0, 0, [SEP] 34, ShowerHead, -0.134, 1.888, 0.564, 0, 90, 0, [SEP] 35, Faucet, 0.0, 1.009, 3.265, 0, 0, 0, [SEP] 36, Faucet, 0.0, 1.009, 2.421, 0, 0, 0, [SEP] 37, SinkBasin, -0.308, 0.820, 2.422, 0, 0, 0, [SEP] 38, Sink, -0.302, 0.799, 2.419, 0, 270, 0, [SEP] 39, NorthWall, , , , , , , [SEP] 40, SouthWall, , , , , , , [SEP] 41, SouthWall, , , , , , , ", "output": ["STEP 1: walk over to the toilet | STEP 2: pick up the rag from the counter | STEP 3: go the sink on the right | STEP 4: wash the rag in the sink and remove | STEP 5: walk to the center of the room and face the toilet | STEP 6: put the washcloth in the cabinet below the sink | END"]} +{"id": "trial_T20190908_022345_347148-1", "input": "Place a wet rag in 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, -1.75, 0.901, 2.0, 0, 0, 0, [SEP] 1, SprayBottle, -0.280, 0.077, 2.743, 0, 0, 0, 20 [SEP] 2, SoapBar, -0.432, 0.076, 3.372, 0, 0, 0, 24 [SEP] 3, SoapBar, -0.051, 0.953, 1.481, 0, 0, 0, 31 [SEP] 4, SoapBottle, -0.104, 0.954, 1.294, 0, 0, 0, 31 [SEP] 5, HandTowel, -0.038, 1.619, 1.887, 0, 90, 0, 29 [SEP] 6, HandTowel, -0.038, 1.619, 3.799, 0, 90, 0, 30 [SEP] 7, Towel, -1.082, 1.326, 1.302, 0, 0, 0, 26 [SEP] 8, SoapBar, -0.258, 0.826, 2.466, 0, 0, 0, 37 [SEP] 9, ToiletPaper, -0.179, 0.073, 3.462, 0, 0, 0, 24 [SEP] 10, Plunger, -0.112, -0.000, 1.848, 0, 0, 0, [SEP] 11, Candle, -0.131, 0.953, 1.419, 0, 0, 0, 31 [SEP] 12, ToiletPaper, -0.229, 0.072, 2.966, 0, 0, 0, 19 [SEP] 13, SprayBottle, -0.178, 0.076, 2.291, 0, 0, 0, 25 [SEP] 14, Cloth, -0.351, 0.946, 2.074, 0, 0, 0, 37 [SEP] 15, ScrubBrush, -0.322, 3.109, 1.950, 0, 0, 0, [SEP] 16, SoapBottle, -0.381, 0.076, 3.011, 0, 0, 0, 19 [SEP] 17, Mirror, -0.030, 1.544, 2.864, 0, 0, 0, [SEP] 18, Sink, -0.302, 0.799, 3.263, 0, 270, 0, [SEP] 19, Cabinet, -0.491, 0.404, 2.863, 0, 0, 0, [SEP] 20, Cabinet, -0.495, 0.384, 2.842, 0, 0, 0, [SEP] 21, ShowerDoor, -1.647, 1.017, 1.180, 0, 0, 0, [SEP] 22, ShowerGlass, -0.909, 0.788, 0.485, 0, 0, 0, [SEP] 23, CounterTop, -0.261, 0.927, 2.843, 0, 0, 0, [SEP] 24, Cabinet, -0.495, 0.384, 3.650, 0, 0, 0, [SEP] 25, Cabinet, -0.491, 0.404, 2.055, 0, 0, 0, [SEP] 26, TowelHolder, -1.082, 1.312, 1.195, 0, 0, 0, [SEP] 27, LightSwitch, -2.424, 1.447, 3.338, 0, 90, 0, [SEP] 28, ToiletPaperHanger, -0.266, 0.786, 2.043, 0, 180, 0, [SEP] 29, HandTowelHolder, 0.000, 1.721, 1.887, 0, 180, 0, [SEP] 30, HandTowelHolder, 0.000, 1.721, 3.799, 0, 180, 0, [SEP] 31, Toilet, -0.542, 3.109, 1.493, 0, 270, 0, [SEP] 32, GarbageCan, -2.159, -0.000, 3.756, 0, 0, 0, [SEP] 33, SinkBasin, -0.308, 0.820, 3.266, 0, 0, 0, [SEP] 34, ShowerHead, -0.134, 1.888, 0.564, 0, 90, 0, [SEP] 35, Faucet, 0.0, 1.009, 3.265, 0, 0, 0, [SEP] 36, Faucet, 0.0, 1.009, 2.421, 0, 0, 0, [SEP] 37, SinkBasin, -0.308, 0.820, 2.422, 0, 0, 0, [SEP] 38, Sink, -0.302, 0.799, 2.419, 0, 270, 0, [SEP] 39, NorthWall, , , , , , , [SEP] 40, SouthWall, , , , , , , [SEP] 41, SouthWall, , , , , , , ", "output": ["STEP 1: Turn to your right and walk to the sink. | STEP 2: Pick up the rag that is on the sink counter | STEP 3: Turn around, take a step forwards, and turn around again. | STEP 4: place the rag in the sink and turn the faucet on and off to wet the rag | STEP 5: Turn around, take a step forwards, and turn around again. | STEP 6: Place the wet rag in the cabinet under the sink. | END"]} +{"id": "trial_T20190908_022345_347148-2", "input": "Put a cleaned cloth rag 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, 2.0, 0, 0, 0, [SEP] 1, SprayBottle, -0.280, 0.077, 2.743, 0, 0, 0, 20 [SEP] 2, SoapBar, -0.432, 0.076, 3.372, 0, 0, 0, 24 [SEP] 3, SoapBar, -0.051, 0.953, 1.481, 0, 0, 0, 31 [SEP] 4, SoapBottle, -0.104, 0.954, 1.294, 0, 0, 0, 31 [SEP] 5, HandTowel, -0.038, 1.619, 1.887, 0, 90, 0, 29 [SEP] 6, HandTowel, -0.038, 1.619, 3.799, 0, 90, 0, 30 [SEP] 7, Towel, -1.082, 1.326, 1.302, 0, 0, 0, 26 [SEP] 8, SoapBar, -0.258, 0.826, 2.466, 0, 0, 0, 37 [SEP] 9, ToiletPaper, -0.179, 0.073, 3.462, 0, 0, 0, 24 [SEP] 10, Plunger, -0.112, -0.000, 1.848, 0, 0, 0, [SEP] 11, Candle, -0.131, 0.953, 1.419, 0, 0, 0, 31 [SEP] 12, ToiletPaper, -0.229, 0.072, 2.966, 0, 0, 0, 19 [SEP] 13, SprayBottle, -0.178, 0.076, 2.291, 0, 0, 0, 25 [SEP] 14, Cloth, -0.351, 0.946, 2.074, 0, 0, 0, 37 [SEP] 15, ScrubBrush, -0.322, 3.109, 1.950, 0, 0, 0, [SEP] 16, SoapBottle, -0.381, 0.076, 3.011, 0, 0, 0, 19 [SEP] 17, Mirror, -0.030, 1.544, 2.864, 0, 0, 0, [SEP] 18, Sink, -0.302, 0.799, 3.263, 0, 270, 0, [SEP] 19, Cabinet, -0.491, 0.404, 2.863, 0, 0, 0, [SEP] 20, Cabinet, -0.495, 0.384, 2.842, 0, 0, 0, [SEP] 21, ShowerDoor, -1.647, 1.017, 1.180, 0, 0, 0, [SEP] 22, ShowerGlass, -0.909, 0.788, 0.485, 0, 0, 0, [SEP] 23, CounterTop, -0.261, 0.927, 2.843, 0, 0, 0, [SEP] 24, Cabinet, -0.495, 0.384, 3.650, 0, 0, 0, [SEP] 25, Cabinet, -0.491, 0.404, 2.055, 0, 0, 0, [SEP] 26, TowelHolder, -1.082, 1.312, 1.195, 0, 0, 0, [SEP] 27, LightSwitch, -2.424, 1.447, 3.338, 0, 90, 0, [SEP] 28, ToiletPaperHanger, -0.266, 0.786, 2.043, 0, 180, 0, [SEP] 29, HandTowelHolder, 0.000, 1.721, 1.887, 0, 180, 0, [SEP] 30, HandTowelHolder, 0.000, 1.721, 3.799, 0, 180, 0, [SEP] 31, Toilet, -0.542, 3.109, 1.493, 0, 270, 0, [SEP] 32, GarbageCan, -2.159, -0.000, 3.756, 0, 0, 0, [SEP] 33, SinkBasin, -0.308, 0.820, 3.266, 0, 0, 0, [SEP] 34, ShowerHead, -0.134, 1.888, 0.564, 0, 90, 0, [SEP] 35, Faucet, 0.0, 1.009, 3.265, 0, 0, 0, [SEP] 36, Faucet, 0.0, 1.009, 2.421, 0, 0, 0, [SEP] 37, SinkBasin, -0.308, 0.820, 2.422, 0, 0, 0, [SEP] 38, Sink, -0.302, 0.799, 2.419, 0, 270, 0, [SEP] 39, NorthWall, , , , , , , [SEP] 40, SouthWall, , , , , , , [SEP] 41, SouthWall, , , , , , , ", "output": ["STEP 1: Turn right and walk forward to the blue cloth rag on the counter. | STEP 2: Pick up the cloth rag from the counter. | STEP 3: Move left slightly to the front of the sink on the right. | STEP 4: Put the cloth rag in the sink, rinse it off, and take it out of the sink. | STEP 5: Move back slightly from the counter top. | STEP 6: Put the cloth rag in the bottom left cabinet below the sink, then close the cabinet. | END"]} +{"id": "trial_T20190908_125200_737896-0", "input": "Move a mug from the shelves 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, 1.5, 0.900, -1.25, 0, 180, 0, [SEP] 1, Bowl, -0.483, 0.861, -1.010, 0, 0, 0, 30 [SEP] 2, CellPhone, -1.834, 1.724, 0.407, 0, 0, 0, 34 [SEP] 3, Pen, -0.735, 0.863, -1.702, 0, 0, 0, 30 [SEP] 4, KeyChain, -1.994, 0.386, 0.646, 0, 0, 0, 42 [SEP] 5, KeyChain, -2.292, 0.039, 2.576, 0, 180, 0, 45 [SEP] 6, AlarmClock, -2.091, 0.879, 0.581, 0, 0, 0, 40 [SEP] 7, Book, 0.800, 0.783, 0.787, 0, 0, 0, 21 [SEP] 8, AlarmClock, -1.286, 1.724, 0.489, 0, 0, 0, 34 [SEP] 9, BasketBall, 1.976, 0.120, 0.211, 0, 331.076, 0, [SEP] 10, Pen, -1.914, 0.392, 0.683, 0, 0, 0, 42 [SEP] 11, Laptop, -1.783, 0.871, 0.732, 0, 0, 0, 40 [SEP] 12, BaseballBat, 1.953, 0.659, -1.81, 346.388, 0, 0, [SEP] 13, Bowl, -1.834, 0.886, 0.407, 0, 0, 0, 40 [SEP] 14, Pillow, 1.409, 0.918, 1.366, 0, 0, 0, 21 [SEP] 15, KeyChain, -2.240, 0.039, 2.682, 0, 180, 0, 45 [SEP] 16, CreditCard, -0.473, 0.364, -0.933, 0, 0, 0, 29 [SEP] 17, CellPhone, -0.735, 0.858, -0.836, 0, 0, 0, 30 [SEP] 18, CD, -1.224, 0.878, 0.832, 0, 0, 0, 40 [SEP] 19, Pencil, -0.511, 0.652, -0.692, 0, 0, 0, 28 [SEP] 20, Mug, -2.045, 1.347, 0.448, 0, 0, 0, 40 [SEP] 21, Bed, 1.227, -0.002, 1.664, 0, 0, 0, [SEP] 22, LightSwitch, 2.151, 1.233, -0.518, 0, 270, 0, [SEP] 23, GarbageCan, -0.747, 0.014, -0.327, 0, 0, 0, [SEP] 24, Mirror, -1.358, 1.427, 2.855, 0, 0, 0, [SEP] 25, DeskLamp, -2.296, 0.858, 0.750, 0, 0, 0, [SEP] 26, Window, -0.421, 1.534, -1.947, 90, 0, 0, [SEP] 27, Window, 0.579, 1.534, -1.947, 90, 0, 0, [SEP] 28, Drawer, -0.491, 0.739, -0.855, 0, 90, 0, [SEP] 29, Drawer, -0.491, 0.204, -0.855, 0, 90, 0, [SEP] 30, Desk, -0.639, 0.009, -1.187, 0, 90, 0, [SEP] 31, Drawer, -0.491, 0.487, -0.855, 0, 90, 0, [SEP] 32, Shelf, -1.965, 1.514, 0.416, 0, 0, 0, [SEP] 33, Shelf, -1.965, 1.092, 0.416, 0, 0, 0, [SEP] 34, Shelf, -1.312, 1.888, 0.416, 0, 0, 0, [SEP] 35, Shelf, -1.965, 1.888, 0.416, 0, 0, 0, [SEP] 36, Shelf, -1.312, 1.092, 0.416, 0, 0, 0, [SEP] 37, Shelf, -1.312, 1.514, 0.416, 0, 0, 0, [SEP] 38, Blinds, 0.601, 2.161, -1.916, 0, 0, 0, [SEP] 39, Blinds, -0.402, 2.161, -1.916, 0, 0, 0, [SEP] 40, Desk, -1.726, 0.001, 0.575, 0, 0, 0, [SEP] 41, Drawer, -2.058, 0.733, 0.734, 0, 0, 0, [SEP] 42, Drawer, -2.058, 0.482, 0.734, 0, 0, 0, [SEP] 43, Drawer, -2.058, 0.198, 0.735, 0, 0, 0, [SEP] 44, Chair, -0.137, 0.000, -1.587, 0, 315, 0, [SEP] 45, Safe, -2.183, -7.748, 2.576, 0, 180, 0, [SEP] 46, Chair, -1.433, 0.009, 0.780, 357.672, 206.726, 0, [SEP] 47, LaundryHamper, 0.163, 0.003, 2.635, 0, 86.390, 0, [SEP] 48, NorthWall, , , , , , , [SEP] 49, EastWall, , , , , , , [SEP] 50, SouthWall, , , , , , , [SEP] 51, WestWall, , , , , , , ", "output": ["STEP 1: Cross the room and move over to the left side of it, then face the desk with the blue chair and the black laptop and look at the shelves above it. | STEP 2: Grab the white mug sitting on the shelf between the books. | STEP 3: Bring the mug with you and move around the desk so that you are between it and the bed, then turn right and face the end of the desk. | STEP 4: Put the mug down on the desk so it's between the water bottle and the disc. | END"]} +{"id": "trial_T20190908_125200_737896-1", "input": "Put a cup on the desk, by the chcair. 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, 180, 0, [SEP] 1, Bowl, -0.483, 0.861, -1.010, 0, 0, 0, 30 [SEP] 2, CellPhone, -1.834, 1.724, 0.407, 0, 0, 0, 34 [SEP] 3, Pen, -0.735, 0.863, -1.702, 0, 0, 0, 30 [SEP] 4, KeyChain, -1.994, 0.386, 0.646, 0, 0, 0, 42 [SEP] 5, KeyChain, -2.292, 0.039, 2.576, 0, 180, 0, 45 [SEP] 6, AlarmClock, -2.091, 0.879, 0.581, 0, 0, 0, 40 [SEP] 7, Book, 0.800, 0.783, 0.787, 0, 0, 0, 21 [SEP] 8, AlarmClock, -1.286, 1.724, 0.489, 0, 0, 0, 34 [SEP] 9, BasketBall, 1.976, 0.120, 0.211, 0, 331.076, 0, [SEP] 10, Pen, -1.914, 0.392, 0.683, 0, 0, 0, 42 [SEP] 11, Laptop, -1.783, 0.871, 0.732, 0, 0, 0, 40 [SEP] 12, BaseballBat, 1.953, 0.659, -1.81, 346.388, 0, 0, [SEP] 13, Bowl, -1.834, 0.886, 0.407, 0, 0, 0, 40 [SEP] 14, Pillow, 1.409, 0.918, 1.366, 0, 0, 0, 21 [SEP] 15, KeyChain, -2.240, 0.039, 2.682, 0, 180, 0, 45 [SEP] 16, CreditCard, -0.473, 0.364, -0.933, 0, 0, 0, 29 [SEP] 17, CellPhone, -0.735, 0.858, -0.836, 0, 0, 0, 30 [SEP] 18, CD, -1.224, 0.878, 0.832, 0, 0, 0, 40 [SEP] 19, Pencil, -0.511, 0.652, -0.692, 0, 0, 0, 28 [SEP] 20, Mug, -2.045, 1.347, 0.448, 0, 0, 0, 40 [SEP] 21, Bed, 1.227, -0.002, 1.664, 0, 0, 0, [SEP] 22, LightSwitch, 2.151, 1.233, -0.518, 0, 270, 0, [SEP] 23, GarbageCan, -0.747, 0.014, -0.327, 0, 0, 0, [SEP] 24, Mirror, -1.358, 1.427, 2.855, 0, 0, 0, [SEP] 25, DeskLamp, -2.296, 0.858, 0.750, 0, 0, 0, [SEP] 26, Window, -0.421, 1.534, -1.947, 90, 0, 0, [SEP] 27, Window, 0.579, 1.534, -1.947, 90, 0, 0, [SEP] 28, Drawer, -0.491, 0.739, -0.855, 0, 90, 0, [SEP] 29, Drawer, -0.491, 0.204, -0.855, 0, 90, 0, [SEP] 30, Desk, -0.639, 0.009, -1.187, 0, 90, 0, [SEP] 31, Drawer, -0.491, 0.487, -0.855, 0, 90, 0, [SEP] 32, Shelf, -1.965, 1.514, 0.416, 0, 0, 0, [SEP] 33, Shelf, -1.965, 1.092, 0.416, 0, 0, 0, [SEP] 34, Shelf, -1.312, 1.888, 0.416, 0, 0, 0, [SEP] 35, Shelf, -1.965, 1.888, 0.416, 0, 0, 0, [SEP] 36, Shelf, -1.312, 1.092, 0.416, 0, 0, 0, [SEP] 37, Shelf, -1.312, 1.514, 0.416, 0, 0, 0, [SEP] 38, Blinds, 0.601, 2.161, -1.916, 0, 0, 0, [SEP] 39, Blinds, -0.402, 2.161, -1.916, 0, 0, 0, [SEP] 40, Desk, -1.726, 0.001, 0.575, 0, 0, 0, [SEP] 41, Drawer, -2.058, 0.733, 0.734, 0, 0, 0, [SEP] 42, Drawer, -2.058, 0.482, 0.734, 0, 0, 0, [SEP] 43, Drawer, -2.058, 0.198, 0.735, 0, 0, 0, [SEP] 44, Chair, -0.137, 0.000, -1.587, 0, 315, 0, [SEP] 45, Safe, -2.183, -7.748, 2.576, 0, 180, 0, [SEP] 46, Chair, -1.433, 0.009, 0.780, 357.672, 206.726, 0, [SEP] 47, LaundryHamper, 0.163, 0.003, 2.635, 0, 86.390, 0, [SEP] 48, NorthWall, , , , , , , [SEP] 49, EastWall, , , , , , , [SEP] 50, SouthWall, , , , , , , [SEP] 51, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and go to the bed, then turn left to go around to the other side of the bed, turn to your left just before the laundry hamper, and go to the end of the desk, on your left. | STEP 2: Pick up the white cup on the second shelf up, on the right side of the desk, between the books. | STEP 3: Move over to the left end of the desk. | STEP 4: Place the white cup back on the desk, directly in front of the blue office chair. | END"]} +{"id": "trial_T20190908_125200_737896-2", "input": "put a mug 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, 1.5, 0.900, -1.25, 0, 180, 0, [SEP] 1, Bowl, -0.483, 0.861, -1.010, 0, 0, 0, 30 [SEP] 2, CellPhone, -1.834, 1.724, 0.407, 0, 0, 0, 34 [SEP] 3, Pen, -0.735, 0.863, -1.702, 0, 0, 0, 30 [SEP] 4, KeyChain, -1.994, 0.386, 0.646, 0, 0, 0, 42 [SEP] 5, KeyChain, -2.292, 0.039, 2.576, 0, 180, 0, 45 [SEP] 6, AlarmClock, -2.091, 0.879, 0.581, 0, 0, 0, 40 [SEP] 7, Book, 0.800, 0.783, 0.787, 0, 0, 0, 21 [SEP] 8, AlarmClock, -1.286, 1.724, 0.489, 0, 0, 0, 34 [SEP] 9, BasketBall, 1.976, 0.120, 0.211, 0, 331.076, 0, [SEP] 10, Pen, -1.914, 0.392, 0.683, 0, 0, 0, 42 [SEP] 11, Laptop, -1.783, 0.871, 0.732, 0, 0, 0, 40 [SEP] 12, BaseballBat, 1.953, 0.659, -1.81, 346.388, 0, 0, [SEP] 13, Bowl, -1.834, 0.886, 0.407, 0, 0, 0, 40 [SEP] 14, Pillow, 1.409, 0.918, 1.366, 0, 0, 0, 21 [SEP] 15, KeyChain, -2.240, 0.039, 2.682, 0, 180, 0, 45 [SEP] 16, CreditCard, -0.473, 0.364, -0.933, 0, 0, 0, 29 [SEP] 17, CellPhone, -0.735, 0.858, -0.836, 0, 0, 0, 30 [SEP] 18, CD, -1.224, 0.878, 0.832, 0, 0, 0, 40 [SEP] 19, Pencil, -0.511, 0.652, -0.692, 0, 0, 0, 28 [SEP] 20, Mug, -2.045, 1.347, 0.448, 0, 0, 0, 40 [SEP] 21, Bed, 1.227, -0.002, 1.664, 0, 0, 0, [SEP] 22, LightSwitch, 2.151, 1.233, -0.518, 0, 270, 0, [SEP] 23, GarbageCan, -0.747, 0.014, -0.327, 0, 0, 0, [SEP] 24, Mirror, -1.358, 1.427, 2.855, 0, 0, 0, [SEP] 25, DeskLamp, -2.296, 0.858, 0.750, 0, 0, 0, [SEP] 26, Window, -0.421, 1.534, -1.947, 90, 0, 0, [SEP] 27, Window, 0.579, 1.534, -1.947, 90, 0, 0, [SEP] 28, Drawer, -0.491, 0.739, -0.855, 0, 90, 0, [SEP] 29, Drawer, -0.491, 0.204, -0.855, 0, 90, 0, [SEP] 30, Desk, -0.639, 0.009, -1.187, 0, 90, 0, [SEP] 31, Drawer, -0.491, 0.487, -0.855, 0, 90, 0, [SEP] 32, Shelf, -1.965, 1.514, 0.416, 0, 0, 0, [SEP] 33, Shelf, -1.965, 1.092, 0.416, 0, 0, 0, [SEP] 34, Shelf, -1.312, 1.888, 0.416, 0, 0, 0, [SEP] 35, Shelf, -1.965, 1.888, 0.416, 0, 0, 0, [SEP] 36, Shelf, -1.312, 1.092, 0.416, 0, 0, 0, [SEP] 37, Shelf, -1.312, 1.514, 0.416, 0, 0, 0, [SEP] 38, Blinds, 0.601, 2.161, -1.916, 0, 0, 0, [SEP] 39, Blinds, -0.402, 2.161, -1.916, 0, 0, 0, [SEP] 40, Desk, -1.726, 0.001, 0.575, 0, 0, 0, [SEP] 41, Drawer, -2.058, 0.733, 0.734, 0, 0, 0, [SEP] 42, Drawer, -2.058, 0.482, 0.734, 0, 0, 0, [SEP] 43, Drawer, -2.058, 0.198, 0.735, 0, 0, 0, [SEP] 44, Chair, -0.137, 0.000, -1.587, 0, 315, 0, [SEP] 45, Safe, -2.183, -7.748, 2.576, 0, 180, 0, [SEP] 46, Chair, -1.433, 0.009, 0.780, 357.672, 206.726, 0, [SEP] 47, LaundryHamper, 0.163, 0.003, 2.635, 0, 86.390, 0, [SEP] 48, NorthWall, , , , , , , [SEP] 49, EastWall, , , , , , , [SEP] 50, SouthWall, , , , , , , [SEP] 51, WestWall, , , , , , , ", "output": ["STEP 1: turn to face the desk top and shelves above desk | STEP 2: pick up the white mug from the shelf second from the desk top | STEP 3: walk to the left side of the desk | STEP 4: put the mug on the desk top on the cd | END"]} +{"id": "trial_T20190908_025420_586121-0", "input": "Put a warm slice of bread 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, 2.5, 0, 0, 0, [SEP] 1, Potato, 0.859, 0.941, -1.879, 0, 0, 0, 69 [SEP] 2, Potato, -0.808, 0.811, -0.400, 0, 90, 0, 84 [SEP] 3, CreditCard, 0.688, 0.908, -2.051, 0, 0, 0, 69 [SEP] 4, CreditCard, -1.570, 0.551, 2.563, 0, 0, 0, 89 [SEP] 5, CellPhone, 0.794, 0.491, -0.648, 0, 270, 0, 67 [SEP] 6, CellPhone, 0.794, 0.699, -0.690, 0, 270, 0, 61 [SEP] 7, DishSponge, -1.054, 0.178, 0.576, 0, 180, 0, 83 [SEP] 8, DishSponge, -0.846, 0.933, -1.618, 0, 0, 0, 63 [SEP] 9, ButterKnife, 1.114, 0.911, -0.729, 0, 0, 0, 64 [SEP] 10, ButterKnife, 0.773, 0.911, -0.034, 0, 0, 0, 64 [SEP] 11, Spatula, 1.029, 0.926, -0.555, 0, 270, 0, 64 [SEP] 12, Knife, -1.167, 0.957, -0.118, 0, 0, 0, 63 [SEP] 13, Knife, 0.859, 0.934, -0.208, 0, 0, 0, 64 [SEP] 14, Egg, 1.148, 1.439, 1.540, 0, 270, 0, 86 [SEP] 15, Egg, 1.093, 1.833, -1.339, 0, 270, 0, 85 [SEP] 16, Cup, 1.126, 1.792, -1.132, 0, 270, 0, 85 [SEP] 17, Plate, 1.169, 2.211, -1.626, 0, 270, 0, 70 [SEP] 18, Plate, 1.169, 2.211, -1.299, 0, 270, 0, 70 [SEP] 19, Tomato, 1.029, 0.952, -1.793, 0, 0, 0, 69 [SEP] 20, SoapBottle, 1.055, 1.666, 0.089, 0, 270, 0, 71 [SEP] 21, SoapBottle, 0.811, 0.108, -1.972, 0, 0, 0, 68 [SEP] 22, Bowl, 0.905, 0.866, 1.158, 0, 270, 0, 86 [SEP] 23, Bowl, -1.571, 0.885, 2.719, 0, 0, 0, 90 [SEP] 24, SaltShaker, 0.713, 0.698, -0.565, 0, 270, 0, 61 [SEP] 25, SaltShaker, 0.915, 0.491, -0.731, 0, 270, 0, 67 [SEP] 26, PepperShaker, 0.688, 0.907, -1.793, 0, 0, 0, 69 [SEP] 27, PepperShaker, 0.834, 0.698, -0.524, 0, 270, 0, 61 [SEP] 28, Bread, 1.029, 0.992, 0.139, 0, 0, 0, 64 [SEP] 29, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 63 [SEP] 30, Glassbottle, 1.039, 2.208, -0.973, 0, 270, 0, 70 [SEP] 31, Bread, 0.905, 1.482, 1.254, 0, 270, 0, 86 [SEP] 32, CreditCard, -0.772, 0.930, -1.540, 0, 0, 0, 63 [SEP] 33, CellPhone, 1.199, 0.908, -0.381, 0, 0, 0, 64 [SEP] 34, Potato, 1.114, 0.941, -0.034, 0, 0, 0, 64 [SEP] 35, Knife, -1.104, 0.957, -1.167, 0, 90, 0, 63 [SEP] 36, Fork, 0.773, 0.911, -0.381, 0, 0, 0, 64 [SEP] 37, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 57 [SEP] 38, Lettuce, 1.026, 1.212, 1.063, 0, 270, 0, 86 [SEP] 39, Plate, 0.944, 0.914, -0.381, 0, 0, 0, 64 [SEP] 40, Apple, 0.844, 1.452, 1.063, 0, 270, 0, 86 [SEP] 41, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 59 [SEP] 42, Spatula, 0.834, 0.510, -0.731, 0, 90, 0, 67 [SEP] 43, PaperTowelRoll, -0.865, 0.283, 0.608, 0, 180, 0, 83 [SEP] 44, Tomato, -0.808, 0.821, -0.745, 0, 90, 0, 84 [SEP] 45, Egg, 1.026, 1.680, 1.254, 0, 270, 0, 86 [SEP] 46, SaltShaker, 0.811, 0.117, 0.349, 0, 270, 0, 64 [SEP] 47, PepperShaker, 0.956, 0.699, -0.731, 0, 270, 0, 61 [SEP] 48, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 89 [SEP] 49, ButterKnife, 0.773, 0.911, -0.729, 0, 0, 0, 64 [SEP] 50, SoapBottle, 0.688, 0.911, -0.555, 0, 0, 0, 64 [SEP] 51, Vase, -1.881, 0.555, 2.667, 0, 0, 0, 89 [SEP] 52, Bowl, 0.761, 0.111, -2.132, 0, 0, 0, 68 [SEP] 53, DishSponge, 1.148, 1.665, -2.029, 0, 270, 0, 62 [SEP] 54, Spoon, -0.753, 0.777, -0.573, 0, 180, 0, 84 [SEP] 55, Cup, 0.783, 0.860, 1.349, 0, 270, 0, 86 [SEP] 56, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 82 [SEP] 57, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 58, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 59, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 60, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 61, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 62, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 63, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 64, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 65, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 66, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 67, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 68, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 69, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 70, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 71, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 72, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 73, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 74, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 75, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 76, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 77, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 78, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 79, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 80, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 81, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 82, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 83, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 84, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 85, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 86, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 87, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 88, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 89, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 90, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 91, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 92, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 93, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 94, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 95, NorthWall, , , , , , , [SEP] 96, EastWall, , , , , , , [SEP] 97, SouthWall, , , , , , , [SEP] 98, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and walk to the counter top above the dishwasher, just past the refrigerator. | STEP 2: Pick up the loaf of bread to the right of the toaster. | STEP 3: Move over to your right so that you are directly in front of the knife's on the counter. | STEP 4: Place the bread on the counter to the left of the knife's. | STEP 5: Pick up the knife closest to the fork on the right, located on the counter. | STEP 6: Cut the loaf of bread on the counter, into slices. | STEP 7: Place the knife back on the counter, between the butter knife and the fork. | STEP 8: Pick up the end slice of bread on the counter. | STEP 9: Turn to your right and go to the microwave, above the stove, on your left. | STEP 10: Place the slice of bread in the microwave, warm it, and remove it from the microwave. | STEP 11: Move over to your right so that you are in front of the counter with the coffee maker on it. | STEP 12: Place the slice of bread on the counter, between the salt and the credit card. | END"]} +{"id": "trial_T20190908_025420_586121-1", "input": "Heat one piece of the slice bread and bring it beside 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, -0.25, 0.900, 2.5, 0, 0, 0, [SEP] 1, Potato, 0.859, 0.941, -1.879, 0, 0, 0, 69 [SEP] 2, Potato, -0.808, 0.811, -0.400, 0, 90, 0, 84 [SEP] 3, CreditCard, 0.688, 0.908, -2.051, 0, 0, 0, 69 [SEP] 4, CreditCard, -1.570, 0.551, 2.563, 0, 0, 0, 89 [SEP] 5, CellPhone, 0.794, 0.491, -0.648, 0, 270, 0, 67 [SEP] 6, CellPhone, 0.794, 0.699, -0.690, 0, 270, 0, 61 [SEP] 7, DishSponge, -1.054, 0.178, 0.576, 0, 180, 0, 83 [SEP] 8, DishSponge, -0.846, 0.933, -1.618, 0, 0, 0, 63 [SEP] 9, ButterKnife, 1.114, 0.911, -0.729, 0, 0, 0, 64 [SEP] 10, ButterKnife, 0.773, 0.911, -0.034, 0, 0, 0, 64 [SEP] 11, Spatula, 1.029, 0.926, -0.555, 0, 270, 0, 64 [SEP] 12, Knife, -1.167, 0.957, -0.118, 0, 0, 0, 63 [SEP] 13, Knife, 0.859, 0.934, -0.208, 0, 0, 0, 64 [SEP] 14, Egg, 1.148, 1.439, 1.540, 0, 270, 0, 86 [SEP] 15, Egg, 1.093, 1.833, -1.339, 0, 270, 0, 85 [SEP] 16, Cup, 1.126, 1.792, -1.132, 0, 270, 0, 85 [SEP] 17, Plate, 1.169, 2.211, -1.626, 0, 270, 0, 70 [SEP] 18, Plate, 1.169, 2.211, -1.299, 0, 270, 0, 70 [SEP] 19, Tomato, 1.029, 0.952, -1.793, 0, 0, 0, 69 [SEP] 20, SoapBottle, 1.055, 1.666, 0.089, 0, 270, 0, 71 [SEP] 21, SoapBottle, 0.811, 0.108, -1.972, 0, 0, 0, 68 [SEP] 22, Bowl, 0.905, 0.866, 1.158, 0, 270, 0, 86 [SEP] 23, Bowl, -1.571, 0.885, 2.719, 0, 0, 0, 90 [SEP] 24, SaltShaker, 0.713, 0.698, -0.565, 0, 270, 0, 61 [SEP] 25, SaltShaker, 0.915, 0.491, -0.731, 0, 270, 0, 67 [SEP] 26, PepperShaker, 0.688, 0.907, -1.793, 0, 0, 0, 69 [SEP] 27, PepperShaker, 0.834, 0.698, -0.524, 0, 270, 0, 61 [SEP] 28, Bread, 1.029, 0.992, 0.139, 0, 0, 0, 64 [SEP] 29, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 63 [SEP] 30, Glassbottle, 1.039, 2.208, -0.973, 0, 270, 0, 70 [SEP] 31, Bread, 0.905, 1.482, 1.254, 0, 270, 0, 86 [SEP] 32, CreditCard, -0.772, 0.930, -1.540, 0, 0, 0, 63 [SEP] 33, CellPhone, 1.199, 0.908, -0.381, 0, 0, 0, 64 [SEP] 34, Potato, 1.114, 0.941, -0.034, 0, 0, 0, 64 [SEP] 35, Knife, -1.104, 0.957, -1.167, 0, 90, 0, 63 [SEP] 36, Fork, 0.773, 0.911, -0.381, 0, 0, 0, 64 [SEP] 37, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 57 [SEP] 38, Lettuce, 1.026, 1.212, 1.063, 0, 270, 0, 86 [SEP] 39, Plate, 0.944, 0.914, -0.381, 0, 0, 0, 64 [SEP] 40, Apple, 0.844, 1.452, 1.063, 0, 270, 0, 86 [SEP] 41, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 59 [SEP] 42, Spatula, 0.834, 0.510, -0.731, 0, 90, 0, 67 [SEP] 43, PaperTowelRoll, -0.865, 0.283, 0.608, 0, 180, 0, 83 [SEP] 44, Tomato, -0.808, 0.821, -0.745, 0, 90, 0, 84 [SEP] 45, Egg, 1.026, 1.680, 1.254, 0, 270, 0, 86 [SEP] 46, SaltShaker, 0.811, 0.117, 0.349, 0, 270, 0, 64 [SEP] 47, PepperShaker, 0.956, 0.699, -0.731, 0, 270, 0, 61 [SEP] 48, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 89 [SEP] 49, ButterKnife, 0.773, 0.911, -0.729, 0, 0, 0, 64 [SEP] 50, SoapBottle, 0.688, 0.911, -0.555, 0, 0, 0, 64 [SEP] 51, Vase, -1.881, 0.555, 2.667, 0, 0, 0, 89 [SEP] 52, Bowl, 0.761, 0.111, -2.132, 0, 0, 0, 68 [SEP] 53, DishSponge, 1.148, 1.665, -2.029, 0, 270, 0, 62 [SEP] 54, Spoon, -0.753, 0.777, -0.573, 0, 180, 0, 84 [SEP] 55, Cup, 0.783, 0.860, 1.349, 0, 270, 0, 86 [SEP] 56, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 82 [SEP] 57, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 58, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 59, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 60, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 61, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 62, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 63, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 64, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 65, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 66, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 67, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 68, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 69, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 70, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 71, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 72, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 73, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 74, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 75, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 76, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 77, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 78, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 79, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 80, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 81, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 82, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 83, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 84, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 85, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 86, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 87, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 88, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 89, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 90, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 91, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 92, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 93, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 94, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 95, NorthWall, , , , , , , [SEP] 96, EastWall, , , , , , , [SEP] 97, SouthWall, , , , , , , [SEP] 98, WestWall, , , , , , , ", "output": ["STEP 1: Look around and face the counter at the left. | STEP 2: pick up the bread at the counter beside the toaster. | STEP 3: Look around and face to the counter. | STEP 4: Put the bread at the counter. | STEP 5: Pick up the knife at the counter. | STEP 6: Slice the bread at the counter. | STEP 7: Put back the knife at the counter. | STEP 8: Pick up one slice of the bread. | STEP 9: walk to the left and face the stove. | STEP 10: Open the microwave and put the bread inside. Heat it for few seconds and get it out. | STEP 11: Turn right and face the counter at the left. | STEP 12: Put the bread at the counter beside the coffee maker. | END"]} +{"id": "trial_T20190908_025420_586121-2", "input": "TO heat a slice of bread and place it 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, -0.25, 0.900, 2.5, 0, 0, 0, [SEP] 1, Potato, 0.859, 0.941, -1.879, 0, 0, 0, 69 [SEP] 2, Potato, -0.808, 0.811, -0.400, 0, 90, 0, 84 [SEP] 3, CreditCard, 0.688, 0.908, -2.051, 0, 0, 0, 69 [SEP] 4, CreditCard, -1.570, 0.551, 2.563, 0, 0, 0, 89 [SEP] 5, CellPhone, 0.794, 0.491, -0.648, 0, 270, 0, 67 [SEP] 6, CellPhone, 0.794, 0.699, -0.690, 0, 270, 0, 61 [SEP] 7, DishSponge, -1.054, 0.178, 0.576, 0, 180, 0, 83 [SEP] 8, DishSponge, -0.846, 0.933, -1.618, 0, 0, 0, 63 [SEP] 9, ButterKnife, 1.114, 0.911, -0.729, 0, 0, 0, 64 [SEP] 10, ButterKnife, 0.773, 0.911, -0.034, 0, 0, 0, 64 [SEP] 11, Spatula, 1.029, 0.926, -0.555, 0, 270, 0, 64 [SEP] 12, Knife, -1.167, 0.957, -0.118, 0, 0, 0, 63 [SEP] 13, Knife, 0.859, 0.934, -0.208, 0, 0, 0, 64 [SEP] 14, Egg, 1.148, 1.439, 1.540, 0, 270, 0, 86 [SEP] 15, Egg, 1.093, 1.833, -1.339, 0, 270, 0, 85 [SEP] 16, Cup, 1.126, 1.792, -1.132, 0, 270, 0, 85 [SEP] 17, Plate, 1.169, 2.211, -1.626, 0, 270, 0, 70 [SEP] 18, Plate, 1.169, 2.211, -1.299, 0, 270, 0, 70 [SEP] 19, Tomato, 1.029, 0.952, -1.793, 0, 0, 0, 69 [SEP] 20, SoapBottle, 1.055, 1.666, 0.089, 0, 270, 0, 71 [SEP] 21, SoapBottle, 0.811, 0.108, -1.972, 0, 0, 0, 68 [SEP] 22, Bowl, 0.905, 0.866, 1.158, 0, 270, 0, 86 [SEP] 23, Bowl, -1.571, 0.885, 2.719, 0, 0, 0, 90 [SEP] 24, SaltShaker, 0.713, 0.698, -0.565, 0, 270, 0, 61 [SEP] 25, SaltShaker, 0.915, 0.491, -0.731, 0, 270, 0, 67 [SEP] 26, PepperShaker, 0.688, 0.907, -1.793, 0, 0, 0, 69 [SEP] 27, PepperShaker, 0.834, 0.698, -0.524, 0, 270, 0, 61 [SEP] 28, Bread, 1.029, 0.992, 0.139, 0, 0, 0, 64 [SEP] 29, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 63 [SEP] 30, Glassbottle, 1.039, 2.208, -0.973, 0, 270, 0, 70 [SEP] 31, Bread, 0.905, 1.482, 1.254, 0, 270, 0, 86 [SEP] 32, CreditCard, -0.772, 0.930, -1.540, 0, 0, 0, 63 [SEP] 33, CellPhone, 1.199, 0.908, -0.381, 0, 0, 0, 64 [SEP] 34, Potato, 1.114, 0.941, -0.034, 0, 0, 0, 64 [SEP] 35, Knife, -1.104, 0.957, -1.167, 0, 90, 0, 63 [SEP] 36, Fork, 0.773, 0.911, -0.381, 0, 0, 0, 64 [SEP] 37, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 57 [SEP] 38, Lettuce, 1.026, 1.212, 1.063, 0, 270, 0, 86 [SEP] 39, Plate, 0.944, 0.914, -0.381, 0, 0, 0, 64 [SEP] 40, Apple, 0.844, 1.452, 1.063, 0, 270, 0, 86 [SEP] 41, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 59 [SEP] 42, Spatula, 0.834, 0.510, -0.731, 0, 90, 0, 67 [SEP] 43, PaperTowelRoll, -0.865, 0.283, 0.608, 0, 180, 0, 83 [SEP] 44, Tomato, -0.808, 0.821, -0.745, 0, 90, 0, 84 [SEP] 45, Egg, 1.026, 1.680, 1.254, 0, 270, 0, 86 [SEP] 46, SaltShaker, 0.811, 0.117, 0.349, 0, 270, 0, 64 [SEP] 47, PepperShaker, 0.956, 0.699, -0.731, 0, 270, 0, 61 [SEP] 48, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 89 [SEP] 49, ButterKnife, 0.773, 0.911, -0.729, 0, 0, 0, 64 [SEP] 50, SoapBottle, 0.688, 0.911, -0.555, 0, 0, 0, 64 [SEP] 51, Vase, -1.881, 0.555, 2.667, 0, 0, 0, 89 [SEP] 52, Bowl, 0.761, 0.111, -2.132, 0, 0, 0, 68 [SEP] 53, DishSponge, 1.148, 1.665, -2.029, 0, 270, 0, 62 [SEP] 54, Spoon, -0.753, 0.777, -0.573, 0, 180, 0, 84 [SEP] 55, Cup, 0.783, 0.860, 1.349, 0, 270, 0, 86 [SEP] 56, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 82 [SEP] 57, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 58, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 59, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 60, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 61, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 62, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 63, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 64, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 65, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 66, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 67, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 68, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 69, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 70, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 71, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 72, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 73, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 74, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 75, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 76, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 77, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 78, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 79, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 80, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 81, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 82, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 83, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 84, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 85, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 86, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 87, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 88, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 89, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 90, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 91, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 92, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 93, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 94, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 95, NorthWall, , , , , , , [SEP] 96, EastWall, , , , , , , [SEP] 97, SouthWall, , , , , , , [SEP] 98, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and walk halfway across the room and then turn left to face the bread on the counter. | STEP 2: Pick up the bread on the counter. | STEP 3: Step to the right and face the counter. | STEP 4: Place the bread back into it's original spot on the counter. | STEP 5: Pick up the knife on the counter. | STEP 6: Cut the bread on the counter into slices. | STEP 7: Place the knife back into it's spot on the counter. | STEP 8: Pick up a slice of bread on the counter. | STEP 9: Take a step to the right and face the microwave above the stove. | STEP 10: Head the slice of bread in the microwave and then remove it. | STEP 11: Take a step to the right and face the counter to the right of the stove. | STEP 12: Place the slice of bread on the counter to the right of the stove. | END"]} +{"id": "trial_T20190908_222951_616606-0", "input": "Turn on a lamp with a metal box. 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, Mug, -0.735, 0.855, -1.010, 0, 0, 0, 34 [SEP] 2, Mug, -1.834, 1.721, 0.489, 0, 0, 0, 38 [SEP] 3, CD, -1.834, 1.723, 0.325, 0, 0, 0, 38 [SEP] 4, CD, -1.834, 0.882, 0.407, 0, 0, 0, 44 [SEP] 5, CellPhone, -0.735, 0.858, -1.356, 0, 0, 0, 34 [SEP] 6, CellPhone, 1.815, 0.784, 0.787, 0, 0, 0, 25 [SEP] 7, Pencil, -0.735, 0.861, -1.183, 0, 0, 0, 34 [SEP] 8, CreditCard, -0.586, 0.649, -1.092, 0, 0, 0, 32 [SEP] 9, Book, 1.409, 0.783, 1.076, 0, 0, 0, 25 [SEP] 10, Book, -2.155, 0.667, 0.721, 0, 0, 0, 45 [SEP] 11, Book, 0.800, 0.783, 0.787, 0, 0, 0, 25 [SEP] 12, AlarmClock, -1.397, 0.879, 0.832, 0, 0, 0, 44 [SEP] 13, BasketBall, 1.976, 0.120, 0.211, 0, 331.076, 0, [SEP] 14, Pen, -0.567, 0.863, -1.010, 0, 0, 0, 34 [SEP] 15, Laptop, -1.783, 0.871, 0.732, 0, 0, 0, 44 [SEP] 16, BaseballBat, 1.953, 0.659, -1.81, 346.388, 0, 0, [SEP] 17, Bowl, -0.735, 0.861, -0.836, 0, 0, 0, 34 [SEP] 18, Pillow, 1.612, 0.918, 2.234, 0, 0, 0, 25 [SEP] 19, KeyChain, -2.155, 0.386, 0.683, 0, 0, 0, 46 [SEP] 20, CreditCard, -0.651, 0.857, -1.183, 0, 0, 0, 34 [SEP] 21, CellPhone, -0.903, 0.858, -1.010, 0, 0, 0, 34 [SEP] 22, CD, -2.315, 0.104, 0.759, 0, 0, 0, 47 [SEP] 23, Pencil, -1.744, 0.882, 0.498, 0, 0, 0, 37 [SEP] 24, Mug, -1.392, 1.721, 0.448, 0, 0, 0, 38 [SEP] 25, Bed, 1.227, -0.002, 1.664, 0, 0, 0, [SEP] 26, LightSwitch, 2.151, 1.233, -0.518, 0, 270, 0, [SEP] 27, GarbageCan, -0.747, 0.014, -0.327, 0, 0, 0, [SEP] 28, Mirror, -1.358, 1.427, 2.855, 0, 0, 0, [SEP] 29, DeskLamp, -2.296, 0.858, 0.750, 0, 0, 0, [SEP] 30, Window, -0.421, 1.534, -1.947, 90, 0, 0, [SEP] 31, Window, 0.579, 1.534, -1.947, 90, 0, 0, [SEP] 32, Drawer, -0.491, 0.739, -0.855, 0, 90, 0, [SEP] 33, Drawer, -0.491, 0.204, -0.855, 0, 90, 0, [SEP] 34, Desk, -0.639, 0.009, -1.187, 0, 90, 0, [SEP] 35, Drawer, -0.491, 0.487, -0.855, 0, 90, 0, [SEP] 36, Shelf, -1.965, 1.514, 0.416, 0, 0, 0, [SEP] 37, Shelf, -1.965, 1.092, 0.416, 0, 0, 0, [SEP] 38, Shelf, -1.312, 1.888, 0.416, 0, 0, 0, [SEP] 39, Shelf, -1.965, 1.888, 0.416, 0, 0, 0, [SEP] 40, Shelf, -1.312, 1.092, 0.416, 0, 0, 0, [SEP] 41, Shelf, -1.312, 1.514, 0.416, 0, 0, 0, [SEP] 42, Blinds, 0.601, 2.161, -1.916, 0, 0, 0, [SEP] 43, Blinds, -0.402, 2.161, -1.916, 0, 0, 0, [SEP] 44, Desk, -1.726, 0.001, 0.575, 0, 0, 0, [SEP] 45, Drawer, -2.058, 0.733, 0.734, 0, 0, 0, [SEP] 46, Drawer, -2.058, 0.482, 0.734, 0, 0, 0, [SEP] 47, Drawer, -2.058, 0.198, 0.735, 0, 0, 0, [SEP] 48, Chair, -0.137, 0.000, -1.587, 0, 315, 0, [SEP] 49, Safe, -2.183, -7.748, 2.576, 0, 180, 0, [SEP] 50, Chair, -1.433, 0.009, 0.780, 357.672, 206.726, 0, [SEP] 51, LaundryHamper, 0.163, 0.003, 2.635, 0, 86.390, 0, [SEP] 52, NorthWall, , , , , , , [SEP] 53, EastWall, , , , , , , [SEP] 54, SouthWall, , , , , , , [SEP] 55, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and walk to the right then turn left and walk to the desk. | STEP 2: Pick up the metal box that is on top of the desk. | STEP 3: Turn right then turn left and walk around to the other side of the desk. Turn right to face the desk. | STEP 4: Use the metal box to turn on the lamp. | END"]} +{"id": "trial_T20190908_222951_616606-1", "input": "Examine the alarm clock under the light of the desk 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, -1.0, 0, 180, 0, [SEP] 1, Mug, -0.735, 0.855, -1.010, 0, 0, 0, 34 [SEP] 2, Mug, -1.834, 1.721, 0.489, 0, 0, 0, 38 [SEP] 3, CD, -1.834, 1.723, 0.325, 0, 0, 0, 38 [SEP] 4, CD, -1.834, 0.882, 0.407, 0, 0, 0, 44 [SEP] 5, CellPhone, -0.735, 0.858, -1.356, 0, 0, 0, 34 [SEP] 6, CellPhone, 1.815, 0.784, 0.787, 0, 0, 0, 25 [SEP] 7, Pencil, -0.735, 0.861, -1.183, 0, 0, 0, 34 [SEP] 8, CreditCard, -0.586, 0.649, -1.092, 0, 0, 0, 32 [SEP] 9, Book, 1.409, 0.783, 1.076, 0, 0, 0, 25 [SEP] 10, Book, -2.155, 0.667, 0.721, 0, 0, 0, 45 [SEP] 11, Book, 0.800, 0.783, 0.787, 0, 0, 0, 25 [SEP] 12, AlarmClock, -1.397, 0.879, 0.832, 0, 0, 0, 44 [SEP] 13, BasketBall, 1.976, 0.120, 0.211, 0, 331.076, 0, [SEP] 14, Pen, -0.567, 0.863, -1.010, 0, 0, 0, 34 [SEP] 15, Laptop, -1.783, 0.871, 0.732, 0, 0, 0, 44 [SEP] 16, BaseballBat, 1.953, 0.659, -1.81, 346.388, 0, 0, [SEP] 17, Bowl, -0.735, 0.861, -0.836, 0, 0, 0, 34 [SEP] 18, Pillow, 1.612, 0.918, 2.234, 0, 0, 0, 25 [SEP] 19, KeyChain, -2.155, 0.386, 0.683, 0, 0, 0, 46 [SEP] 20, CreditCard, -0.651, 0.857, -1.183, 0, 0, 0, 34 [SEP] 21, CellPhone, -0.903, 0.858, -1.010, 0, 0, 0, 34 [SEP] 22, CD, -2.315, 0.104, 0.759, 0, 0, 0, 47 [SEP] 23, Pencil, -1.744, 0.882, 0.498, 0, 0, 0, 37 [SEP] 24, Mug, -1.392, 1.721, 0.448, 0, 0, 0, 38 [SEP] 25, Bed, 1.227, -0.002, 1.664, 0, 0, 0, [SEP] 26, LightSwitch, 2.151, 1.233, -0.518, 0, 270, 0, [SEP] 27, GarbageCan, -0.747, 0.014, -0.327, 0, 0, 0, [SEP] 28, Mirror, -1.358, 1.427, 2.855, 0, 0, 0, [SEP] 29, DeskLamp, -2.296, 0.858, 0.750, 0, 0, 0, [SEP] 30, Window, -0.421, 1.534, -1.947, 90, 0, 0, [SEP] 31, Window, 0.579, 1.534, -1.947, 90, 0, 0, [SEP] 32, Drawer, -0.491, 0.739, -0.855, 0, 90, 0, [SEP] 33, Drawer, -0.491, 0.204, -0.855, 0, 90, 0, [SEP] 34, Desk, -0.639, 0.009, -1.187, 0, 90, 0, [SEP] 35, Drawer, -0.491, 0.487, -0.855, 0, 90, 0, [SEP] 36, Shelf, -1.965, 1.514, 0.416, 0, 0, 0, [SEP] 37, Shelf, -1.965, 1.092, 0.416, 0, 0, 0, [SEP] 38, Shelf, -1.312, 1.888, 0.416, 0, 0, 0, [SEP] 39, Shelf, -1.965, 1.888, 0.416, 0, 0, 0, [SEP] 40, Shelf, -1.312, 1.092, 0.416, 0, 0, 0, [SEP] 41, Shelf, -1.312, 1.514, 0.416, 0, 0, 0, [SEP] 42, Blinds, 0.601, 2.161, -1.916, 0, 0, 0, [SEP] 43, Blinds, -0.402, 2.161, -1.916, 0, 0, 0, [SEP] 44, Desk, -1.726, 0.001, 0.575, 0, 0, 0, [SEP] 45, Drawer, -2.058, 0.733, 0.734, 0, 0, 0, [SEP] 46, Drawer, -2.058, 0.482, 0.734, 0, 0, 0, [SEP] 47, Drawer, -2.058, 0.198, 0.735, 0, 0, 0, [SEP] 48, Chair, -0.137, 0.000, -1.587, 0, 315, 0, [SEP] 49, Safe, -2.183, -7.748, 2.576, 0, 180, 0, [SEP] 50, Chair, -1.433, 0.009, 0.780, 357.672, 206.726, 0, [SEP] 51, LaundryHamper, 0.163, 0.003, 2.635, 0, 86.390, 0, [SEP] 52, NorthWall, , , , , , , [SEP] 53, EastWall, , , , , , , [SEP] 54, SouthWall, , , , , , , [SEP] 55, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and walk forward, then turn left and walk up to the side of the wooden desk | STEP 2: Pick up the alarm clock from the desk | STEP 3: Walk forward around to the right side of the desk | STEP 4: Turn on the lamp on the desk | END"]} +{"id": "trial_T20190908_222951_616606-2", "input": "Turn on 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, 0.25, 0.900, -1.0, 0, 180, 0, [SEP] 1, Mug, -0.735, 0.855, -1.010, 0, 0, 0, 34 [SEP] 2, Mug, -1.834, 1.721, 0.489, 0, 0, 0, 38 [SEP] 3, CD, -1.834, 1.723, 0.325, 0, 0, 0, 38 [SEP] 4, CD, -1.834, 0.882, 0.407, 0, 0, 0, 44 [SEP] 5, CellPhone, -0.735, 0.858, -1.356, 0, 0, 0, 34 [SEP] 6, CellPhone, 1.815, 0.784, 0.787, 0, 0, 0, 25 [SEP] 7, Pencil, -0.735, 0.861, -1.183, 0, 0, 0, 34 [SEP] 8, CreditCard, -0.586, 0.649, -1.092, 0, 0, 0, 32 [SEP] 9, Book, 1.409, 0.783, 1.076, 0, 0, 0, 25 [SEP] 10, Book, -2.155, 0.667, 0.721, 0, 0, 0, 45 [SEP] 11, Book, 0.800, 0.783, 0.787, 0, 0, 0, 25 [SEP] 12, AlarmClock, -1.397, 0.879, 0.832, 0, 0, 0, 44 [SEP] 13, BasketBall, 1.976, 0.120, 0.211, 0, 331.076, 0, [SEP] 14, Pen, -0.567, 0.863, -1.010, 0, 0, 0, 34 [SEP] 15, Laptop, -1.783, 0.871, 0.732, 0, 0, 0, 44 [SEP] 16, BaseballBat, 1.953, 0.659, -1.81, 346.388, 0, 0, [SEP] 17, Bowl, -0.735, 0.861, -0.836, 0, 0, 0, 34 [SEP] 18, Pillow, 1.612, 0.918, 2.234, 0, 0, 0, 25 [SEP] 19, KeyChain, -2.155, 0.386, 0.683, 0, 0, 0, 46 [SEP] 20, CreditCard, -0.651, 0.857, -1.183, 0, 0, 0, 34 [SEP] 21, CellPhone, -0.903, 0.858, -1.010, 0, 0, 0, 34 [SEP] 22, CD, -2.315, 0.104, 0.759, 0, 0, 0, 47 [SEP] 23, Pencil, -1.744, 0.882, 0.498, 0, 0, 0, 37 [SEP] 24, Mug, -1.392, 1.721, 0.448, 0, 0, 0, 38 [SEP] 25, Bed, 1.227, -0.002, 1.664, 0, 0, 0, [SEP] 26, LightSwitch, 2.151, 1.233, -0.518, 0, 270, 0, [SEP] 27, GarbageCan, -0.747, 0.014, -0.327, 0, 0, 0, [SEP] 28, Mirror, -1.358, 1.427, 2.855, 0, 0, 0, [SEP] 29, DeskLamp, -2.296, 0.858, 0.750, 0, 0, 0, [SEP] 30, Window, -0.421, 1.534, -1.947, 90, 0, 0, [SEP] 31, Window, 0.579, 1.534, -1.947, 90, 0, 0, [SEP] 32, Drawer, -0.491, 0.739, -0.855, 0, 90, 0, [SEP] 33, Drawer, -0.491, 0.204, -0.855, 0, 90, 0, [SEP] 34, Desk, -0.639, 0.009, -1.187, 0, 90, 0, [SEP] 35, Drawer, -0.491, 0.487, -0.855, 0, 90, 0, [SEP] 36, Shelf, -1.965, 1.514, 0.416, 0, 0, 0, [SEP] 37, Shelf, -1.965, 1.092, 0.416, 0, 0, 0, [SEP] 38, Shelf, -1.312, 1.888, 0.416, 0, 0, 0, [SEP] 39, Shelf, -1.965, 1.888, 0.416, 0, 0, 0, [SEP] 40, Shelf, -1.312, 1.092, 0.416, 0, 0, 0, [SEP] 41, Shelf, -1.312, 1.514, 0.416, 0, 0, 0, [SEP] 42, Blinds, 0.601, 2.161, -1.916, 0, 0, 0, [SEP] 43, Blinds, -0.402, 2.161, -1.916, 0, 0, 0, [SEP] 44, Desk, -1.726, 0.001, 0.575, 0, 0, 0, [SEP] 45, Drawer, -2.058, 0.733, 0.734, 0, 0, 0, [SEP] 46, Drawer, -2.058, 0.482, 0.734, 0, 0, 0, [SEP] 47, Drawer, -2.058, 0.198, 0.735, 0, 0, 0, [SEP] 48, Chair, -0.137, 0.000, -1.587, 0, 315, 0, [SEP] 49, Safe, -2.183, -7.748, 2.576, 0, 180, 0, [SEP] 50, Chair, -1.433, 0.009, 0.780, 357.672, 206.726, 0, [SEP] 51, LaundryHamper, 0.163, 0.003, 2.635, 0, 86.390, 0, [SEP] 52, NorthWall, , , , , , , [SEP] 53, EastWall, , , , , , , [SEP] 54, SouthWall, , , , , , , [SEP] 55, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and walk to the the desk behind the wall, to your left. | STEP 2: Pick up the alarm clock, on the desk, in front of the blue chair. | STEP 3: Walk past the desk and turn left, then go to the lamp on the end of the desk, by the wall. | STEP 4: Turn on the lamp in the front, right corner of the desk. | END"]} +{"id": "trial_T20190907_221208_560499-0", "input": "Fill up a mug with water and take to 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, 2.0, 0, 180, 0, [SEP] 1, Pan, 0.905, 1.640, 1.444, 0, 0, 0, 81 [SEP] 2, Vase, 1.082, 2.209, -1.082, 0, 270, 0, 65 [SEP] 3, Potato, -0.550, 0.963, -1.386, 0, 0, 0, 58 [SEP] 4, CreditCard, -0.772, 0.930, 0.009, 0, 0, 0, 58 [SEP] 5, CreditCard, 0.688, 0.908, -2.222, 0, 0, 0, 64 [SEP] 6, CellPhone, 0.874, 0.150, -0.611, 0, 270, 0, 61 [SEP] 7, DishSponge, -1.571, 0.881, 2.692, 0, 0, 0, 84 [SEP] 8, DishSponge, 1.199, 0.910, -0.034, 0, 0, 0, 59 [SEP] 9, Fork, 0.773, 0.911, -0.729, 0, 0, 0, 59 [SEP] 10, Fork, 1.199, 0.911, 0.313, 0, 90, 0, 59 [SEP] 11, Spatula, -0.698, 0.791, -0.659, 0, 90, 0, 79 [SEP] 12, Pot, 0.859, 0.914, -0.208, 0, 0, 0, 59 [SEP] 13, Plate, -0.697, 0.779, -0.832, 0, 90, 0, 79 [SEP] 14, Plate, 0.844, 0.866, 1.158, 0, 270, 0, 81 [SEP] 15, SoapBottle, 0.688, 0.911, 0.313, 0, 0, 0, 59 [SEP] 16, Bowl, 1.102, 1.669, -0.465, 0, 270, 0, 67 [SEP] 17, PepperShaker, 0.944, 0.907, -0.729, 0, 0, 0, 59 [SEP] 18, Lettuce, 0.905, 0.940, 1.444, 0, 270, 0, 81 [SEP] 19, Mug, 1.199, 0.906, 0.139, 0, 0, 0, 59 [SEP] 20, Mug, 0.910, 0.103, -1.972, 0, 0, 0, 63 [SEP] 21, Mug, -1.467, 0.549, 2.770, 0, 0, 0, 84 [SEP] 22, Apple, 0.844, 1.452, 1.444, 0, 270, 0, 81 [SEP] 23, Apple, 1.114, 0.961, -0.381, 0, 0, 0, 59 [SEP] 24, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 58 [SEP] 25, Glassbottle, -0.912, 0.177, 0.608, 0, 180, 0, 78 [SEP] 26, Bread, -0.779, 0.996, 0.209, 0, 258.641, 0, 58 [SEP] 27, CreditCard, 0.915, 0.491, -0.690, 0, 270, 0, 62 [SEP] 28, CellPhone, 1.029, 0.908, -0.555, 0, 0, 0, 59 [SEP] 29, Potato, -0.912, 0.209, 0.510, 0, 270, 0, 78 [SEP] 30, Knife, 0.944, 0.934, -0.729, 0, 0, 0, 59 [SEP] 31, Fork, 0.794, 0.495, -0.772, 0, 180, 0, 62 [SEP] 32, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 52 [SEP] 33, Lettuce, 0.859, 0.988, 0.139, 0, 0, 0, 59 [SEP] 34, Plate, 0.844, 1.138, 1.254, 0, 270, 0, 81 [SEP] 35, Apple, -1.007, 0.229, 0.510, 0, 180, 0, 78 [SEP] 36, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 54 [SEP] 37, Spatula, -0.808, 0.795, -0.659, 0, 180, 0, 79 [SEP] 38, PaperTowelRoll, -0.818, 0.283, 0.608, 0, 270, 0, 78 [SEP] 39, Tomato, 1.199, 0.952, -0.729, 0, 0, 0, 59 [SEP] 40, Egg, 1.026, 1.172, 1.349, 0, 270, 0, 81 [SEP] 41, SaltShaker, -1.229, 0.929, -0.380, 0, 0, 0, 58 [SEP] 42, PepperShaker, -1.363, 0.550, 2.563, 0, 0, 0, 84 [SEP] 43, Vase, 1.055, 1.666, -2.029, 0, 270, 0, 57 [SEP] 44, ButterKnife, -1.229, 0.933, -1.430, 0, 0, 0, 58 [SEP] 45, SoapBottle, 0.811, 0.121, 0.398, 0, 270, 0, 53 [SEP] 46, Vase, 1.101, 1.667, 0.280, 0, 270, 0, 66 [SEP] 47, Bowl, 1.026, 1.405, 1.349, 0, 270, 0, 81 [SEP] 48, DishSponge, 1.194, 1.665, -2.234, 0, 270, 0, 57 [SEP] 49, Spoon, 0.794, 0.496, -0.607, 0, 270, 0, 62 [SEP] 50, Cup, 0.711, 0.105, -2.132, 0, 0, 0, 63 [SEP] 51, Mug, 1.028, 1.790, -1.132, 0, 270, 0, 80 [SEP] 52, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 53, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 54, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 55, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 56, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 57, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 58, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 59, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 60, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 61, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 62, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 63, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 64, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 65, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 66, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 67, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 68, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 69, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 70, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 71, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 72, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 73, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 74, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 75, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 76, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 77, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 78, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 79, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 80, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 81, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 82, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 83, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 84, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 85, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 86, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 87, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 88, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 89, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 90, NorthWall, , , , , , , [SEP] 91, EastWall, , , , , , , [SEP] 92, SouthWall, , , , , , , [SEP] 93, WestWall, , , , , , , ", "output": ["STEP 1: Go to the left to pass the island and straight back to locate the coffee machine. | STEP 2: Open the cabinet below and pull out a cup. Shut the door. | STEP 3: Carry the cup and turn left to find the sink in the island. | STEP 4: Place the cup in the sink and turn the water on. Turn the water off and pick up the cup from the sink. | STEP 5: Take the mug filled with water over to the coffee machine behind you, and to the right. | STEP 6: Place the mug under the coffee machine. | END"]} +{"id": "trial_T20190907_221208_560499-1", "input": "Put a clean cup under a coffee pot. 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, 2.0, 0, 180, 0, [SEP] 1, Pan, 0.905, 1.640, 1.444, 0, 0, 0, 81 [SEP] 2, Vase, 1.082, 2.209, -1.082, 0, 270, 0, 65 [SEP] 3, Potato, -0.550, 0.963, -1.386, 0, 0, 0, 58 [SEP] 4, CreditCard, -0.772, 0.930, 0.009, 0, 0, 0, 58 [SEP] 5, CreditCard, 0.688, 0.908, -2.222, 0, 0, 0, 64 [SEP] 6, CellPhone, 0.874, 0.150, -0.611, 0, 270, 0, 61 [SEP] 7, DishSponge, -1.571, 0.881, 2.692, 0, 0, 0, 84 [SEP] 8, DishSponge, 1.199, 0.910, -0.034, 0, 0, 0, 59 [SEP] 9, Fork, 0.773, 0.911, -0.729, 0, 0, 0, 59 [SEP] 10, Fork, 1.199, 0.911, 0.313, 0, 90, 0, 59 [SEP] 11, Spatula, -0.698, 0.791, -0.659, 0, 90, 0, 79 [SEP] 12, Pot, 0.859, 0.914, -0.208, 0, 0, 0, 59 [SEP] 13, Plate, -0.697, 0.779, -0.832, 0, 90, 0, 79 [SEP] 14, Plate, 0.844, 0.866, 1.158, 0, 270, 0, 81 [SEP] 15, SoapBottle, 0.688, 0.911, 0.313, 0, 0, 0, 59 [SEP] 16, Bowl, 1.102, 1.669, -0.465, 0, 270, 0, 67 [SEP] 17, PepperShaker, 0.944, 0.907, -0.729, 0, 0, 0, 59 [SEP] 18, Lettuce, 0.905, 0.940, 1.444, 0, 270, 0, 81 [SEP] 19, Mug, 1.199, 0.906, 0.139, 0, 0, 0, 59 [SEP] 20, Mug, 0.910, 0.103, -1.972, 0, 0, 0, 63 [SEP] 21, Mug, -1.467, 0.549, 2.770, 0, 0, 0, 84 [SEP] 22, Apple, 0.844, 1.452, 1.444, 0, 270, 0, 81 [SEP] 23, Apple, 1.114, 0.961, -0.381, 0, 0, 0, 59 [SEP] 24, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 58 [SEP] 25, Glassbottle, -0.912, 0.177, 0.608, 0, 180, 0, 78 [SEP] 26, Bread, -0.779, 0.996, 0.209, 0, 258.641, 0, 58 [SEP] 27, CreditCard, 0.915, 0.491, -0.690, 0, 270, 0, 62 [SEP] 28, CellPhone, 1.029, 0.908, -0.555, 0, 0, 0, 59 [SEP] 29, Potato, -0.912, 0.209, 0.510, 0, 270, 0, 78 [SEP] 30, Knife, 0.944, 0.934, -0.729, 0, 0, 0, 59 [SEP] 31, Fork, 0.794, 0.495, -0.772, 0, 180, 0, 62 [SEP] 32, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 52 [SEP] 33, Lettuce, 0.859, 0.988, 0.139, 0, 0, 0, 59 [SEP] 34, Plate, 0.844, 1.138, 1.254, 0, 270, 0, 81 [SEP] 35, Apple, -1.007, 0.229, 0.510, 0, 180, 0, 78 [SEP] 36, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 54 [SEP] 37, Spatula, -0.808, 0.795, -0.659, 0, 180, 0, 79 [SEP] 38, PaperTowelRoll, -0.818, 0.283, 0.608, 0, 270, 0, 78 [SEP] 39, Tomato, 1.199, 0.952, -0.729, 0, 0, 0, 59 [SEP] 40, Egg, 1.026, 1.172, 1.349, 0, 270, 0, 81 [SEP] 41, SaltShaker, -1.229, 0.929, -0.380, 0, 0, 0, 58 [SEP] 42, PepperShaker, -1.363, 0.550, 2.563, 0, 0, 0, 84 [SEP] 43, Vase, 1.055, 1.666, -2.029, 0, 270, 0, 57 [SEP] 44, ButterKnife, -1.229, 0.933, -1.430, 0, 0, 0, 58 [SEP] 45, SoapBottle, 0.811, 0.121, 0.398, 0, 270, 0, 53 [SEP] 46, Vase, 1.101, 1.667, 0.280, 0, 270, 0, 66 [SEP] 47, Bowl, 1.026, 1.405, 1.349, 0, 270, 0, 81 [SEP] 48, DishSponge, 1.194, 1.665, -2.234, 0, 270, 0, 57 [SEP] 49, Spoon, 0.794, 0.496, -0.607, 0, 270, 0, 62 [SEP] 50, Cup, 0.711, 0.105, -2.132, 0, 0, 0, 63 [SEP] 51, Mug, 1.028, 1.790, -1.132, 0, 270, 0, 80 [SEP] 52, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 53, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 54, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 55, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 56, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 57, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 58, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 59, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 60, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 61, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 62, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 63, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 64, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 65, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 66, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 67, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 68, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 69, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 70, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 71, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 72, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 73, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 74, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 75, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 76, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 77, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 78, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 79, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 80, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 81, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 82, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 83, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 84, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 85, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 86, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 87, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 88, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 89, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 90, NorthWall, , , , , , , [SEP] 91, EastWall, , , , , , , [SEP] 92, SouthWall, , , , , , , [SEP] 93, WestWall, , , , , , , ", "output": ["STEP 1: Go left and turn left again to face the counter with the coffee pot on it. | STEP 2: Open the lower cabinet and take out the cup from the cupboard. | STEP 3: Go left and turn to face the sink. | STEP 4: Put the cup in the sink, turn the water on and then off and pick the cup up out of the sink. | STEP 5: Go left and then left again to face the coffee maker. | STEP 6: Put the cup under the coffee maker on the counter. | END"]} +{"id": "trial_T20190907_221208_560499-2", "input": "Put a mug of water in the coffee maker mug location. 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, 2.0, 0, 180, 0, [SEP] 1, Pan, 0.905, 1.640, 1.444, 0, 0, 0, 81 [SEP] 2, Vase, 1.082, 2.209, -1.082, 0, 270, 0, 65 [SEP] 3, Potato, -0.550, 0.963, -1.386, 0, 0, 0, 58 [SEP] 4, CreditCard, -0.772, 0.930, 0.009, 0, 0, 0, 58 [SEP] 5, CreditCard, 0.688, 0.908, -2.222, 0, 0, 0, 64 [SEP] 6, CellPhone, 0.874, 0.150, -0.611, 0, 270, 0, 61 [SEP] 7, DishSponge, -1.571, 0.881, 2.692, 0, 0, 0, 84 [SEP] 8, DishSponge, 1.199, 0.910, -0.034, 0, 0, 0, 59 [SEP] 9, Fork, 0.773, 0.911, -0.729, 0, 0, 0, 59 [SEP] 10, Fork, 1.199, 0.911, 0.313, 0, 90, 0, 59 [SEP] 11, Spatula, -0.698, 0.791, -0.659, 0, 90, 0, 79 [SEP] 12, Pot, 0.859, 0.914, -0.208, 0, 0, 0, 59 [SEP] 13, Plate, -0.697, 0.779, -0.832, 0, 90, 0, 79 [SEP] 14, Plate, 0.844, 0.866, 1.158, 0, 270, 0, 81 [SEP] 15, SoapBottle, 0.688, 0.911, 0.313, 0, 0, 0, 59 [SEP] 16, Bowl, 1.102, 1.669, -0.465, 0, 270, 0, 67 [SEP] 17, PepperShaker, 0.944, 0.907, -0.729, 0, 0, 0, 59 [SEP] 18, Lettuce, 0.905, 0.940, 1.444, 0, 270, 0, 81 [SEP] 19, Mug, 1.199, 0.906, 0.139, 0, 0, 0, 59 [SEP] 20, Mug, 0.910, 0.103, -1.972, 0, 0, 0, 63 [SEP] 21, Mug, -1.467, 0.549, 2.770, 0, 0, 0, 84 [SEP] 22, Apple, 0.844, 1.452, 1.444, 0, 270, 0, 81 [SEP] 23, Apple, 1.114, 0.961, -0.381, 0, 0, 0, 59 [SEP] 24, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 58 [SEP] 25, Glassbottle, -0.912, 0.177, 0.608, 0, 180, 0, 78 [SEP] 26, Bread, -0.779, 0.996, 0.209, 0, 258.641, 0, 58 [SEP] 27, CreditCard, 0.915, 0.491, -0.690, 0, 270, 0, 62 [SEP] 28, CellPhone, 1.029, 0.908, -0.555, 0, 0, 0, 59 [SEP] 29, Potato, -0.912, 0.209, 0.510, 0, 270, 0, 78 [SEP] 30, Knife, 0.944, 0.934, -0.729, 0, 0, 0, 59 [SEP] 31, Fork, 0.794, 0.495, -0.772, 0, 180, 0, 62 [SEP] 32, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 52 [SEP] 33, Lettuce, 0.859, 0.988, 0.139, 0, 0, 0, 59 [SEP] 34, Plate, 0.844, 1.138, 1.254, 0, 270, 0, 81 [SEP] 35, Apple, -1.007, 0.229, 0.510, 0, 180, 0, 78 [SEP] 36, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 54 [SEP] 37, Spatula, -0.808, 0.795, -0.659, 0, 180, 0, 79 [SEP] 38, PaperTowelRoll, -0.818, 0.283, 0.608, 0, 270, 0, 78 [SEP] 39, Tomato, 1.199, 0.952, -0.729, 0, 0, 0, 59 [SEP] 40, Egg, 1.026, 1.172, 1.349, 0, 270, 0, 81 [SEP] 41, SaltShaker, -1.229, 0.929, -0.380, 0, 0, 0, 58 [SEP] 42, PepperShaker, -1.363, 0.550, 2.563, 0, 0, 0, 84 [SEP] 43, Vase, 1.055, 1.666, -2.029, 0, 270, 0, 57 [SEP] 44, ButterKnife, -1.229, 0.933, -1.430, 0, 0, 0, 58 [SEP] 45, SoapBottle, 0.811, 0.121, 0.398, 0, 270, 0, 53 [SEP] 46, Vase, 1.101, 1.667, 0.280, 0, 270, 0, 66 [SEP] 47, Bowl, 1.026, 1.405, 1.349, 0, 270, 0, 81 [SEP] 48, DishSponge, 1.194, 1.665, -2.234, 0, 270, 0, 57 [SEP] 49, Spoon, 0.794, 0.496, -0.607, 0, 270, 0, 62 [SEP] 50, Cup, 0.711, 0.105, -2.132, 0, 0, 0, 63 [SEP] 51, Mug, 1.028, 1.790, -1.132, 0, 270, 0, 80 [SEP] 52, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 53, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 54, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 55, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 56, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 57, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 58, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 59, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 60, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 61, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 62, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 63, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 64, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 65, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 66, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 67, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 68, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 69, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 70, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 71, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 72, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 73, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 74, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 75, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 76, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 77, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 78, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 79, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 80, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 81, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 82, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 83, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 84, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 85, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 86, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 87, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 88, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 89, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 90, NorthWall, , , , , , , [SEP] 91, EastWall, , , , , , , [SEP] 92, SouthWall, , , , , , , [SEP] 93, WestWall, , , , , , , ", "output": ["STEP 1: Move to the bin, turn left, move to past the island, turn right, move to alongside the coffee maker, turn left, move to the counter. | STEP 2: Open the cupboard doors, pick up the mug, close the cupboard doors. | STEP 3: Turn left, move to the center of the basin on the left, turn left, move to the island. | STEP 4: Put the mug in the sink, turn on the faucet, fill the mug with water, turn off the faucet, pick up the mug. | STEP 5: Turn left, move to the coffee maker, turn left, move to the counter. | STEP 6: Place the mug in the coffee maker mug spot. | END"]} +{"id": "trial_T20190907_083346_800823-0", "input": "Warm up the cup inside the cabinet. 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, 0, 0, [SEP] 1, Pan, 0.905, 0.860, 1.158, 0, 270, 0, 88 [SEP] 2, Statue, -1.469, 0.884, 2.719, 0, 0, 0, 65 [SEP] 3, Statue, -1.167, 0.936, -0.118, 0, 0, 0, 65 [SEP] 4, Potato, -1.229, 0.963, -0.643, 0, 0, 0, 65 [SEP] 5, Potato, -0.753, 0.811, -0.400, 0, 90, 0, 86 [SEP] 6, CellPhone, 0.833, 0.150, -0.690, 0, 270, 0, 68 [SEP] 7, CellPhone, 0.688, 0.908, -1.879, 0, 0, 0, 71 [SEP] 8, DishSponge, 0.915, 0.494, -0.565, 0, 270, 0, 69 [SEP] 9, ButterKnife, -0.697, 0.776, -0.745, 0, 90, 0, 86 [SEP] 10, ButterKnife, -0.846, 0.933, -0.143, 0, 0, 0, 65 [SEP] 11, Glassbottle, 1.199, 0.912, -0.034, 0, 0, 0, 66 [SEP] 12, Glassbottle, -1.363, 0.554, 2.615, 0, 0, 0, 91 [SEP] 13, Fork, -0.753, 0.781, -0.918, 0, 180, 0, 86 [SEP] 14, Fork, 0.944, 0.911, -0.555, 0, 0, 0, 66 [SEP] 15, Spatula, -0.697, 0.795, -0.745, 0, 90, 0, 86 [SEP] 16, Spatula, 1.029, 0.926, -0.034, 0, 0, 0, 66 [SEP] 17, Knife, 0.773, 0.934, -0.729, 0, 180, 0, 66 [SEP] 18, Knife, 0.859, 0.934, -0.381, 0, 0, 0, 66 [SEP] 19, Egg, 0.773, 0.949, -0.555, 0, 0, 0, 66 [SEP] 20, Egg, 1.087, 1.680, 1.444, 0, 270, 0, 88 [SEP] 21, Cup, 1.101, 1.663, -1.961, 0, 270, 0, 64 [SEP] 22, Cup, -0.808, 0.773, -0.832, 0, 90, 0, 86 [SEP] 23, Cup, 1.194, 1.663, -0.337, 0, 270, 0, 74 [SEP] 24, Tomato, 1.087, 0.903, 1.540, 0, 270, 0, 88 [SEP] 25, Tomato, -1.292, 0.974, -0.905, 0, 0, 0, 65 [SEP] 26, Bowl, 0.688, 0.914, -0.729, 0, 0, 0, 66 [SEP] 27, SaltShaker, 0.956, 0.698, -0.731, 0, 270, 0, 63 [SEP] 28, SaltShaker, 1.169, 2.204, -1.082, 0, 270, 0, 72 [SEP] 29, PepperShaker, 1.239, 1.662, 0.089, 0, 270, 0, 73 [SEP] 30, Bread, 1.114, 0.992, -0.381, 0, 0, 0, 66 [SEP] 31, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 65 [SEP] 32, Glassbottle, 1.029, 0.912, 0.139, 0, 0, 0, 66 [SEP] 33, Bread, 0.966, 1.482, 1.349, 0, 270, 0, 88 [SEP] 34, CreditCard, 0.915, 0.491, -0.731, 0, 270, 0, 69 [SEP] 35, CellPhone, -0.920, 0.930, 0.162, 0, 0, 0, 65 [SEP] 36, Potato, 1.029, 0.941, -0.729, 0, 0, 0, 66 [SEP] 37, Knife, -0.550, 0.957, 0.162, 0, 0, 0, 65 [SEP] 38, Fork, -0.550, 0.934, 0.009, 0, 0, 0, 65 [SEP] 39, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 59 [SEP] 40, Lettuce, 1.029, 0.988, -1.793, 0, 270, 0, 71 [SEP] 41, Plate, -1.570, 0.557, 2.718, 0, 0, 0, 91 [SEP] 42, Apple, -0.587, 0.830, -0.400, 0, 90, 0, 86 [SEP] 43, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 61 [SEP] 44, Spatula, 0.834, 0.509, -0.565, 0, 270, 0, 69 [SEP] 45, PaperTowelRoll, -0.818, 0.283, 0.575, 0, 270, 0, 85 [SEP] 46, Tomato, -0.920, 0.974, -1.386, 0, 0, 0, 65 [SEP] 47, Egg, 0.859, 0.949, -1.879, 0, 0, 0, 71 [SEP] 48, SaltShaker, -1.674, 0.878, 2.746, 0, 0, 0, 92 [SEP] 49, PepperShaker, -0.624, 0.929, -1.386, 0, 0, 0, 65 [SEP] 50, Vase, 1.194, 1.666, -0.465, 0, 270, 0, 74 [SEP] 51, ButterKnife, 0.859, 0.911, -0.208, 0, 0, 0, 66 [SEP] 52, SoapBottle, -0.772, 0.933, -1.463, 0, 0, 0, 65 [SEP] 53, Vase, 1.194, 1.667, -2.166, 0, 270, 0, 64 [SEP] 54, Bowl, 1.087, 1.405, 0.967, 0, 270, 0, 88 [SEP] 55, DishSponge, -0.587, 0.780, -0.573, 0, 90, 0, 86 [SEP] 56, Spoon, -0.698, 0.777, -0.486, 0, 90, 0, 86 [SEP] 57, Cup, 0.811, 0.105, -1.972, 0, 0, 0, 70 [SEP] 58, Mug, -1.778, 0.549, 2.822, 0, 0, 0, 91 [SEP] 59, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 60, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 61, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 62, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 63, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 64, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 65, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 66, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 67, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 68, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 69, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 70, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 71, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 72, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 73, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 74, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 75, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 76, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 77, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 78, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 79, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 80, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 81, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 82, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 83, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 84, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 85, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 86, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 87, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 88, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 89, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 90, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 91, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 92, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 93, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 94, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 95, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 96, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 97, NorthWall, , , , , , , [SEP] 98, EastWall, , , , , , , [SEP] 99, SouthWall, , , , , , , [SEP] 100, WestWall, , , , , , , ", "output": ["STEP 1: Turn around towards the windows, turn left towards the coffee maker, turn right towards the loaf of bread on the counter, and then look up towards the cabinets. | STEP 2: Open the right cabinet and take out a green cup. | STEP 3: Take a step to the right to find the microwave above the stove. | STEP 4: Warm up the cup and take it back out of the microwave. | STEP 5: Take a step to the left and look up to the cabinet above the bread. | STEP 6: Place the cup back into the cabinet. | END"]} +{"id": "trial_T20190907_083346_800823-1", "input": "Place a heated glass in a tall cabinet. 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, 0, 0, [SEP] 1, Pan, 0.905, 0.860, 1.158, 0, 270, 0, 88 [SEP] 2, Statue, -1.469, 0.884, 2.719, 0, 0, 0, 65 [SEP] 3, Statue, -1.167, 0.936, -0.118, 0, 0, 0, 65 [SEP] 4, Potato, -1.229, 0.963, -0.643, 0, 0, 0, 65 [SEP] 5, Potato, -0.753, 0.811, -0.400, 0, 90, 0, 86 [SEP] 6, CellPhone, 0.833, 0.150, -0.690, 0, 270, 0, 68 [SEP] 7, CellPhone, 0.688, 0.908, -1.879, 0, 0, 0, 71 [SEP] 8, DishSponge, 0.915, 0.494, -0.565, 0, 270, 0, 69 [SEP] 9, ButterKnife, -0.697, 0.776, -0.745, 0, 90, 0, 86 [SEP] 10, ButterKnife, -0.846, 0.933, -0.143, 0, 0, 0, 65 [SEP] 11, Glassbottle, 1.199, 0.912, -0.034, 0, 0, 0, 66 [SEP] 12, Glassbottle, -1.363, 0.554, 2.615, 0, 0, 0, 91 [SEP] 13, Fork, -0.753, 0.781, -0.918, 0, 180, 0, 86 [SEP] 14, Fork, 0.944, 0.911, -0.555, 0, 0, 0, 66 [SEP] 15, Spatula, -0.697, 0.795, -0.745, 0, 90, 0, 86 [SEP] 16, Spatula, 1.029, 0.926, -0.034, 0, 0, 0, 66 [SEP] 17, Knife, 0.773, 0.934, -0.729, 0, 180, 0, 66 [SEP] 18, Knife, 0.859, 0.934, -0.381, 0, 0, 0, 66 [SEP] 19, Egg, 0.773, 0.949, -0.555, 0, 0, 0, 66 [SEP] 20, Egg, 1.087, 1.680, 1.444, 0, 270, 0, 88 [SEP] 21, Cup, 1.101, 1.663, -1.961, 0, 270, 0, 64 [SEP] 22, Cup, -0.808, 0.773, -0.832, 0, 90, 0, 86 [SEP] 23, Cup, 1.194, 1.663, -0.337, 0, 270, 0, 74 [SEP] 24, Tomato, 1.087, 0.903, 1.540, 0, 270, 0, 88 [SEP] 25, Tomato, -1.292, 0.974, -0.905, 0, 0, 0, 65 [SEP] 26, Bowl, 0.688, 0.914, -0.729, 0, 0, 0, 66 [SEP] 27, SaltShaker, 0.956, 0.698, -0.731, 0, 270, 0, 63 [SEP] 28, SaltShaker, 1.169, 2.204, -1.082, 0, 270, 0, 72 [SEP] 29, PepperShaker, 1.239, 1.662, 0.089, 0, 270, 0, 73 [SEP] 30, Bread, 1.114, 0.992, -0.381, 0, 0, 0, 66 [SEP] 31, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 65 [SEP] 32, Glassbottle, 1.029, 0.912, 0.139, 0, 0, 0, 66 [SEP] 33, Bread, 0.966, 1.482, 1.349, 0, 270, 0, 88 [SEP] 34, CreditCard, 0.915, 0.491, -0.731, 0, 270, 0, 69 [SEP] 35, CellPhone, -0.920, 0.930, 0.162, 0, 0, 0, 65 [SEP] 36, Potato, 1.029, 0.941, -0.729, 0, 0, 0, 66 [SEP] 37, Knife, -0.550, 0.957, 0.162, 0, 0, 0, 65 [SEP] 38, Fork, -0.550, 0.934, 0.009, 0, 0, 0, 65 [SEP] 39, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 59 [SEP] 40, Lettuce, 1.029, 0.988, -1.793, 0, 270, 0, 71 [SEP] 41, Plate, -1.570, 0.557, 2.718, 0, 0, 0, 91 [SEP] 42, Apple, -0.587, 0.830, -0.400, 0, 90, 0, 86 [SEP] 43, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 61 [SEP] 44, Spatula, 0.834, 0.509, -0.565, 0, 270, 0, 69 [SEP] 45, PaperTowelRoll, -0.818, 0.283, 0.575, 0, 270, 0, 85 [SEP] 46, Tomato, -0.920, 0.974, -1.386, 0, 0, 0, 65 [SEP] 47, Egg, 0.859, 0.949, -1.879, 0, 0, 0, 71 [SEP] 48, SaltShaker, -1.674, 0.878, 2.746, 0, 0, 0, 92 [SEP] 49, PepperShaker, -0.624, 0.929, -1.386, 0, 0, 0, 65 [SEP] 50, Vase, 1.194, 1.666, -0.465, 0, 270, 0, 74 [SEP] 51, ButterKnife, 0.859, 0.911, -0.208, 0, 0, 0, 66 [SEP] 52, SoapBottle, -0.772, 0.933, -1.463, 0, 0, 0, 65 [SEP] 53, Vase, 1.194, 1.667, -2.166, 0, 270, 0, 64 [SEP] 54, Bowl, 1.087, 1.405, 0.967, 0, 270, 0, 88 [SEP] 55, DishSponge, -0.587, 0.780, -0.573, 0, 90, 0, 86 [SEP] 56, Spoon, -0.698, 0.777, -0.486, 0, 90, 0, 86 [SEP] 57, Cup, 0.811, 0.105, -1.972, 0, 0, 0, 70 [SEP] 58, Mug, -1.778, 0.549, 2.822, 0, 0, 0, 91 [SEP] 59, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 60, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 61, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 62, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 63, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 64, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 65, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 66, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 67, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 68, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 69, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 70, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 71, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 72, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 73, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 74, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 75, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 76, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 77, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 78, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 79, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 80, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 81, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 82, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 83, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 84, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 85, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 86, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 87, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 88, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 89, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 90, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 91, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 92, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 93, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 94, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 95, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 96, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 97, NorthWall, , , , , , , [SEP] 98, EastWall, , , , , , , [SEP] 99, SouthWall, , , , , , , [SEP] 100, WestWall, , , , , , , ", "output": ["STEP 1: Turn around, walk to the wall, hang a left, head to the counter, turn left and cross the room to face the silver dishwasher and counter top to your right. | STEP 2: Pick up a green glass next to the vase from inside the top right cabinet above the loaf of bread and close the door. | STEP 3: Turn right and walk towards the silver stove on your left side. | STEP 4: Place the green glass on the right side inside the microwave above the stove, heat for three seconds, remove the heated glass and close the door. | STEP 5: Turn left and walk to the counter to the left of the stove. | STEP 6: Open the tall cabinet above the counter to the left of the microwave, place the heated glass to the right of the silver vase and close the door. | END"]} +{"id": "trial_T20190907_083346_800823-2", "input": "Put a heated vase 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, -3.75, 0.900, -1.25, 0, 0, 0, [SEP] 1, Pan, 0.905, 0.860, 1.158, 0, 270, 0, 88 [SEP] 2, Statue, -1.469, 0.884, 2.719, 0, 0, 0, 65 [SEP] 3, Statue, -1.167, 0.936, -0.118, 0, 0, 0, 65 [SEP] 4, Potato, -1.229, 0.963, -0.643, 0, 0, 0, 65 [SEP] 5, Potato, -0.753, 0.811, -0.400, 0, 90, 0, 86 [SEP] 6, CellPhone, 0.833, 0.150, -0.690, 0, 270, 0, 68 [SEP] 7, CellPhone, 0.688, 0.908, -1.879, 0, 0, 0, 71 [SEP] 8, DishSponge, 0.915, 0.494, -0.565, 0, 270, 0, 69 [SEP] 9, ButterKnife, -0.697, 0.776, -0.745, 0, 90, 0, 86 [SEP] 10, ButterKnife, -0.846, 0.933, -0.143, 0, 0, 0, 65 [SEP] 11, Glassbottle, 1.199, 0.912, -0.034, 0, 0, 0, 66 [SEP] 12, Glassbottle, -1.363, 0.554, 2.615, 0, 0, 0, 91 [SEP] 13, Fork, -0.753, 0.781, -0.918, 0, 180, 0, 86 [SEP] 14, Fork, 0.944, 0.911, -0.555, 0, 0, 0, 66 [SEP] 15, Spatula, -0.697, 0.795, -0.745, 0, 90, 0, 86 [SEP] 16, Spatula, 1.029, 0.926, -0.034, 0, 0, 0, 66 [SEP] 17, Knife, 0.773, 0.934, -0.729, 0, 180, 0, 66 [SEP] 18, Knife, 0.859, 0.934, -0.381, 0, 0, 0, 66 [SEP] 19, Egg, 0.773, 0.949, -0.555, 0, 0, 0, 66 [SEP] 20, Egg, 1.087, 1.680, 1.444, 0, 270, 0, 88 [SEP] 21, Cup, 1.101, 1.663, -1.961, 0, 270, 0, 64 [SEP] 22, Cup, -0.808, 0.773, -0.832, 0, 90, 0, 86 [SEP] 23, Cup, 1.194, 1.663, -0.337, 0, 270, 0, 74 [SEP] 24, Tomato, 1.087, 0.903, 1.540, 0, 270, 0, 88 [SEP] 25, Tomato, -1.292, 0.974, -0.905, 0, 0, 0, 65 [SEP] 26, Bowl, 0.688, 0.914, -0.729, 0, 0, 0, 66 [SEP] 27, SaltShaker, 0.956, 0.698, -0.731, 0, 270, 0, 63 [SEP] 28, SaltShaker, 1.169, 2.204, -1.082, 0, 270, 0, 72 [SEP] 29, PepperShaker, 1.239, 1.662, 0.089, 0, 270, 0, 73 [SEP] 30, Bread, 1.114, 0.992, -0.381, 0, 0, 0, 66 [SEP] 31, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 65 [SEP] 32, Glassbottle, 1.029, 0.912, 0.139, 0, 0, 0, 66 [SEP] 33, Bread, 0.966, 1.482, 1.349, 0, 270, 0, 88 [SEP] 34, CreditCard, 0.915, 0.491, -0.731, 0, 270, 0, 69 [SEP] 35, CellPhone, -0.920, 0.930, 0.162, 0, 0, 0, 65 [SEP] 36, Potato, 1.029, 0.941, -0.729, 0, 0, 0, 66 [SEP] 37, Knife, -0.550, 0.957, 0.162, 0, 0, 0, 65 [SEP] 38, Fork, -0.550, 0.934, 0.009, 0, 0, 0, 65 [SEP] 39, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 59 [SEP] 40, Lettuce, 1.029, 0.988, -1.793, 0, 270, 0, 71 [SEP] 41, Plate, -1.570, 0.557, 2.718, 0, 0, 0, 91 [SEP] 42, Apple, -0.587, 0.830, -0.400, 0, 90, 0, 86 [SEP] 43, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 61 [SEP] 44, Spatula, 0.834, 0.509, -0.565, 0, 270, 0, 69 [SEP] 45, PaperTowelRoll, -0.818, 0.283, 0.575, 0, 270, 0, 85 [SEP] 46, Tomato, -0.920, 0.974, -1.386, 0, 0, 0, 65 [SEP] 47, Egg, 0.859, 0.949, -1.879, 0, 0, 0, 71 [SEP] 48, SaltShaker, -1.674, 0.878, 2.746, 0, 0, 0, 92 [SEP] 49, PepperShaker, -0.624, 0.929, -1.386, 0, 0, 0, 65 [SEP] 50, Vase, 1.194, 1.666, -0.465, 0, 270, 0, 74 [SEP] 51, ButterKnife, 0.859, 0.911, -0.208, 0, 0, 0, 66 [SEP] 52, SoapBottle, -0.772, 0.933, -1.463, 0, 0, 0, 65 [SEP] 53, Vase, 1.194, 1.667, -2.166, 0, 270, 0, 64 [SEP] 54, Bowl, 1.087, 1.405, 0.967, 0, 270, 0, 88 [SEP] 55, DishSponge, -0.587, 0.780, -0.573, 0, 90, 0, 86 [SEP] 56, Spoon, -0.698, 0.777, -0.486, 0, 90, 0, 86 [SEP] 57, Cup, 0.811, 0.105, -1.972, 0, 0, 0, 70 [SEP] 58, Mug, -1.778, 0.549, 2.822, 0, 0, 0, 91 [SEP] 59, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 60, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 61, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 62, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 63, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 64, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 65, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 66, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 67, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 68, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 69, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 70, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 71, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 72, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 73, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 74, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 75, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 76, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 77, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 78, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 79, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 80, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 81, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 82, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 83, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 84, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 85, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 86, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 87, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 88, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 89, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 90, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 91, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 92, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 93, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 94, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 95, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 96, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 97, NorthWall, , , , , , , [SEP] 98, EastWall, , , , , , , [SEP] 99, SouthWall, , , , , , , [SEP] 100, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and go left and then left again to stand at the counter in front of all of the utensils. | STEP 2: Open the cupboard above and take out the green vase. | STEP 3: Go right and stand in front of the microwave. | STEP 4: Put the vase in the microwave, turn it on and then take it out and shut the door. | STEP 5: Move to the left and stand in front of the cupboards to the left of the stove. | STEP 6: Open the upper cabinet and put the green vase in the cupboard to the right of the other one. | END"]} +{"id": "trial_T20190918_231203_583927-0", "input": "Put the container with fork 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, 1.5, 0, 90, 0, [SEP] 1, Pan, 0.905, 1.132, 1.063, 0, 180, 0, 79 [SEP] 2, Potato, 0.783, 1.432, 1.444, 0, 270, 0, 79 [SEP] 3, DishSponge, 0.964, 0.120, 0.374, 0, 270, 0, 51 [SEP] 4, DishSponge, -0.587, 0.780, -0.659, 0, 90, 0, 77 [SEP] 5, Glassbottle, -1.363, 0.554, 2.770, 0, 0, 0, 82 [SEP] 6, Spoon, 0.874, 0.154, -0.650, 0, 270, 0, 59 [SEP] 7, Spoon, 1.114, 0.912, -0.034, 0, 0, 0, 57 [SEP] 8, Knife, -0.698, 0.957, -1.154, 0, 0, 0, 56 [SEP] 9, Knife, 1.029, 0.934, -0.208, 0, 90, 0, 57 [SEP] 10, Egg, -0.808, 0.814, -0.745, 0, 90, 0, 77 [SEP] 11, Egg, -1.007, 0.214, 0.543, 0, 180, 0, 76 [SEP] 12, Cup, -1.467, 0.551, 2.874, 0, 0, 0, 82 [SEP] 13, Cup, 0.761, 0.105, -1.892, 0, 0, 0, 61 [SEP] 14, Plate, 1.194, 1.669, -0.465, 0, 270, 0, 65 [SEP] 15, SoapBottle, 1.148, 1.666, -1.961, 0, 270, 0, 55 [SEP] 16, SaltShaker, 0.794, 0.699, -0.565, 0, 270, 0, 54 [SEP] 17, SaltShaker, -1.674, 0.878, 2.773, 0, 0, 0, 83 [SEP] 18, PepperShaker, -1.981, 0.878, 2.719, 0, 0, 0, 83 [SEP] 19, PepperShaker, 0.713, 0.491, -0.772, 0, 270, 0, 60 [SEP] 20, Lettuce, 1.114, 0.988, -0.381, 0, 0, 0, 57 [SEP] 21, Mug, 1.029, 0.906, -0.555, 0, 90, 0, 57 [SEP] 22, Statue, -1.355, 0.936, -0.643, 0, 0, 0, 56 [SEP] 23, Glassbottle, -0.642, 0.781, -0.832, 0, 90, 0, 77 [SEP] 24, Bread, -1.292, 1.014, -0.905, 0, 0, 0, 56 [SEP] 25, CreditCard, 1.199, 0.908, -0.381, 0, 0, 0, 57 [SEP] 26, CellPhone, -0.477, 0.930, -0.067, 0, 0, 0, 56 [SEP] 27, Potato, 0.905, 0.893, 1.254, 0, 270, 0, 79 [SEP] 28, Knife, 0.859, 0.934, -0.381, 0, 0, 0, 57 [SEP] 29, Fork, -0.642, 0.781, -0.486, 0, 0, 0, 77 [SEP] 30, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 50 [SEP] 31, Lettuce, 0.965, 1.212, 1.444, 0, 270, 0, 79 [SEP] 32, Plate, 0.844, 0.866, 1.063, 0, 270, 0, 79 [SEP] 33, Apple, 0.773, 0.961, -1.965, 0, 0, 0, 62 [SEP] 34, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 52 [SEP] 35, Spatula, 0.915, 0.718, -0.690, 0, 0, 0, 54 [SEP] 36, PaperTowelRoll, -1.467, 0.658, 2.563, 0, 0, 0, 82 [SEP] 37, Tomato, -0.772, 0.974, 0.086, 0, 0, 0, 56 [SEP] 38, Egg, 0.783, 1.680, 1.444, 0, 270, 0, 79 [SEP] 39, SaltShaker, 1.101, 1.662, 0.344, 0, 270, 0, 64 [SEP] 40, PepperShaker, -1.104, 0.929, -1.167, 0, 0, 0, 56 [SEP] 41, Vase, 0.688, 0.911, -0.555, 0, 0, 0, 57 [SEP] 42, ButterKnife, -0.550, 0.933, -1.618, 0, 0, 0, 56 [SEP] 43, SoapBottle, -0.477, 0.933, 0.315, 0, 0, 0, 56 [SEP] 44, Vase, 1.193, 1.667, 0.089, 0, 270, 0, 64 [SEP] 45, Bowl, 1.029, 0.914, 0.139, 0, 0, 0, 57 [SEP] 46, DishSponge, -0.865, 0.176, 0.608, 0, 180, 0, 76 [SEP] 47, Spoon, -0.846, 0.934, -1.386, 0, 0, 0, 56 [SEP] 48, Cup, -0.808, 0.773, -0.832, 0, 90, 0, 77 [SEP] 49, Mug, -0.624, 0.928, -1.308, 0, 0, 0, 56 [SEP] 50, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 51, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 52, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 53, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 54, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 55, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 56, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 57, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 58, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 59, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 60, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 61, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 62, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 63, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 64, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 65, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 66, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 67, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 68, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 69, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 70, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 71, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 72, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 73, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 74, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 75, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 76, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 77, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 78, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 79, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 80, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 81, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 82, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 83, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 84, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 85, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 86, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 87, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 88, NorthWall, , , , , , , [SEP] 89, EastWall, , , , , , , [SEP] 90, SouthWall, , , , , , , [SEP] 91, WestWall, , , , , , , ", "output": ["STEP 1: Turn right then walk forward head to the sink | STEP 2: Pick up the fork in the sink | STEP 3: Turn left then face the left cabinet below the coffee maker | STEP 4: Open the cabinet put in the fork in the green container | STEP 5: Pick up the green container then close the cabinet | STEP 6: Look up the counter beside the stove | STEP 7: Put the container with fork on the counter beside the green apple | END"]} +{"id": "trial_T20190918_231203_583927-1", "input": "Pick up fork, put in cup in cabinet, pick up both and put on 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, 1.5, 0, 90, 0, [SEP] 1, Pan, 0.905, 1.132, 1.063, 0, 180, 0, 79 [SEP] 2, Potato, 0.783, 1.432, 1.444, 0, 270, 0, 79 [SEP] 3, DishSponge, 0.964, 0.120, 0.374, 0, 270, 0, 51 [SEP] 4, DishSponge, -0.587, 0.780, -0.659, 0, 90, 0, 77 [SEP] 5, Glassbottle, -1.363, 0.554, 2.770, 0, 0, 0, 82 [SEP] 6, Spoon, 0.874, 0.154, -0.650, 0, 270, 0, 59 [SEP] 7, Spoon, 1.114, 0.912, -0.034, 0, 0, 0, 57 [SEP] 8, Knife, -0.698, 0.957, -1.154, 0, 0, 0, 56 [SEP] 9, Knife, 1.029, 0.934, -0.208, 0, 90, 0, 57 [SEP] 10, Egg, -0.808, 0.814, -0.745, 0, 90, 0, 77 [SEP] 11, Egg, -1.007, 0.214, 0.543, 0, 180, 0, 76 [SEP] 12, Cup, -1.467, 0.551, 2.874, 0, 0, 0, 82 [SEP] 13, Cup, 0.761, 0.105, -1.892, 0, 0, 0, 61 [SEP] 14, Plate, 1.194, 1.669, -0.465, 0, 270, 0, 65 [SEP] 15, SoapBottle, 1.148, 1.666, -1.961, 0, 270, 0, 55 [SEP] 16, SaltShaker, 0.794, 0.699, -0.565, 0, 270, 0, 54 [SEP] 17, SaltShaker, -1.674, 0.878, 2.773, 0, 0, 0, 83 [SEP] 18, PepperShaker, -1.981, 0.878, 2.719, 0, 0, 0, 83 [SEP] 19, PepperShaker, 0.713, 0.491, -0.772, 0, 270, 0, 60 [SEP] 20, Lettuce, 1.114, 0.988, -0.381, 0, 0, 0, 57 [SEP] 21, Mug, 1.029, 0.906, -0.555, 0, 90, 0, 57 [SEP] 22, Statue, -1.355, 0.936, -0.643, 0, 0, 0, 56 [SEP] 23, Glassbottle, -0.642, 0.781, -0.832, 0, 90, 0, 77 [SEP] 24, Bread, -1.292, 1.014, -0.905, 0, 0, 0, 56 [SEP] 25, CreditCard, 1.199, 0.908, -0.381, 0, 0, 0, 57 [SEP] 26, CellPhone, -0.477, 0.930, -0.067, 0, 0, 0, 56 [SEP] 27, Potato, 0.905, 0.893, 1.254, 0, 270, 0, 79 [SEP] 28, Knife, 0.859, 0.934, -0.381, 0, 0, 0, 57 [SEP] 29, Fork, -0.642, 0.781, -0.486, 0, 0, 0, 77 [SEP] 30, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 50 [SEP] 31, Lettuce, 0.965, 1.212, 1.444, 0, 270, 0, 79 [SEP] 32, Plate, 0.844, 0.866, 1.063, 0, 270, 0, 79 [SEP] 33, Apple, 0.773, 0.961, -1.965, 0, 0, 0, 62 [SEP] 34, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 52 [SEP] 35, Spatula, 0.915, 0.718, -0.690, 0, 0, 0, 54 [SEP] 36, PaperTowelRoll, -1.467, 0.658, 2.563, 0, 0, 0, 82 [SEP] 37, Tomato, -0.772, 0.974, 0.086, 0, 0, 0, 56 [SEP] 38, Egg, 0.783, 1.680, 1.444, 0, 270, 0, 79 [SEP] 39, SaltShaker, 1.101, 1.662, 0.344, 0, 270, 0, 64 [SEP] 40, PepperShaker, -1.104, 0.929, -1.167, 0, 0, 0, 56 [SEP] 41, Vase, 0.688, 0.911, -0.555, 0, 0, 0, 57 [SEP] 42, ButterKnife, -0.550, 0.933, -1.618, 0, 0, 0, 56 [SEP] 43, SoapBottle, -0.477, 0.933, 0.315, 0, 0, 0, 56 [SEP] 44, Vase, 1.193, 1.667, 0.089, 0, 270, 0, 64 [SEP] 45, Bowl, 1.029, 0.914, 0.139, 0, 0, 0, 57 [SEP] 46, DishSponge, -0.865, 0.176, 0.608, 0, 180, 0, 76 [SEP] 47, Spoon, -0.846, 0.934, -1.386, 0, 0, 0, 56 [SEP] 48, Cup, -0.808, 0.773, -0.832, 0, 90, 0, 77 [SEP] 49, Mug, -0.624, 0.928, -1.308, 0, 0, 0, 56 [SEP] 50, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 51, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 52, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 53, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 54, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 55, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 56, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 57, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 58, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 59, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 60, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 61, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 62, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 63, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 64, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 65, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 66, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 67, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 68, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 69, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 70, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 71, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 72, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 73, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 74, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 75, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 76, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 77, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 78, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 79, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 80, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 81, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 82, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 83, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 84, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 85, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 86, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 87, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 88, NorthWall, , , , , , , [SEP] 89, EastWall, , , , , , , [SEP] 90, SouthWall, , , , , , , [SEP] 91, WestWall, , , , , , , ", "output": ["STEP 1: Go to fridge, turn right. Proceed to sink on right. Turn right to face sink. | STEP 2: Pick up fork from sink, to the right of the green sponge. | STEP 3: Turn left, go to wall, turn left to face counter with coffee maker. | STEP 4: Open cabinet under counter, put fork in cup to the left of the cabinet. | STEP 5: Pick up fork in cup from cabinet, close cabinet doors. | STEP 6: Look up to face counter. | STEP 7: Place cup with fork on counter front and to the left of the apple and coffee maker. | END"]} +{"id": "trial_T20190918_231203_583927-2", "input": "Place the fork with green cup on 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, 1.5, 0, 90, 0, [SEP] 1, Pan, 0.905, 1.132, 1.063, 0, 180, 0, 79 [SEP] 2, Potato, 0.783, 1.432, 1.444, 0, 270, 0, 79 [SEP] 3, DishSponge, 0.964, 0.120, 0.374, 0, 270, 0, 51 [SEP] 4, DishSponge, -0.587, 0.780, -0.659, 0, 90, 0, 77 [SEP] 5, Glassbottle, -1.363, 0.554, 2.770, 0, 0, 0, 82 [SEP] 6, Spoon, 0.874, 0.154, -0.650, 0, 270, 0, 59 [SEP] 7, Spoon, 1.114, 0.912, -0.034, 0, 0, 0, 57 [SEP] 8, Knife, -0.698, 0.957, -1.154, 0, 0, 0, 56 [SEP] 9, Knife, 1.029, 0.934, -0.208, 0, 90, 0, 57 [SEP] 10, Egg, -0.808, 0.814, -0.745, 0, 90, 0, 77 [SEP] 11, Egg, -1.007, 0.214, 0.543, 0, 180, 0, 76 [SEP] 12, Cup, -1.467, 0.551, 2.874, 0, 0, 0, 82 [SEP] 13, Cup, 0.761, 0.105, -1.892, 0, 0, 0, 61 [SEP] 14, Plate, 1.194, 1.669, -0.465, 0, 270, 0, 65 [SEP] 15, SoapBottle, 1.148, 1.666, -1.961, 0, 270, 0, 55 [SEP] 16, SaltShaker, 0.794, 0.699, -0.565, 0, 270, 0, 54 [SEP] 17, SaltShaker, -1.674, 0.878, 2.773, 0, 0, 0, 83 [SEP] 18, PepperShaker, -1.981, 0.878, 2.719, 0, 0, 0, 83 [SEP] 19, PepperShaker, 0.713, 0.491, -0.772, 0, 270, 0, 60 [SEP] 20, Lettuce, 1.114, 0.988, -0.381, 0, 0, 0, 57 [SEP] 21, Mug, 1.029, 0.906, -0.555, 0, 90, 0, 57 [SEP] 22, Statue, -1.355, 0.936, -0.643, 0, 0, 0, 56 [SEP] 23, Glassbottle, -0.642, 0.781, -0.832, 0, 90, 0, 77 [SEP] 24, Bread, -1.292, 1.014, -0.905, 0, 0, 0, 56 [SEP] 25, CreditCard, 1.199, 0.908, -0.381, 0, 0, 0, 57 [SEP] 26, CellPhone, -0.477, 0.930, -0.067, 0, 0, 0, 56 [SEP] 27, Potato, 0.905, 0.893, 1.254, 0, 270, 0, 79 [SEP] 28, Knife, 0.859, 0.934, -0.381, 0, 0, 0, 57 [SEP] 29, Fork, -0.642, 0.781, -0.486, 0, 0, 0, 77 [SEP] 30, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 50 [SEP] 31, Lettuce, 0.965, 1.212, 1.444, 0, 270, 0, 79 [SEP] 32, Plate, 0.844, 0.866, 1.063, 0, 270, 0, 79 [SEP] 33, Apple, 0.773, 0.961, -1.965, 0, 0, 0, 62 [SEP] 34, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 52 [SEP] 35, Spatula, 0.915, 0.718, -0.690, 0, 0, 0, 54 [SEP] 36, PaperTowelRoll, -1.467, 0.658, 2.563, 0, 0, 0, 82 [SEP] 37, Tomato, -0.772, 0.974, 0.086, 0, 0, 0, 56 [SEP] 38, Egg, 0.783, 1.680, 1.444, 0, 270, 0, 79 [SEP] 39, SaltShaker, 1.101, 1.662, 0.344, 0, 270, 0, 64 [SEP] 40, PepperShaker, -1.104, 0.929, -1.167, 0, 0, 0, 56 [SEP] 41, Vase, 0.688, 0.911, -0.555, 0, 0, 0, 57 [SEP] 42, ButterKnife, -0.550, 0.933, -1.618, 0, 0, 0, 56 [SEP] 43, SoapBottle, -0.477, 0.933, 0.315, 0, 0, 0, 56 [SEP] 44, Vase, 1.193, 1.667, 0.089, 0, 270, 0, 64 [SEP] 45, Bowl, 1.029, 0.914, 0.139, 0, 0, 0, 57 [SEP] 46, DishSponge, -0.865, 0.176, 0.608, 0, 180, 0, 76 [SEP] 47, Spoon, -0.846, 0.934, -1.386, 0, 0, 0, 56 [SEP] 48, Cup, -0.808, 0.773, -0.832, 0, 90, 0, 77 [SEP] 49, Mug, -0.624, 0.928, -1.308, 0, 0, 0, 56 [SEP] 50, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 51, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 52, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 53, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 54, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 55, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 56, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 57, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 58, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 59, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 60, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 61, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 62, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 63, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 64, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 65, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 66, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 67, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 68, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 69, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 70, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 71, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 72, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 73, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 74, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 75, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 76, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 77, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 78, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 79, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 80, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 81, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 82, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 83, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 84, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 85, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 86, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 87, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 88, NorthWall, , , , , , , [SEP] 89, EastWall, , , , , , , [SEP] 90, SouthWall, , , , , , , [SEP] 91, WestWall, , , , , , , ", "output": ["STEP 1: Turn and go to the sink. | STEP 2: Pick up the fork that is on the right in the sink. | STEP 3: With the fork in hand turn and go to the coffee maker\n | STEP 4: Open the cabinets that are below the coffee maker and place the fork inside the green cup in the cabinet. | STEP 5: Pick up the green cup with the fork in it. | STEP 6: Lift up so you are now facing the counter top. | STEP 7: Place the green cup with the fork on the counter in front of and to the left of the green apple. | END"]} +{"id": "trial_T20190907_004321_405868-0", "input": "Move a bottle of hand soap from the sink 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, 0.901, 1.75, 0, 0, 0, [SEP] 1, SprayBottle, -2.227, 0.018, 3.756, 0, 0, 0, 32 [SEP] 2, Candle, -0.077, 0.953, 1.481, 0, 0, 0, 31 [SEP] 3, SoapBottle, -0.141, 0.955, 2.878, 0, 0, 0, 23 [SEP] 4, SoapBottle, -0.326, 0.955, 2.807, 0, 0, 0, 23 [SEP] 5, HandTowel, -0.038, 1.619, 1.887, 0, 90, 0, 29 [SEP] 6, HandTowel, -0.038, 1.619, 3.799, 0, 90, 0, 30 [SEP] 7, Towel, -1.082, 1.326, 1.302, 0, 0, 0, 26 [SEP] 8, SoapBar, -2.227, 0.017, 3.832, 0, 0, 0, 32 [SEP] 9, ToiletPaper, -0.280, 0.654, 1.985, 0, 180, 90, 28 [SEP] 10, Plunger, -0.112, -0.000, 1.848, 0, 0, 0, [SEP] 11, Candle, -0.331, 0.076, 2.788, 0, 0, 0, 20 [SEP] 12, ToiletPaper, -0.310, 0.068, 2.585, 0, 0, 0, 20 [SEP] 13, SprayBottle, -0.280, 0.077, 3.372, 0, 0, 0, 24 [SEP] 14, Cloth, -0.351, 0.946, 2.074, 0, 0, 0, 37 [SEP] 15, ScrubBrush, -0.322, 3.109, 1.950, 0, 0, 0, [SEP] 16, SoapBottle, -0.279, 0.076, 3.100, 0, 0, 0, 19 [SEP] 17, Mirror, -0.030, 1.544, 2.864, 0, 0, 0, [SEP] 18, Sink, -0.302, 0.799, 3.263, 0, 270, 0, [SEP] 19, Cabinet, -0.491, 0.404, 2.863, 0, 0, 0, [SEP] 20, Cabinet, -0.495, 0.384, 2.842, 0, 0, 0, [SEP] 21, ShowerDoor, -1.647, 1.017, 1.180, 0, 0, 0, [SEP] 22, ShowerGlass, -0.909, 0.788, 0.485, 0, 0, 0, [SEP] 23, CounterTop, -0.261, 0.927, 2.843, 0, 0, 0, [SEP] 24, Cabinet, -0.495, 0.384, 3.650, 0, 0, 0, [SEP] 25, Cabinet, -0.491, 0.404, 2.055, 0, 0, 0, [SEP] 26, TowelHolder, -1.082, 1.312, 1.195, 0, 0, 0, [SEP] 27, LightSwitch, -2.424, 1.447, 3.338, 0, 90, 0, [SEP] 28, ToiletPaperHanger, -0.266, 0.786, 2.043, 0, 180, 0, [SEP] 29, HandTowelHolder, 0.000, 1.721, 1.887, 0, 180, 0, [SEP] 30, HandTowelHolder, 0.000, 1.721, 3.799, 0, 180, 0, [SEP] 31, Toilet, -0.542, 3.109, 1.493, 0, 270, 0, [SEP] 32, GarbageCan, -2.159, -0.000, 3.756, 0, 0, 0, [SEP] 33, SinkBasin, -0.308, 0.820, 3.266, 0, 0, 0, [SEP] 34, ShowerHead, -0.134, 1.888, 0.564, 0, 90, 0, [SEP] 35, Faucet, 0.0, 1.009, 3.265, 0, 0, 0, [SEP] 36, Faucet, 0.0, 1.009, 2.421, 0, 0, 0, [SEP] 37, SinkBasin, -0.308, 0.820, 2.422, 0, 0, 0, [SEP] 38, Sink, -0.302, 0.799, 2.419, 0, 270, 0, [SEP] 39, NorthWall, , , , , , , [SEP] 40, SouthWall, , , , , , , [SEP] 41, SouthWall, , , , , , , ", "output": ["STEP 1: Go to the sinks on your right. | STEP 2: Pick up the bottle of hand soap that is closest to you from between the two sinks. | STEP 3: Turn right and walk to the toilet. | STEP 4: Put the bottle of soap on the back of the toilet. | END"]} +{"id": "trial_T20190907_004321_405868-1", "input": "Put the pump bottle 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, -1.25, 0.901, 1.75, 0, 0, 0, [SEP] 1, SprayBottle, -2.227, 0.018, 3.756, 0, 0, 0, 32 [SEP] 2, Candle, -0.077, 0.953, 1.481, 0, 0, 0, 31 [SEP] 3, SoapBottle, -0.141, 0.955, 2.878, 0, 0, 0, 23 [SEP] 4, SoapBottle, -0.326, 0.955, 2.807, 0, 0, 0, 23 [SEP] 5, HandTowel, -0.038, 1.619, 1.887, 0, 90, 0, 29 [SEP] 6, HandTowel, -0.038, 1.619, 3.799, 0, 90, 0, 30 [SEP] 7, Towel, -1.082, 1.326, 1.302, 0, 0, 0, 26 [SEP] 8, SoapBar, -2.227, 0.017, 3.832, 0, 0, 0, 32 [SEP] 9, ToiletPaper, -0.280, 0.654, 1.985, 0, 180, 90, 28 [SEP] 10, Plunger, -0.112, -0.000, 1.848, 0, 0, 0, [SEP] 11, Candle, -0.331, 0.076, 2.788, 0, 0, 0, 20 [SEP] 12, ToiletPaper, -0.310, 0.068, 2.585, 0, 0, 0, 20 [SEP] 13, SprayBottle, -0.280, 0.077, 3.372, 0, 0, 0, 24 [SEP] 14, Cloth, -0.351, 0.946, 2.074, 0, 0, 0, 37 [SEP] 15, ScrubBrush, -0.322, 3.109, 1.950, 0, 0, 0, [SEP] 16, SoapBottle, -0.279, 0.076, 3.100, 0, 0, 0, 19 [SEP] 17, Mirror, -0.030, 1.544, 2.864, 0, 0, 0, [SEP] 18, Sink, -0.302, 0.799, 3.263, 0, 270, 0, [SEP] 19, Cabinet, -0.491, 0.404, 2.863, 0, 0, 0, [SEP] 20, Cabinet, -0.495, 0.384, 2.842, 0, 0, 0, [SEP] 21, ShowerDoor, -1.647, 1.017, 1.180, 0, 0, 0, [SEP] 22, ShowerGlass, -0.909, 0.788, 0.485, 0, 0, 0, [SEP] 23, CounterTop, -0.261, 0.927, 2.843, 0, 0, 0, [SEP] 24, Cabinet, -0.495, 0.384, 3.650, 0, 0, 0, [SEP] 25, Cabinet, -0.491, 0.404, 2.055, 0, 0, 0, [SEP] 26, TowelHolder, -1.082, 1.312, 1.195, 0, 0, 0, [SEP] 27, LightSwitch, -2.424, 1.447, 3.338, 0, 90, 0, [SEP] 28, ToiletPaperHanger, -0.266, 0.786, 2.043, 0, 180, 0, [SEP] 29, HandTowelHolder, 0.000, 1.721, 1.887, 0, 180, 0, [SEP] 30, HandTowelHolder, 0.000, 1.721, 3.799, 0, 180, 0, [SEP] 31, Toilet, -0.542, 3.109, 1.493, 0, 270, 0, [SEP] 32, GarbageCan, -2.159, -0.000, 3.756, 0, 0, 0, [SEP] 33, SinkBasin, -0.308, 0.820, 3.266, 0, 0, 0, [SEP] 34, ShowerHead, -0.134, 1.888, 0.564, 0, 90, 0, [SEP] 35, Faucet, 0.0, 1.009, 3.265, 0, 0, 0, [SEP] 36, Faucet, 0.0, 1.009, 2.421, 0, 0, 0, [SEP] 37, SinkBasin, -0.308, 0.820, 2.422, 0, 0, 0, [SEP] 38, Sink, -0.302, 0.799, 2.419, 0, 270, 0, [SEP] 39, NorthWall, , , , , , , [SEP] 40, SouthWall, , , , , , , [SEP] 41, SouthWall, , , , , , , ", "output": ["STEP 1: Turn right and walk up to the counter between the sinks | STEP 2: Pick up the pump bottle nearest the counter's edge from the counter | STEP 3: Turn right and walk up to the toilet | STEP 4: Put the pump bottle on the back of the toilet | END"]} +{"id": "trial_T20190907_004321_405868-2", "input": "Place the bottle from the sink to the toilet basin. 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, 1.75, 0, 0, 0, [SEP] 1, SprayBottle, -2.227, 0.018, 3.756, 0, 0, 0, 32 [SEP] 2, Candle, -0.077, 0.953, 1.481, 0, 0, 0, 31 [SEP] 3, SoapBottle, -0.141, 0.955, 2.878, 0, 0, 0, 23 [SEP] 4, SoapBottle, -0.326, 0.955, 2.807, 0, 0, 0, 23 [SEP] 5, HandTowel, -0.038, 1.619, 1.887, 0, 90, 0, 29 [SEP] 6, HandTowel, -0.038, 1.619, 3.799, 0, 90, 0, 30 [SEP] 7, Towel, -1.082, 1.326, 1.302, 0, 0, 0, 26 [SEP] 8, SoapBar, -2.227, 0.017, 3.832, 0, 0, 0, 32 [SEP] 9, ToiletPaper, -0.280, 0.654, 1.985, 0, 180, 90, 28 [SEP] 10, Plunger, -0.112, -0.000, 1.848, 0, 0, 0, [SEP] 11, Candle, -0.331, 0.076, 2.788, 0, 0, 0, 20 [SEP] 12, ToiletPaper, -0.310, 0.068, 2.585, 0, 0, 0, 20 [SEP] 13, SprayBottle, -0.280, 0.077, 3.372, 0, 0, 0, 24 [SEP] 14, Cloth, -0.351, 0.946, 2.074, 0, 0, 0, 37 [SEP] 15, ScrubBrush, -0.322, 3.109, 1.950, 0, 0, 0, [SEP] 16, SoapBottle, -0.279, 0.076, 3.100, 0, 0, 0, 19 [SEP] 17, Mirror, -0.030, 1.544, 2.864, 0, 0, 0, [SEP] 18, Sink, -0.302, 0.799, 3.263, 0, 270, 0, [SEP] 19, Cabinet, -0.491, 0.404, 2.863, 0, 0, 0, [SEP] 20, Cabinet, -0.495, 0.384, 2.842, 0, 0, 0, [SEP] 21, ShowerDoor, -1.647, 1.017, 1.180, 0, 0, 0, [SEP] 22, ShowerGlass, -0.909, 0.788, 0.485, 0, 0, 0, [SEP] 23, CounterTop, -0.261, 0.927, 2.843, 0, 0, 0, [SEP] 24, Cabinet, -0.495, 0.384, 3.650, 0, 0, 0, [SEP] 25, Cabinet, -0.491, 0.404, 2.055, 0, 0, 0, [SEP] 26, TowelHolder, -1.082, 1.312, 1.195, 0, 0, 0, [SEP] 27, LightSwitch, -2.424, 1.447, 3.338, 0, 90, 0, [SEP] 28, ToiletPaperHanger, -0.266, 0.786, 2.043, 0, 180, 0, [SEP] 29, HandTowelHolder, 0.000, 1.721, 1.887, 0, 180, 0, [SEP] 30, HandTowelHolder, 0.000, 1.721, 3.799, 0, 180, 0, [SEP] 31, Toilet, -0.542, 3.109, 1.493, 0, 270, 0, [SEP] 32, GarbageCan, -2.159, -0.000, 3.756, 0, 0, 0, [SEP] 33, SinkBasin, -0.308, 0.820, 3.266, 0, 0, 0, [SEP] 34, ShowerHead, -0.134, 1.888, 0.564, 0, 90, 0, [SEP] 35, Faucet, 0.0, 1.009, 3.265, 0, 0, 0, [SEP] 36, Faucet, 0.0, 1.009, 2.421, 0, 0, 0, [SEP] 37, SinkBasin, -0.308, 0.820, 2.422, 0, 0, 0, [SEP] 38, Sink, -0.302, 0.799, 2.419, 0, 270, 0, [SEP] 39, NorthWall, , , , , , , [SEP] 40, SouthWall, , , , , , , [SEP] 41, SouthWall, , , , , , , ", "output": ["STEP 1: Walk towards the sink on your right. | STEP 2: Pick up the bottle on the right which is closest to you. | STEP 3: Turn around and head towards the toilet. | STEP 4: Place the bottle on the toilet basin next to the wall. | END"]} +{"id": "trial_T20190908_225453_272533-0", "input": "Heat a tomato and throw it away. 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, -2.0, 0, 180, 0, [SEP] 1, Vase, -0.846, 0.934, -1.540, 0, 0, 0, 57 [SEP] 2, CreditCard, -1.881, 0.551, 2.563, 0, 0, 0, 83 [SEP] 3, CreditCard, 0.915, 0.699, -0.690, 0, 270, 0, 55 [SEP] 4, CellPhone, 0.944, 0.908, -1.879, 0, 0, 0, 63 [SEP] 5, CellPhone, -1.363, 0.550, 2.822, 0, 0, 0, 83 [SEP] 6, ButterKnife, -0.697, 0.780, -0.745, 0, 90, 0, 78 [SEP] 7, ButterKnife, -0.846, 0.933, -0.143, 0, 0, 0, 57 [SEP] 8, Glassbottle, -0.920, 0.934, -0.067, 0, 0, 0, 57 [SEP] 9, Glassbottle, 1.194, 1.667, -0.337, 0, 270, 0, 66 [SEP] 10, Fork, 0.834, 0.495, -0.607, 0, 270, 0, 61 [SEP] 11, Fork, -0.698, 0.777, -0.573, 0, 0, 0, 78 [SEP] 12, Cup, 1.087, 0.860, 1.444, 0, 270, 0, 80 [SEP] 13, Tomato, 0.905, 1.683, 1.158, 0, 270, 0, 80 [SEP] 14, SoapBottle, -1.571, 0.882, 2.719, 0, 0, 0, 84 [SEP] 15, Bowl, -0.697, 0.779, -0.832, 0, 90, 0, 78 [SEP] 16, PepperShaker, 0.773, 0.907, -0.381, 0, 0, 0, 58 [SEP] 17, Lettuce, 0.944, 0.988, -0.381, 0, 0, 0, 58 [SEP] 18, Lettuce, 0.905, 1.212, 1.444, 0, 270, 0, 80 [SEP] 19, Bread, 0.773, 0.992, 0.139, 0, 0, 0, 58 [SEP] 20, Mug, 0.783, 1.638, 1.444, 0, 270, 0, 80 [SEP] 21, Apple, 1.026, 1.185, 1.158, 0, 270, 0, 80 [SEP] 22, Apple, 0.783, 1.452, 1.540, 0, 270, 0, 80 [SEP] 23, Statue, 0.773, 0.914, -0.729, 0, 180, 0, 58 [SEP] 24, Glassbottle, 0.688, 0.912, -1.965, 0, 0, 0, 63 [SEP] 25, Bread, -0.782, 0.996, 0.218, 0, 256.491, 0, 57 [SEP] 26, CreditCard, 1.199, 0.908, -0.208, 0, 0, 0, 58 [SEP] 27, CellPhone, -0.846, 0.930, -1.308, 0, 0, 0, 57 [SEP] 28, Potato, 0.965, 1.432, 1.444, 0, 270, 0, 80 [SEP] 29, Knife, 0.868, 0.700, -0.600, 90, 315, 0, 55 [SEP] 30, Fork, 0.859, 0.911, -0.208, 0, 0, 0, 58 [SEP] 31, Pan, -1.292, 0.931, -0.643, 0, 0, 0, 57 [SEP] 32, Lettuce, 0.966, 0.940, 1.254, 0, 270, 0, 80 [SEP] 33, Plate, -1.104, 0.936, -1.430, 0, 0, 0, 57 [SEP] 34, Apple, 1.148, 1.693, 0.967, 0, 270, 0, 80 [SEP] 35, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 53 [SEP] 36, Spatula, 1.029, 0.926, -0.034, 0, 0, 0, 58 [SEP] 37, PaperTowelRoll, -0.624, 1.037, -1.618, 0, 0, 0, 57 [SEP] 38, Tomato, 1.199, 0.952, -0.034, 0, 0, 0, 58 [SEP] 39, Egg, 0.783, 1.172, 1.254, 0, 270, 0, 80 [SEP] 40, SaltShaker, 0.773, 0.907, -1.879, 0, 0, 0, 63 [SEP] 41, PepperShaker, 1.055, 1.662, 0.025, 0, 270, 0, 65 [SEP] 42, Vase, -0.698, 0.933, -1.308, 0, 0, 0, 57 [SEP] 43, ButterKnife, -1.292, 0.933, -0.380, 0, 0, 0, 57 [SEP] 44, SoapBottle, 1.082, 2.208, -1.299, 0, 270, 0, 64 [SEP] 45, Vase, -1.985, 0.555, 2.718, 0, 0, 0, 83 [SEP] 46, Bowl, 1.055, 1.669, 0.153, 0, 270, 0, 65 [SEP] 47, DishSponge, 1.101, 1.665, -2.029, 0, 270, 0, 56 [SEP] 48, Spoon, -0.550, 0.919, 0.162, 0, 0, 0, 57 [SEP] 49, Cup, -0.587, 0.777, -0.400, 0, 90, 0, 78 [SEP] 50, Mug, 1.126, 2.203, -1.082, 0, 270, 0, 64 [SEP] 51, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 52, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 53, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 54, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 55, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 56, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 57, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 58, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 59, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 60, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 61, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 62, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 63, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 64, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 65, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 66, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 67, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 68, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 69, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 70, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 71, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 72, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 73, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 74, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 75, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 76, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 77, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 78, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 79, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 80, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 81, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 82, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 83, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 84, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 85, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 86, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 87, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 88, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 89, NorthWall, , , , , , , [SEP] 90, EastWall, , , , , , , [SEP] 91, SouthWall, , , , , , , [SEP] 92, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and turn right at the toaster. | STEP 2: Pick up the tomato from the back of the counter. | STEP 3: Carry the tomato and take a few steps to the right. Look up to the microwave. | STEP 4: Open the microwave and place the tomato inside. Shut the door and then open it again. Take out the tomato and shut the door. | STEP 5: Carry the tomato and turn to the left, face the trash can on the left side. | STEP 6: Place the tomato in the trash. | END"]} +{"id": "trial_T20190908_225453_272533-1", "input": "Microwave a tomato and put 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, 0.0, 0.900, -2.0, 0, 180, 0, [SEP] 1, Vase, -0.846, 0.934, -1.540, 0, 0, 0, 57 [SEP] 2, CreditCard, -1.881, 0.551, 2.563, 0, 0, 0, 83 [SEP] 3, CreditCard, 0.915, 0.699, -0.690, 0, 270, 0, 55 [SEP] 4, CellPhone, 0.944, 0.908, -1.879, 0, 0, 0, 63 [SEP] 5, CellPhone, -1.363, 0.550, 2.822, 0, 0, 0, 83 [SEP] 6, ButterKnife, -0.697, 0.780, -0.745, 0, 90, 0, 78 [SEP] 7, ButterKnife, -0.846, 0.933, -0.143, 0, 0, 0, 57 [SEP] 8, Glassbottle, -0.920, 0.934, -0.067, 0, 0, 0, 57 [SEP] 9, Glassbottle, 1.194, 1.667, -0.337, 0, 270, 0, 66 [SEP] 10, Fork, 0.834, 0.495, -0.607, 0, 270, 0, 61 [SEP] 11, Fork, -0.698, 0.777, -0.573, 0, 0, 0, 78 [SEP] 12, Cup, 1.087, 0.860, 1.444, 0, 270, 0, 80 [SEP] 13, Tomato, 0.905, 1.683, 1.158, 0, 270, 0, 80 [SEP] 14, SoapBottle, -1.571, 0.882, 2.719, 0, 0, 0, 84 [SEP] 15, Bowl, -0.697, 0.779, -0.832, 0, 90, 0, 78 [SEP] 16, PepperShaker, 0.773, 0.907, -0.381, 0, 0, 0, 58 [SEP] 17, Lettuce, 0.944, 0.988, -0.381, 0, 0, 0, 58 [SEP] 18, Lettuce, 0.905, 1.212, 1.444, 0, 270, 0, 80 [SEP] 19, Bread, 0.773, 0.992, 0.139, 0, 0, 0, 58 [SEP] 20, Mug, 0.783, 1.638, 1.444, 0, 270, 0, 80 [SEP] 21, Apple, 1.026, 1.185, 1.158, 0, 270, 0, 80 [SEP] 22, Apple, 0.783, 1.452, 1.540, 0, 270, 0, 80 [SEP] 23, Statue, 0.773, 0.914, -0.729, 0, 180, 0, 58 [SEP] 24, Glassbottle, 0.688, 0.912, -1.965, 0, 0, 0, 63 [SEP] 25, Bread, -0.782, 0.996, 0.218, 0, 256.491, 0, 57 [SEP] 26, CreditCard, 1.199, 0.908, -0.208, 0, 0, 0, 58 [SEP] 27, CellPhone, -0.846, 0.930, -1.308, 0, 0, 0, 57 [SEP] 28, Potato, 0.965, 1.432, 1.444, 0, 270, 0, 80 [SEP] 29, Knife, 0.868, 0.700, -0.600, 90, 315, 0, 55 [SEP] 30, Fork, 0.859, 0.911, -0.208, 0, 0, 0, 58 [SEP] 31, Pan, -1.292, 0.931, -0.643, 0, 0, 0, 57 [SEP] 32, Lettuce, 0.966, 0.940, 1.254, 0, 270, 0, 80 [SEP] 33, Plate, -1.104, 0.936, -1.430, 0, 0, 0, 57 [SEP] 34, Apple, 1.148, 1.693, 0.967, 0, 270, 0, 80 [SEP] 35, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 53 [SEP] 36, Spatula, 1.029, 0.926, -0.034, 0, 0, 0, 58 [SEP] 37, PaperTowelRoll, -0.624, 1.037, -1.618, 0, 0, 0, 57 [SEP] 38, Tomato, 1.199, 0.952, -0.034, 0, 0, 0, 58 [SEP] 39, Egg, 0.783, 1.172, 1.254, 0, 270, 0, 80 [SEP] 40, SaltShaker, 0.773, 0.907, -1.879, 0, 0, 0, 63 [SEP] 41, PepperShaker, 1.055, 1.662, 0.025, 0, 270, 0, 65 [SEP] 42, Vase, -0.698, 0.933, -1.308, 0, 0, 0, 57 [SEP] 43, ButterKnife, -1.292, 0.933, -0.380, 0, 0, 0, 57 [SEP] 44, SoapBottle, 1.082, 2.208, -1.299, 0, 270, 0, 64 [SEP] 45, Vase, -1.985, 0.555, 2.718, 0, 0, 0, 83 [SEP] 46, Bowl, 1.055, 1.669, 0.153, 0, 270, 0, 65 [SEP] 47, DishSponge, 1.101, 1.665, -2.029, 0, 270, 0, 56 [SEP] 48, Spoon, -0.550, 0.919, 0.162, 0, 0, 0, 57 [SEP] 49, Cup, -0.587, 0.777, -0.400, 0, 90, 0, 78 [SEP] 50, Mug, 1.126, 2.203, -1.082, 0, 270, 0, 64 [SEP] 51, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 52, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 53, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 54, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 55, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 56, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 57, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 58, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 59, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 60, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 61, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 62, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 63, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 64, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 65, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 66, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 67, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 68, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 69, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 70, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 71, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 72, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 73, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 74, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 75, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 76, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 77, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 78, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 79, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 80, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 81, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 82, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 83, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 84, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 85, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 86, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 87, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 88, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 89, NorthWall, , , , , , , [SEP] 90, EastWall, , , , , , , [SEP] 91, SouthWall, , , , , , , [SEP] 92, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and go to the counter next to the refrigerator | STEP 2: Pick up the tomato | STEP 3: Turn right and face the microwave oven above the stove | STEP 4: Open the microwave door, put the tomato in, close the door. Then open the door and take the tomato out of the microwave | STEP 5: Go left around the island counter until facing the black trash can | STEP 6: Put the tomato in the right side of the trash can | END"]} +{"id": "trial_T20190908_225453_272533-2", "input": "Place a cooked tomato 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, 0.0, 0.900, -2.0, 0, 180, 0, [SEP] 1, Vase, -0.846, 0.934, -1.540, 0, 0, 0, 57 [SEP] 2, CreditCard, -1.881, 0.551, 2.563, 0, 0, 0, 83 [SEP] 3, CreditCard, 0.915, 0.699, -0.690, 0, 270, 0, 55 [SEP] 4, CellPhone, 0.944, 0.908, -1.879, 0, 0, 0, 63 [SEP] 5, CellPhone, -1.363, 0.550, 2.822, 0, 0, 0, 83 [SEP] 6, ButterKnife, -0.697, 0.780, -0.745, 0, 90, 0, 78 [SEP] 7, ButterKnife, -0.846, 0.933, -0.143, 0, 0, 0, 57 [SEP] 8, Glassbottle, -0.920, 0.934, -0.067, 0, 0, 0, 57 [SEP] 9, Glassbottle, 1.194, 1.667, -0.337, 0, 270, 0, 66 [SEP] 10, Fork, 0.834, 0.495, -0.607, 0, 270, 0, 61 [SEP] 11, Fork, -0.698, 0.777, -0.573, 0, 0, 0, 78 [SEP] 12, Cup, 1.087, 0.860, 1.444, 0, 270, 0, 80 [SEP] 13, Tomato, 0.905, 1.683, 1.158, 0, 270, 0, 80 [SEP] 14, SoapBottle, -1.571, 0.882, 2.719, 0, 0, 0, 84 [SEP] 15, Bowl, -0.697, 0.779, -0.832, 0, 90, 0, 78 [SEP] 16, PepperShaker, 0.773, 0.907, -0.381, 0, 0, 0, 58 [SEP] 17, Lettuce, 0.944, 0.988, -0.381, 0, 0, 0, 58 [SEP] 18, Lettuce, 0.905, 1.212, 1.444, 0, 270, 0, 80 [SEP] 19, Bread, 0.773, 0.992, 0.139, 0, 0, 0, 58 [SEP] 20, Mug, 0.783, 1.638, 1.444, 0, 270, 0, 80 [SEP] 21, Apple, 1.026, 1.185, 1.158, 0, 270, 0, 80 [SEP] 22, Apple, 0.783, 1.452, 1.540, 0, 270, 0, 80 [SEP] 23, Statue, 0.773, 0.914, -0.729, 0, 180, 0, 58 [SEP] 24, Glassbottle, 0.688, 0.912, -1.965, 0, 0, 0, 63 [SEP] 25, Bread, -0.782, 0.996, 0.218, 0, 256.491, 0, 57 [SEP] 26, CreditCard, 1.199, 0.908, -0.208, 0, 0, 0, 58 [SEP] 27, CellPhone, -0.846, 0.930, -1.308, 0, 0, 0, 57 [SEP] 28, Potato, 0.965, 1.432, 1.444, 0, 270, 0, 80 [SEP] 29, Knife, 0.868, 0.700, -0.600, 90, 315, 0, 55 [SEP] 30, Fork, 0.859, 0.911, -0.208, 0, 0, 0, 58 [SEP] 31, Pan, -1.292, 0.931, -0.643, 0, 0, 0, 57 [SEP] 32, Lettuce, 0.966, 0.940, 1.254, 0, 270, 0, 80 [SEP] 33, Plate, -1.104, 0.936, -1.430, 0, 0, 0, 57 [SEP] 34, Apple, 1.148, 1.693, 0.967, 0, 270, 0, 80 [SEP] 35, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 53 [SEP] 36, Spatula, 1.029, 0.926, -0.034, 0, 0, 0, 58 [SEP] 37, PaperTowelRoll, -0.624, 1.037, -1.618, 0, 0, 0, 57 [SEP] 38, Tomato, 1.199, 0.952, -0.034, 0, 0, 0, 58 [SEP] 39, Egg, 0.783, 1.172, 1.254, 0, 270, 0, 80 [SEP] 40, SaltShaker, 0.773, 0.907, -1.879, 0, 0, 0, 63 [SEP] 41, PepperShaker, 1.055, 1.662, 0.025, 0, 270, 0, 65 [SEP] 42, Vase, -0.698, 0.933, -1.308, 0, 0, 0, 57 [SEP] 43, ButterKnife, -1.292, 0.933, -0.380, 0, 0, 0, 57 [SEP] 44, SoapBottle, 1.082, 2.208, -1.299, 0, 270, 0, 64 [SEP] 45, Vase, -1.985, 0.555, 2.718, 0, 0, 0, 83 [SEP] 46, Bowl, 1.055, 1.669, 0.153, 0, 270, 0, 65 [SEP] 47, DishSponge, 1.101, 1.665, -2.029, 0, 270, 0, 56 [SEP] 48, Spoon, -0.550, 0.919, 0.162, 0, 0, 0, 57 [SEP] 49, Cup, -0.587, 0.777, -0.400, 0, 90, 0, 78 [SEP] 50, Mug, 1.126, 2.203, -1.082, 0, 270, 0, 64 [SEP] 51, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 52, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 53, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 54, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 55, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 56, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 57, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 58, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 59, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 60, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 61, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 62, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 63, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 64, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 65, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 66, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 67, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 68, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 69, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 70, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 71, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 72, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 73, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 74, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 75, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 76, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 77, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 78, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 79, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 80, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 81, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 82, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 83, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 84, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 85, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 86, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 87, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 88, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 89, NorthWall, , , , , , , [SEP] 90, EastWall, , , , , , , [SEP] 91, SouthWall, , , , , , , [SEP] 92, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and walk to the dishwasher that is on your right | STEP 2: Pick up the tomato that is sitting on the counter above the dishwasher. | STEP 3: Turn to the right and walk to the stove, turn left to face the stove | STEP 4: Open the microwave and place the tomato in the microwave above the stove and then close the microwave and turn it on. The open the microwave and pick up the tomato and close the door | STEP 5: Turn to the left and head to the fridge, make a left at the fridge and another quick left to face the end of the counter | STEP 6: Place the tomato into the black trash can at the end of the counter | END"]} +{"id": "trial_T20190907_170955_824797-0", "input": "Examine a newspaper 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, -2.25, 0.901, 1.5, 0, 180, 0, [SEP] 1, TissueBox, -3.435, 0.205, 4.459, 0, 90, 0, 51 [SEP] 2, CellPhone, -0.376, 1.592, 0.914, 0, 270, 0, 43 [SEP] 3, Watch, -0.163, 0.074, 1.102, 0, 270, 0, 37 [SEP] 4, Watch, -4.682, 0.996, 4.290, 0, 90, 0, 53 [SEP] 5, KeyChain, -4.826, 1.108, 4.490, 0, 90, 0, 52 [SEP] 6, CreditCard, -5.043, 1.398, 0.122, 0, 0, 0, 26 [SEP] 7, RemoteControl, -1.960, 0.592, 4.211, 0, 0, 0, 46 [SEP] 8, Box, -4.673, 0.425, 4.459, 0, 90, 0, 55 [SEP] 9, Watch, -4.826, 1.108, 4.292, 0, 90, 0, 53 [SEP] 10, Pillow, -2.031, 0.668, 4.421, 0, 0, 0, 46 [SEP] 11, TissueBox, -0.192, 1.103, 1.100, 0, 270, 0, 36 [SEP] 12, Newspaper, -0.952, 0.615, 1.960, 0, 0, 0, 56 [SEP] 13, CreditCard, -1.835, 0.589, 4.470, 0, 0, 0, 46 [SEP] 14, KeyChain, -0.169, 1.592, 0.914, 0, 270, 0, 43 [SEP] 15, CellPhone, -0.705, 0.613, 2.753, 0, 0, 0, 56 [SEP] 16, Statue, -5.364, 1.044, 0.173, 0, 0, 0, 34 [SEP] 17, Laptop, -3.393, 1.104, 4.492, 0, 191.867, 0, 52 [SEP] 18, RemoteControl, -3.863, 1.110, 4.391, 0, 90, 0, 48 [SEP] 19, Vase, -2.404, 0.037, 0.317, 0, 90, 0, 35 [SEP] 20, DeskLamp, -4.649, 1.051, 0.268, 0, 0, 0, [SEP] 21, DeskLamp, -2.992, 1.107, 4.522, 0, 0, 0, [SEP] 22, FloorLamp, -0.650, 0.007, 4.431, 0, 0, 0, [SEP] 23, FloorLamp, -5.607, 0.007, 4.641, 0, 0, 0, [SEP] 24, Shelf, -5.237, 1.776, 0.070, 0, 0, 0, [SEP] 25, Shelf, -5.238, 1.968, 0.085, 0, 0, 0, [SEP] 26, Shelf, -5.242, 1.391, 0.086, 0, 0, 0, [SEP] 27, Shelf, -5.241, 1.582, 0.065, 0, 0, 0, [SEP] 28, LightSwitch, -6.002, 1.353, 3.404, 0, 90, 0, [SEP] 29, GarbageCan, -5.794, -0.033, 4.073, 0, 90, 0, [SEP] 30, Painting, -6.017, 1.802, 4.177, 90, 270, 0, [SEP] 31, HousePlant, -3.966, 1.625, 0.135, 0, 315, 0, [SEP] 32, Television, -3.355, 0.833, 0.027, 0, 0, 0, [SEP] 33, Drawer, -5.024, 0.903, 0.370, 0, 0, 0, [SEP] 34, SideTable, -5.024, 0.008, 0.267, 0, 0, 0, [SEP] 35, Safe, -2.298, 5.778, 0.268, 0, 90, 0, [SEP] 36, Shelf, -0.253, 0.781, 1.058, 0, 270, 0, [SEP] 37, Shelf, -0.283, 0.274, 1.066, 0, 270, 0, [SEP] 38, Shelf, -1.224, 1.288, 0.270, 0, 0, 0, [SEP] 39, Shelf, -1.218, 1.810, 0.275, 0, 0, 0, [SEP] 40, Shelf, -0.280, 1.810, 1.057, 0, 270, 0, [SEP] 41, Shelf, -1.218, 0.274, 0.262, 0, 0, 0, [SEP] 42, Shelf, -1.223, 0.782, 0.237, 0, 0, 0, [SEP] 43, Shelf, -0.280, 1.288, 1.055, 0, 270, 0, [SEP] 44, ShelvingUnit, -0.268, 0.004, 1.067, 0, 270, 0, [SEP] 45, ShelvingUnit, -1.218, 0.004, 0.244, 0, 0, 0, [SEP] 46, ArmChair, -2.027, 0.001, 4.422, 0, 178.692, 0, [SEP] 47, Drawer, -4.329, 1.014, 4.311, 0, 180, 0, [SEP] 48, Drawer, -3.750, 1.014, 4.311, 0, 180, 0, [SEP] 49, Cabinet, -4.049, 0.561, 4.212, 0, 180, 0, [SEP] 50, Cabinet, -4.032, 0.561, 4.212, 0, 180, 0, [SEP] 51, Cabinet, -2.884, 0.561, 4.212, 0, 180, 0, [SEP] 52, Dresser, -4.041, -0.000, 4.589, 0, 180, 0, [SEP] 53, Drawer, -4.916, 1.014, 4.311, 0, 180, 0, [SEP] 54, Drawer, -3.166, 1.014, 4.311, 0, 180, 0, [SEP] 55, Cabinet, -5.196, 0.561, 4.212, 0, 180, 0, [SEP] 56, Sofa, -0.705, -0.002, 2.753, 0, 270, 0, [SEP] 57, NorthWall, , , , , , , [SEP] 58, SouthWall, , , , , , , [SEP] 59, SouthWall, , , , , , , ", "output": ["STEP 1: Turn to the left and walk to the sofa. | STEP 2: Pick up the newspaper from the sofa. | STEP 3: Walk to the floor lamp that is to the left of the sofa. | STEP 4: Turn on the lamp. | END"]} +{"id": "trial_T20190907_170955_824797-1", "input": "Turn on a lamp while carrying a newspaper 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, 180, 0, [SEP] 1, TissueBox, -3.435, 0.205, 4.459, 0, 90, 0, 51 [SEP] 2, CellPhone, -0.376, 1.592, 0.914, 0, 270, 0, 43 [SEP] 3, Watch, -0.163, 0.074, 1.102, 0, 270, 0, 37 [SEP] 4, Watch, -4.682, 0.996, 4.290, 0, 90, 0, 53 [SEP] 5, KeyChain, -4.826, 1.108, 4.490, 0, 90, 0, 52 [SEP] 6, CreditCard, -5.043, 1.398, 0.122, 0, 0, 0, 26 [SEP] 7, RemoteControl, -1.960, 0.592, 4.211, 0, 0, 0, 46 [SEP] 8, Box, -4.673, 0.425, 4.459, 0, 90, 0, 55 [SEP] 9, Watch, -4.826, 1.108, 4.292, 0, 90, 0, 53 [SEP] 10, Pillow, -2.031, 0.668, 4.421, 0, 0, 0, 46 [SEP] 11, TissueBox, -0.192, 1.103, 1.100, 0, 270, 0, 36 [SEP] 12, Newspaper, -0.952, 0.615, 1.960, 0, 0, 0, 56 [SEP] 13, CreditCard, -1.835, 0.589, 4.470, 0, 0, 0, 46 [SEP] 14, KeyChain, -0.169, 1.592, 0.914, 0, 270, 0, 43 [SEP] 15, CellPhone, -0.705, 0.613, 2.753, 0, 0, 0, 56 [SEP] 16, Statue, -5.364, 1.044, 0.173, 0, 0, 0, 34 [SEP] 17, Laptop, -3.393, 1.104, 4.492, 0, 191.867, 0, 52 [SEP] 18, RemoteControl, -3.863, 1.110, 4.391, 0, 90, 0, 48 [SEP] 19, Vase, -2.404, 0.037, 0.317, 0, 90, 0, 35 [SEP] 20, DeskLamp, -4.649, 1.051, 0.268, 0, 0, 0, [SEP] 21, DeskLamp, -2.992, 1.107, 4.522, 0, 0, 0, [SEP] 22, FloorLamp, -0.650, 0.007, 4.431, 0, 0, 0, [SEP] 23, FloorLamp, -5.607, 0.007, 4.641, 0, 0, 0, [SEP] 24, Shelf, -5.237, 1.776, 0.070, 0, 0, 0, [SEP] 25, Shelf, -5.238, 1.968, 0.085, 0, 0, 0, [SEP] 26, Shelf, -5.242, 1.391, 0.086, 0, 0, 0, [SEP] 27, Shelf, -5.241, 1.582, 0.065, 0, 0, 0, [SEP] 28, LightSwitch, -6.002, 1.353, 3.404, 0, 90, 0, [SEP] 29, GarbageCan, -5.794, -0.033, 4.073, 0, 90, 0, [SEP] 30, Painting, -6.017, 1.802, 4.177, 90, 270, 0, [SEP] 31, HousePlant, -3.966, 1.625, 0.135, 0, 315, 0, [SEP] 32, Television, -3.355, 0.833, 0.027, 0, 0, 0, [SEP] 33, Drawer, -5.024, 0.903, 0.370, 0, 0, 0, [SEP] 34, SideTable, -5.024, 0.008, 0.267, 0, 0, 0, [SEP] 35, Safe, -2.298, 5.778, 0.268, 0, 90, 0, [SEP] 36, Shelf, -0.253, 0.781, 1.058, 0, 270, 0, [SEP] 37, Shelf, -0.283, 0.274, 1.066, 0, 270, 0, [SEP] 38, Shelf, -1.224, 1.288, 0.270, 0, 0, 0, [SEP] 39, Shelf, -1.218, 1.810, 0.275, 0, 0, 0, [SEP] 40, Shelf, -0.280, 1.810, 1.057, 0, 270, 0, [SEP] 41, Shelf, -1.218, 0.274, 0.262, 0, 0, 0, [SEP] 42, Shelf, -1.223, 0.782, 0.237, 0, 0, 0, [SEP] 43, Shelf, -0.280, 1.288, 1.055, 0, 270, 0, [SEP] 44, ShelvingUnit, -0.268, 0.004, 1.067, 0, 270, 0, [SEP] 45, ShelvingUnit, -1.218, 0.004, 0.244, 0, 0, 0, [SEP] 46, ArmChair, -2.027, 0.001, 4.422, 0, 178.692, 0, [SEP] 47, Drawer, -4.329, 1.014, 4.311, 0, 180, 0, [SEP] 48, Drawer, -3.750, 1.014, 4.311, 0, 180, 0, [SEP] 49, Cabinet, -4.049, 0.561, 4.212, 0, 180, 0, [SEP] 50, Cabinet, -4.032, 0.561, 4.212, 0, 180, 0, [SEP] 51, Cabinet, -2.884, 0.561, 4.212, 0, 180, 0, [SEP] 52, Dresser, -4.041, -0.000, 4.589, 0, 180, 0, [SEP] 53, Drawer, -4.916, 1.014, 4.311, 0, 180, 0, [SEP] 54, Drawer, -3.166, 1.014, 4.311, 0, 180, 0, [SEP] 55, Cabinet, -5.196, 0.561, 4.212, 0, 180, 0, [SEP] 56, Sofa, -0.705, -0.002, 2.753, 0, 270, 0, [SEP] 57, NorthWall, , , , , , , [SEP] 58, SouthWall, , , , , , , [SEP] 59, SouthWall, , , , , , , ", "output": ["STEP 1: Move to the right side of the large tan sofa | STEP 2: Pick up the newspaper on top of the sofa | STEP 3: Carry the newspaper to the left side of the sofa where the lamp is | STEP 4: Turn on the lamp | END"]} +{"id": "trial_T20190907_170955_824797-2", "input": "Examine a newspaper 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, -2.25, 0.901, 1.5, 0, 180, 0, [SEP] 1, TissueBox, -3.435, 0.205, 4.459, 0, 90, 0, 51 [SEP] 2, CellPhone, -0.376, 1.592, 0.914, 0, 270, 0, 43 [SEP] 3, Watch, -0.163, 0.074, 1.102, 0, 270, 0, 37 [SEP] 4, Watch, -4.682, 0.996, 4.290, 0, 90, 0, 53 [SEP] 5, KeyChain, -4.826, 1.108, 4.490, 0, 90, 0, 52 [SEP] 6, CreditCard, -5.043, 1.398, 0.122, 0, 0, 0, 26 [SEP] 7, RemoteControl, -1.960, 0.592, 4.211, 0, 0, 0, 46 [SEP] 8, Box, -4.673, 0.425, 4.459, 0, 90, 0, 55 [SEP] 9, Watch, -4.826, 1.108, 4.292, 0, 90, 0, 53 [SEP] 10, Pillow, -2.031, 0.668, 4.421, 0, 0, 0, 46 [SEP] 11, TissueBox, -0.192, 1.103, 1.100, 0, 270, 0, 36 [SEP] 12, Newspaper, -0.952, 0.615, 1.960, 0, 0, 0, 56 [SEP] 13, CreditCard, -1.835, 0.589, 4.470, 0, 0, 0, 46 [SEP] 14, KeyChain, -0.169, 1.592, 0.914, 0, 270, 0, 43 [SEP] 15, CellPhone, -0.705, 0.613, 2.753, 0, 0, 0, 56 [SEP] 16, Statue, -5.364, 1.044, 0.173, 0, 0, 0, 34 [SEP] 17, Laptop, -3.393, 1.104, 4.492, 0, 191.867, 0, 52 [SEP] 18, RemoteControl, -3.863, 1.110, 4.391, 0, 90, 0, 48 [SEP] 19, Vase, -2.404, 0.037, 0.317, 0, 90, 0, 35 [SEP] 20, DeskLamp, -4.649, 1.051, 0.268, 0, 0, 0, [SEP] 21, DeskLamp, -2.992, 1.107, 4.522, 0, 0, 0, [SEP] 22, FloorLamp, -0.650, 0.007, 4.431, 0, 0, 0, [SEP] 23, FloorLamp, -5.607, 0.007, 4.641, 0, 0, 0, [SEP] 24, Shelf, -5.237, 1.776, 0.070, 0, 0, 0, [SEP] 25, Shelf, -5.238, 1.968, 0.085, 0, 0, 0, [SEP] 26, Shelf, -5.242, 1.391, 0.086, 0, 0, 0, [SEP] 27, Shelf, -5.241, 1.582, 0.065, 0, 0, 0, [SEP] 28, LightSwitch, -6.002, 1.353, 3.404, 0, 90, 0, [SEP] 29, GarbageCan, -5.794, -0.033, 4.073, 0, 90, 0, [SEP] 30, Painting, -6.017, 1.802, 4.177, 90, 270, 0, [SEP] 31, HousePlant, -3.966, 1.625, 0.135, 0, 315, 0, [SEP] 32, Television, -3.355, 0.833, 0.027, 0, 0, 0, [SEP] 33, Drawer, -5.024, 0.903, 0.370, 0, 0, 0, [SEP] 34, SideTable, -5.024, 0.008, 0.267, 0, 0, 0, [SEP] 35, Safe, -2.298, 5.778, 0.268, 0, 90, 0, [SEP] 36, Shelf, -0.253, 0.781, 1.058, 0, 270, 0, [SEP] 37, Shelf, -0.283, 0.274, 1.066, 0, 270, 0, [SEP] 38, Shelf, -1.224, 1.288, 0.270, 0, 0, 0, [SEP] 39, Shelf, -1.218, 1.810, 0.275, 0, 0, 0, [SEP] 40, Shelf, -0.280, 1.810, 1.057, 0, 270, 0, [SEP] 41, Shelf, -1.218, 0.274, 0.262, 0, 0, 0, [SEP] 42, Shelf, -1.223, 0.782, 0.237, 0, 0, 0, [SEP] 43, Shelf, -0.280, 1.288, 1.055, 0, 270, 0, [SEP] 44, ShelvingUnit, -0.268, 0.004, 1.067, 0, 270, 0, [SEP] 45, ShelvingUnit, -1.218, 0.004, 0.244, 0, 0, 0, [SEP] 46, ArmChair, -2.027, 0.001, 4.422, 0, 178.692, 0, [SEP] 47, Drawer, -4.329, 1.014, 4.311, 0, 180, 0, [SEP] 48, Drawer, -3.750, 1.014, 4.311, 0, 180, 0, [SEP] 49, Cabinet, -4.049, 0.561, 4.212, 0, 180, 0, [SEP] 50, Cabinet, -4.032, 0.561, 4.212, 0, 180, 0, [SEP] 51, Cabinet, -2.884, 0.561, 4.212, 0, 180, 0, [SEP] 52, Dresser, -4.041, -0.000, 4.589, 0, 180, 0, [SEP] 53, Drawer, -4.916, 1.014, 4.311, 0, 180, 0, [SEP] 54, Drawer, -3.166, 1.014, 4.311, 0, 180, 0, [SEP] 55, Cabinet, -5.196, 0.561, 4.212, 0, 180, 0, [SEP] 56, Sofa, -0.705, -0.002, 2.753, 0, 270, 0, [SEP] 57, NorthWall, , , , , , , [SEP] 58, SouthWall, , , , , , , [SEP] 59, SouthWall, , , , , , , ", "output": ["STEP 1: turn to the left twice and take a few steps forward and turn to the right and go to the sofa | STEP 2: pick up the newspaper from the sofa | STEP 3: turn to the right and go to the blue chair and turn to the right | STEP 4: turn on the floor lamp | END"]} +{"id": "trial_T20190909_011850_153676-0", "input": "Put two sets of keys in the safe. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -4.5, 0.901, 3.5, 0, 270, 0, [SEP] 1, Statue, -1.459, 0.598, 0.221, 0, 0, 0, 45 [SEP] 2, Vase, -2.901, 1.111, 4.786, 0, 90, 0, 55 [SEP] 3, Watch, -3.222, 1.111, 4.786, 0, 90, 0, 55 [SEP] 4, Watch, -2.351, 0.034, 0.212, 0, 90, 0, 38 [SEP] 5, KeyChain, -3.864, 1.108, 4.786, 0, 90, 0, 55 [SEP] 6, KeyChain, -1.835, 0.590, 4.124, 0, 0, 0, 49 [SEP] 7, CreditCard, -4.157, 0.997, 4.336, 0, 90, 0, 50 [SEP] 8, RemoteControl, -3.222, 1.113, 4.885, 0, 90, 0, 55 [SEP] 9, RemoteControl, -4.826, 1.110, 4.687, 0, 90, 0, 55 [SEP] 10, Laptop, -4.184, 1.109, 4.490, 0, 90, 0, 55 [SEP] 11, Box, -2.914, 0.421, 4.589, 0, 0, 0, 54 [SEP] 12, Watch, -2.137, 0.034, 0.317, 0, 90, 0, 38 [SEP] 13, Pillow, -2.031, 0.668, 4.421, 0, 0, 0, 49 [SEP] 14, TissueBox, -4.016, 0.201, 4.589, 0, 90, 0, 53 [SEP] 15, Newspaper, -0.787, 0.615, 3.545, 0, 0, 0, 59 [SEP] 16, CreditCard, -2.085, 0.589, 4.297, 0, 0, 0, 49 [SEP] 17, KeyChain, -0.787, 0.609, 1.960, 0, 0, 0, 59 [SEP] 18, CellPhone, -4.826, 1.111, 4.391, 0, 90, 0, 56 [SEP] 19, Statue, -0.263, 0.079, 1.194, 0, 270, 0, 40 [SEP] 20, Laptop, -3.393, 1.104, 4.492, 0, 191.867, 0, 55 [SEP] 21, RemoteControl, -3.543, 1.110, 4.885, 0, 90, 0, 55 [SEP] 22, Vase, -3.863, 1.115, 4.391, 0, 90, 0, 55 [SEP] 23, DeskLamp, -4.649, 1.051, 0.268, 0, 0, 0, [SEP] 24, DeskLamp, -2.992, 1.107, 4.522, 0, 0, 0, [SEP] 25, FloorLamp, -0.650, 0.007, 4.431, 0, 0, 0, [SEP] 26, FloorLamp, -5.607, 0.007, 4.641, 0, 0, 0, [SEP] 27, Shelf, -5.237, 1.776, 0.070, 0, 0, 0, [SEP] 28, Shelf, -5.238, 1.968, 0.085, 0, 0, 0, [SEP] 29, Shelf, -5.242, 1.391, 0.086, 0, 0, 0, [SEP] 30, Shelf, -5.241, 1.582, 0.065, 0, 0, 0, [SEP] 31, LightSwitch, -6.002, 1.353, 3.404, 0, 90, 0, [SEP] 32, GarbageCan, -5.794, -0.033, 4.073, 0, 90, 0, [SEP] 33, Painting, -6.017, 1.802, 4.177, 90, 270, 0, [SEP] 34, HousePlant, -3.966, 1.625, 0.135, 0, 315, 0, [SEP] 35, Television, -3.355, 0.833, 0.027, 0, 0, 0, [SEP] 36, Drawer, -5.024, 0.903, 0.370, 0, 0, 0, [SEP] 37, SideTable, -5.024, 0.008, 0.267, 0, 0, 0, [SEP] 38, Safe, -2.298, 5.778, 0.268, 0, 90, 0, [SEP] 39, Shelf, -0.253, 0.781, 1.058, 0, 270, 0, [SEP] 40, Shelf, -0.283, 0.274, 1.066, 0, 270, 0, [SEP] 41, Shelf, -1.224, 1.288, 0.270, 0, 0, 0, [SEP] 42, Shelf, -1.218, 1.810, 0.275, 0, 0, 0, [SEP] 43, Shelf, -0.280, 1.810, 1.057, 0, 270, 0, [SEP] 44, Shelf, -1.218, 0.274, 0.262, 0, 0, 0, [SEP] 45, Shelf, -1.223, 0.782, 0.237, 0, 0, 0, [SEP] 46, Shelf, -0.280, 1.288, 1.055, 0, 270, 0, [SEP] 47, ShelvingUnit, -0.268, 0.004, 1.067, 0, 270, 0, [SEP] 48, ShelvingUnit, -1.218, 0.004, 0.244, 0, 0, 0, [SEP] 49, ArmChair, -2.027, 0.001, 4.422, 0, 178.692, 0, [SEP] 50, Drawer, -4.329, 1.014, 4.311, 0, 180, 0, [SEP] 51, Drawer, -3.750, 1.014, 4.311, 0, 180, 0, [SEP] 52, Cabinet, -4.049, 0.561, 4.212, 0, 180, 0, [SEP] 53, Cabinet, -4.032, 0.561, 4.212, 0, 180, 0, [SEP] 54, Cabinet, -2.884, 0.561, 4.212, 0, 180, 0, [SEP] 55, Dresser, -4.041, -0.000, 4.589, 0, 180, 0, [SEP] 56, Drawer, -4.916, 1.014, 4.311, 0, 180, 0, [SEP] 57, Drawer, -3.166, 1.014, 4.311, 0, 180, 0, [SEP] 58, Cabinet, -5.196, 0.561, 4.212, 0, 180, 0, [SEP] 59, Sofa, -0.705, -0.002, 2.753, 0, 270, 0, [SEP] 60, NorthWall, , , , , , , [SEP] 61, SouthWall, , , , , , , [SEP] 62, SouthWall, , , , , , , ", "output": ["STEP 1: Turn around and go to the right end of the cream colored couch across from you. | STEP 2: Pick up the keys on the right cushion of the couch. | STEP 3: Turn to your right and go to the safe across from you, on the floor. | STEP 4: Place the keys in the safe on the floor. | STEP 5: Turn around and go to the blue arm chair across from you. | STEP 6: Pick up the keys on the seat of the chair. | STEP 7: Turn around and go to the safe on the floor, across from you. | STEP 8: Place the keys in the safe on the floor. | END"]} +{"id": "trial_T20190909_011850_153676-1", "input": "Put two key-chains inside the safe or locker SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -4.5, 0.901, 3.5, 0, 270, 0, [SEP] 1, Statue, -1.459, 0.598, 0.221, 0, 0, 0, 45 [SEP] 2, Vase, -2.901, 1.111, 4.786, 0, 90, 0, 55 [SEP] 3, Watch, -3.222, 1.111, 4.786, 0, 90, 0, 55 [SEP] 4, Watch, -2.351, 0.034, 0.212, 0, 90, 0, 38 [SEP] 5, KeyChain, -3.864, 1.108, 4.786, 0, 90, 0, 55 [SEP] 6, KeyChain, -1.835, 0.590, 4.124, 0, 0, 0, 49 [SEP] 7, CreditCard, -4.157, 0.997, 4.336, 0, 90, 0, 50 [SEP] 8, RemoteControl, -3.222, 1.113, 4.885, 0, 90, 0, 55 [SEP] 9, RemoteControl, -4.826, 1.110, 4.687, 0, 90, 0, 55 [SEP] 10, Laptop, -4.184, 1.109, 4.490, 0, 90, 0, 55 [SEP] 11, Box, -2.914, 0.421, 4.589, 0, 0, 0, 54 [SEP] 12, Watch, -2.137, 0.034, 0.317, 0, 90, 0, 38 [SEP] 13, Pillow, -2.031, 0.668, 4.421, 0, 0, 0, 49 [SEP] 14, TissueBox, -4.016, 0.201, 4.589, 0, 90, 0, 53 [SEP] 15, Newspaper, -0.787, 0.615, 3.545, 0, 0, 0, 59 [SEP] 16, CreditCard, -2.085, 0.589, 4.297, 0, 0, 0, 49 [SEP] 17, KeyChain, -0.787, 0.609, 1.960, 0, 0, 0, 59 [SEP] 18, CellPhone, -4.826, 1.111, 4.391, 0, 90, 0, 56 [SEP] 19, Statue, -0.263, 0.079, 1.194, 0, 270, 0, 40 [SEP] 20, Laptop, -3.393, 1.104, 4.492, 0, 191.867, 0, 55 [SEP] 21, RemoteControl, -3.543, 1.110, 4.885, 0, 90, 0, 55 [SEP] 22, Vase, -3.863, 1.115, 4.391, 0, 90, 0, 55 [SEP] 23, DeskLamp, -4.649, 1.051, 0.268, 0, 0, 0, [SEP] 24, DeskLamp, -2.992, 1.107, 4.522, 0, 0, 0, [SEP] 25, FloorLamp, -0.650, 0.007, 4.431, 0, 0, 0, [SEP] 26, FloorLamp, -5.607, 0.007, 4.641, 0, 0, 0, [SEP] 27, Shelf, -5.237, 1.776, 0.070, 0, 0, 0, [SEP] 28, Shelf, -5.238, 1.968, 0.085, 0, 0, 0, [SEP] 29, Shelf, -5.242, 1.391, 0.086, 0, 0, 0, [SEP] 30, Shelf, -5.241, 1.582, 0.065, 0, 0, 0, [SEP] 31, LightSwitch, -6.002, 1.353, 3.404, 0, 90, 0, [SEP] 32, GarbageCan, -5.794, -0.033, 4.073, 0, 90, 0, [SEP] 33, Painting, -6.017, 1.802, 4.177, 90, 270, 0, [SEP] 34, HousePlant, -3.966, 1.625, 0.135, 0, 315, 0, [SEP] 35, Television, -3.355, 0.833, 0.027, 0, 0, 0, [SEP] 36, Drawer, -5.024, 0.903, 0.370, 0, 0, 0, [SEP] 37, SideTable, -5.024, 0.008, 0.267, 0, 0, 0, [SEP] 38, Safe, -2.298, 5.778, 0.268, 0, 90, 0, [SEP] 39, Shelf, -0.253, 0.781, 1.058, 0, 270, 0, [SEP] 40, Shelf, -0.283, 0.274, 1.066, 0, 270, 0, [SEP] 41, Shelf, -1.224, 1.288, 0.270, 0, 0, 0, [SEP] 42, Shelf, -1.218, 1.810, 0.275, 0, 0, 0, [SEP] 43, Shelf, -0.280, 1.810, 1.057, 0, 270, 0, [SEP] 44, Shelf, -1.218, 0.274, 0.262, 0, 0, 0, [SEP] 45, Shelf, -1.223, 0.782, 0.237, 0, 0, 0, [SEP] 46, Shelf, -0.280, 1.288, 1.055, 0, 270, 0, [SEP] 47, ShelvingUnit, -0.268, 0.004, 1.067, 0, 270, 0, [SEP] 48, ShelvingUnit, -1.218, 0.004, 0.244, 0, 0, 0, [SEP] 49, ArmChair, -2.027, 0.001, 4.422, 0, 178.692, 0, [SEP] 50, Drawer, -4.329, 1.014, 4.311, 0, 180, 0, [SEP] 51, Drawer, -3.750, 1.014, 4.311, 0, 180, 0, [SEP] 52, Cabinet, -4.049, 0.561, 4.212, 0, 180, 0, [SEP] 53, Cabinet, -4.032, 0.561, 4.212, 0, 180, 0, [SEP] 54, Cabinet, -2.884, 0.561, 4.212, 0, 180, 0, [SEP] 55, Dresser, -4.041, -0.000, 4.589, 0, 180, 0, [SEP] 56, Drawer, -4.916, 1.014, 4.311, 0, 180, 0, [SEP] 57, Drawer, -3.166, 1.014, 4.311, 0, 180, 0, [SEP] 58, Cabinet, -5.196, 0.561, 4.212, 0, 180, 0, [SEP] 59, Sofa, -0.705, -0.002, 2.753, 0, 270, 0, [SEP] 60, NorthWall, , , , , , , [SEP] 61, SouthWall, , , , , , , [SEP] 62, SouthWall, , , , , , , ", "output": ["STEP 1: Turn around, go to the white sofa | STEP 2: Pick up the key-chain from the sofa | STEP 3: Turn around and go to the safe on the floor to the right of a cabinet with a small statue | STEP 4: Open the safe, place the key-chain inside it, and close it | STEP 5: Turn around, move across the room to the somewhat blue sofa. | STEP 6: Pick the key-chain from that sofa | STEP 7: Go back to the safe | STEP 8: Put the key-chain inside the safe and close it | END"]} +{"id": "trial_T20190909_011850_153676-2", "input": "Move two sets of keys into a small white safe. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -4.5, 0.901, 3.5, 0, 270, 0, [SEP] 1, Statue, -1.459, 0.598, 0.221, 0, 0, 0, 45 [SEP] 2, Vase, -2.901, 1.111, 4.786, 0, 90, 0, 55 [SEP] 3, Watch, -3.222, 1.111, 4.786, 0, 90, 0, 55 [SEP] 4, Watch, -2.351, 0.034, 0.212, 0, 90, 0, 38 [SEP] 5, KeyChain, -3.864, 1.108, 4.786, 0, 90, 0, 55 [SEP] 6, KeyChain, -1.835, 0.590, 4.124, 0, 0, 0, 49 [SEP] 7, CreditCard, -4.157, 0.997, 4.336, 0, 90, 0, 50 [SEP] 8, RemoteControl, -3.222, 1.113, 4.885, 0, 90, 0, 55 [SEP] 9, RemoteControl, -4.826, 1.110, 4.687, 0, 90, 0, 55 [SEP] 10, Laptop, -4.184, 1.109, 4.490, 0, 90, 0, 55 [SEP] 11, Box, -2.914, 0.421, 4.589, 0, 0, 0, 54 [SEP] 12, Watch, -2.137, 0.034, 0.317, 0, 90, 0, 38 [SEP] 13, Pillow, -2.031, 0.668, 4.421, 0, 0, 0, 49 [SEP] 14, TissueBox, -4.016, 0.201, 4.589, 0, 90, 0, 53 [SEP] 15, Newspaper, -0.787, 0.615, 3.545, 0, 0, 0, 59 [SEP] 16, CreditCard, -2.085, 0.589, 4.297, 0, 0, 0, 49 [SEP] 17, KeyChain, -0.787, 0.609, 1.960, 0, 0, 0, 59 [SEP] 18, CellPhone, -4.826, 1.111, 4.391, 0, 90, 0, 56 [SEP] 19, Statue, -0.263, 0.079, 1.194, 0, 270, 0, 40 [SEP] 20, Laptop, -3.393, 1.104, 4.492, 0, 191.867, 0, 55 [SEP] 21, RemoteControl, -3.543, 1.110, 4.885, 0, 90, 0, 55 [SEP] 22, Vase, -3.863, 1.115, 4.391, 0, 90, 0, 55 [SEP] 23, DeskLamp, -4.649, 1.051, 0.268, 0, 0, 0, [SEP] 24, DeskLamp, -2.992, 1.107, 4.522, 0, 0, 0, [SEP] 25, FloorLamp, -0.650, 0.007, 4.431, 0, 0, 0, [SEP] 26, FloorLamp, -5.607, 0.007, 4.641, 0, 0, 0, [SEP] 27, Shelf, -5.237, 1.776, 0.070, 0, 0, 0, [SEP] 28, Shelf, -5.238, 1.968, 0.085, 0, 0, 0, [SEP] 29, Shelf, -5.242, 1.391, 0.086, 0, 0, 0, [SEP] 30, Shelf, -5.241, 1.582, 0.065, 0, 0, 0, [SEP] 31, LightSwitch, -6.002, 1.353, 3.404, 0, 90, 0, [SEP] 32, GarbageCan, -5.794, -0.033, 4.073, 0, 90, 0, [SEP] 33, Painting, -6.017, 1.802, 4.177, 90, 270, 0, [SEP] 34, HousePlant, -3.966, 1.625, 0.135, 0, 315, 0, [SEP] 35, Television, -3.355, 0.833, 0.027, 0, 0, 0, [SEP] 36, Drawer, -5.024, 0.903, 0.370, 0, 0, 0, [SEP] 37, SideTable, -5.024, 0.008, 0.267, 0, 0, 0, [SEP] 38, Safe, -2.298, 5.778, 0.268, 0, 90, 0, [SEP] 39, Shelf, -0.253, 0.781, 1.058, 0, 270, 0, [SEP] 40, Shelf, -0.283, 0.274, 1.066, 0, 270, 0, [SEP] 41, Shelf, -1.224, 1.288, 0.270, 0, 0, 0, [SEP] 42, Shelf, -1.218, 1.810, 0.275, 0, 0, 0, [SEP] 43, Shelf, -0.280, 1.810, 1.057, 0, 270, 0, [SEP] 44, Shelf, -1.218, 0.274, 0.262, 0, 0, 0, [SEP] 45, Shelf, -1.223, 0.782, 0.237, 0, 0, 0, [SEP] 46, Shelf, -0.280, 1.288, 1.055, 0, 270, 0, [SEP] 47, ShelvingUnit, -0.268, 0.004, 1.067, 0, 270, 0, [SEP] 48, ShelvingUnit, -1.218, 0.004, 0.244, 0, 0, 0, [SEP] 49, ArmChair, -2.027, 0.001, 4.422, 0, 178.692, 0, [SEP] 50, Drawer, -4.329, 1.014, 4.311, 0, 180, 0, [SEP] 51, Drawer, -3.750, 1.014, 4.311, 0, 180, 0, [SEP] 52, Cabinet, -4.049, 0.561, 4.212, 0, 180, 0, [SEP] 53, Cabinet, -4.032, 0.561, 4.212, 0, 180, 0, [SEP] 54, Cabinet, -2.884, 0.561, 4.212, 0, 180, 0, [SEP] 55, Dresser, -4.041, -0.000, 4.589, 0, 180, 0, [SEP] 56, Drawer, -4.916, 1.014, 4.311, 0, 180, 0, [SEP] 57, Drawer, -3.166, 1.014, 4.311, 0, 180, 0, [SEP] 58, Cabinet, -5.196, 0.561, 4.212, 0, 180, 0, [SEP] 59, Sofa, -0.705, -0.002, 2.753, 0, 270, 0, [SEP] 60, NorthWall, , , , , , , [SEP] 61, SouthWall, , , , , , , [SEP] 62, SouthWall, , , , , , , ", "output": ["STEP 1: Turn left and walk towards the small black table in the corner of the room, then hang a left and walk over to the right side of the couch. | STEP 2: Pick up the set of keys off of the seat of the couch. | STEP 3: Walk over to the small white safe on your right. | STEP 4: Open the safe and put the keys inside, then close the safe | STEP 5: Walk over to the blue chair that is next to the couch behind you. | STEP 6: Pick up the set of keys off of the seat of the couch. | STEP 7: Turn around and walk over to the small white safe. | STEP 8: Open the safe and put the keys inside the safe, then close the safe. | END"]} +{"id": "trial_T20190906_180831_140621-0", "input": "Examine a computer 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, -3.25, 0.901, 1.5, 0, 270, 0, [SEP] 1, TissueBox, -4.673, 0.205, 4.587, 0, 90, 0, 59 [SEP] 2, TissueBox, -4.223, 0.201, 4.528, 0, 90, 0, 53 [SEP] 3, CellPhone, -4.826, 1.111, 4.490, 0, 90, 0, 56 [SEP] 4, Statue, -3.222, 1.113, 4.786, 0, 90, 0, 56 [SEP] 5, Statue, -0.213, 0.079, 1.102, 0, 270, 0, 41 [SEP] 6, Vase, -5.534, 1.043, 0.173, 0, 0, 0, 38 [SEP] 7, Vase, -3.570, 0.207, 4.459, 0, 90, 0, 54 [SEP] 8, KeyChain, -2.298, 0.034, 0.369, 0, 90, 0, 39 [SEP] 9, Box, -0.870, 0.843, 2.753, 0, 0, 0, 60 [SEP] 10, Box, -0.787, 0.830, 1.960, 0, 180, 0, 60 [SEP] 11, Laptop, -4.184, 1.109, 4.588, 0, 90, 0, 56 [SEP] 12, Box, -0.324, 1.813, 1.097, 0, 270, 0, 44 [SEP] 13, Watch, -2.458, 0.034, 0.108, 0, 90, 0, 39 [SEP] 14, Pillow, -2.031, 0.668, 4.421, 0, 0, 0, 50 [SEP] 15, TissueBox, -4.016, 0.201, 4.404, 0, 90, 0, 54 [SEP] 16, Newspaper, -0.213, 0.079, 0.828, 0, 90, 0, 41 [SEP] 17, CreditCard, -4.505, 1.107, 4.292, 0, 90, 0, 51 [SEP] 18, KeyChain, -4.505, 1.112, 4.687, 0, 180, 0, 56 [SEP] 19, CellPhone, -0.870, 0.609, 2.224, 0, 0, 0, 60 [SEP] 20, Statue, -2.244, 0.039, 0.212, 0, 90, 0, 39 [SEP] 21, Laptop, -3.393, 1.104, 4.492, 0, 191.867, 0, 56 [SEP] 22, RemoteControl, -3.864, 1.110, 4.687, 0, 90, 0, 56 [SEP] 23, Vase, -3.863, 1.115, 4.490, 0, 90, 0, 56 [SEP] 24, DeskLamp, -4.649, 1.051, 0.268, 0, 0, 0, [SEP] 25, DeskLamp, -2.992, 1.107, 4.522, 0, 0, 0, [SEP] 26, FloorLamp, -0.650, 0.007, 4.431, 0, 0, 0, [SEP] 27, FloorLamp, -5.607, 0.007, 4.641, 0, 0, 0, [SEP] 28, Shelf, -5.237, 1.776, 0.070, 0, 0, 0, [SEP] 29, Shelf, -5.238, 1.968, 0.085, 0, 0, 0, [SEP] 30, Shelf, -5.242, 1.391, 0.086, 0, 0, 0, [SEP] 31, Shelf, -5.241, 1.582, 0.065, 0, 0, 0, [SEP] 32, LightSwitch, -6.002, 1.353, 3.404, 0, 90, 0, [SEP] 33, GarbageCan, -5.794, -0.033, 4.073, 0, 90, 0, [SEP] 34, Painting, -6.017, 1.802, 4.177, 90, 270, 0, [SEP] 35, HousePlant, -3.966, 1.625, 0.135, 0, 315, 0, [SEP] 36, Television, -3.355, 0.833, 0.027, 0, 0, 0, [SEP] 37, Drawer, -5.024, 0.903, 0.370, 0, 0, 0, [SEP] 38, SideTable, -5.024, 0.008, 0.267, 0, 0, 0, [SEP] 39, Safe, -2.298, 5.778, 0.268, 0, 90, 0, [SEP] 40, Shelf, -0.253, 0.781, 1.058, 0, 270, 0, [SEP] 41, Shelf, -0.283, 0.274, 1.066, 0, 270, 0, [SEP] 42, Shelf, -1.224, 1.288, 0.270, 0, 0, 0, [SEP] 43, Shelf, -1.218, 1.810, 0.275, 0, 0, 0, [SEP] 44, Shelf, -0.280, 1.810, 1.057, 0, 270, 0, [SEP] 45, Shelf, -1.218, 0.274, 0.262, 0, 0, 0, [SEP] 46, Shelf, -1.223, 0.782, 0.237, 0, 0, 0, [SEP] 47, Shelf, -0.280, 1.288, 1.055, 0, 270, 0, [SEP] 48, ShelvingUnit, -0.268, 0.004, 1.067, 0, 270, 0, [SEP] 49, ShelvingUnit, -1.218, 0.004, 0.244, 0, 0, 0, [SEP] 50, ArmChair, -2.027, 0.001, 4.422, 0, 178.692, 0, [SEP] 51, Drawer, -4.329, 1.014, 4.311, 0, 180, 0, [SEP] 52, Drawer, -3.750, 1.014, 4.311, 0, 180, 0, [SEP] 53, Cabinet, -4.049, 0.561, 4.212, 0, 180, 0, [SEP] 54, Cabinet, -4.032, 0.561, 4.212, 0, 180, 0, [SEP] 55, Cabinet, -2.884, 0.561, 4.212, 0, 180, 0, [SEP] 56, Dresser, -4.041, -0.000, 4.589, 0, 180, 0, [SEP] 57, Drawer, -4.916, 1.014, 4.311, 0, 180, 0, [SEP] 58, Drawer, -3.166, 1.014, 4.311, 0, 180, 0, [SEP] 59, Cabinet, -5.196, 0.561, 4.212, 0, 180, 0, [SEP] 60, Sofa, -0.705, -0.002, 2.753, 0, 270, 0, [SEP] 61, NorthWall, , , , , , , [SEP] 62, SouthWall, , , , , , , [SEP] 63, SouthWall, , , , , , , ", "output": ["STEP 1: Step forward, then turn right to go to the dresser. | STEP 2: Pick up the computer on the dresser, in front of the statue. | STEP 3: Turn right, then go forward to go toward the lamp. | STEP 4: Turn on the lamp. | END"]} +{"id": "trial_T20190906_180831_140621-1", "input": "Turn on the lamp next to the sofa while holding a laptop computer. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.25, 0.901, 1.5, 0, 270, 0, [SEP] 1, TissueBox, -4.673, 0.205, 4.587, 0, 90, 0, 59 [SEP] 2, TissueBox, -4.223, 0.201, 4.528, 0, 90, 0, 53 [SEP] 3, CellPhone, -4.826, 1.111, 4.490, 0, 90, 0, 56 [SEP] 4, Statue, -3.222, 1.113, 4.786, 0, 90, 0, 56 [SEP] 5, Statue, -0.213, 0.079, 1.102, 0, 270, 0, 41 [SEP] 6, Vase, -5.534, 1.043, 0.173, 0, 0, 0, 38 [SEP] 7, Vase, -3.570, 0.207, 4.459, 0, 90, 0, 54 [SEP] 8, KeyChain, -2.298, 0.034, 0.369, 0, 90, 0, 39 [SEP] 9, Box, -0.870, 0.843, 2.753, 0, 0, 0, 60 [SEP] 10, Box, -0.787, 0.830, 1.960, 0, 180, 0, 60 [SEP] 11, Laptop, -4.184, 1.109, 4.588, 0, 90, 0, 56 [SEP] 12, Box, -0.324, 1.813, 1.097, 0, 270, 0, 44 [SEP] 13, Watch, -2.458, 0.034, 0.108, 0, 90, 0, 39 [SEP] 14, Pillow, -2.031, 0.668, 4.421, 0, 0, 0, 50 [SEP] 15, TissueBox, -4.016, 0.201, 4.404, 0, 90, 0, 54 [SEP] 16, Newspaper, -0.213, 0.079, 0.828, 0, 90, 0, 41 [SEP] 17, CreditCard, -4.505, 1.107, 4.292, 0, 90, 0, 51 [SEP] 18, KeyChain, -4.505, 1.112, 4.687, 0, 180, 0, 56 [SEP] 19, CellPhone, -0.870, 0.609, 2.224, 0, 0, 0, 60 [SEP] 20, Statue, -2.244, 0.039, 0.212, 0, 90, 0, 39 [SEP] 21, Laptop, -3.393, 1.104, 4.492, 0, 191.867, 0, 56 [SEP] 22, RemoteControl, -3.864, 1.110, 4.687, 0, 90, 0, 56 [SEP] 23, Vase, -3.863, 1.115, 4.490, 0, 90, 0, 56 [SEP] 24, DeskLamp, -4.649, 1.051, 0.268, 0, 0, 0, [SEP] 25, DeskLamp, -2.992, 1.107, 4.522, 0, 0, 0, [SEP] 26, FloorLamp, -0.650, 0.007, 4.431, 0, 0, 0, [SEP] 27, FloorLamp, -5.607, 0.007, 4.641, 0, 0, 0, [SEP] 28, Shelf, -5.237, 1.776, 0.070, 0, 0, 0, [SEP] 29, Shelf, -5.238, 1.968, 0.085, 0, 0, 0, [SEP] 30, Shelf, -5.242, 1.391, 0.086, 0, 0, 0, [SEP] 31, Shelf, -5.241, 1.582, 0.065, 0, 0, 0, [SEP] 32, LightSwitch, -6.002, 1.353, 3.404, 0, 90, 0, [SEP] 33, GarbageCan, -5.794, -0.033, 4.073, 0, 90, 0, [SEP] 34, Painting, -6.017, 1.802, 4.177, 90, 270, 0, [SEP] 35, HousePlant, -3.966, 1.625, 0.135, 0, 315, 0, [SEP] 36, Television, -3.355, 0.833, 0.027, 0, 0, 0, [SEP] 37, Drawer, -5.024, 0.903, 0.370, 0, 0, 0, [SEP] 38, SideTable, -5.024, 0.008, 0.267, 0, 0, 0, [SEP] 39, Safe, -2.298, 5.778, 0.268, 0, 90, 0, [SEP] 40, Shelf, -0.253, 0.781, 1.058, 0, 270, 0, [SEP] 41, Shelf, -0.283, 0.274, 1.066, 0, 270, 0, [SEP] 42, Shelf, -1.224, 1.288, 0.270, 0, 0, 0, [SEP] 43, Shelf, -1.218, 1.810, 0.275, 0, 0, 0, [SEP] 44, Shelf, -0.280, 1.810, 1.057, 0, 270, 0, [SEP] 45, Shelf, -1.218, 0.274, 0.262, 0, 0, 0, [SEP] 46, Shelf, -1.223, 0.782, 0.237, 0, 0, 0, [SEP] 47, Shelf, -0.280, 1.288, 1.055, 0, 270, 0, [SEP] 48, ShelvingUnit, -0.268, 0.004, 1.067, 0, 270, 0, [SEP] 49, ShelvingUnit, -1.218, 0.004, 0.244, 0, 0, 0, [SEP] 50, ArmChair, -2.027, 0.001, 4.422, 0, 178.692, 0, [SEP] 51, Drawer, -4.329, 1.014, 4.311, 0, 180, 0, [SEP] 52, Drawer, -3.750, 1.014, 4.311, 0, 180, 0, [SEP] 53, Cabinet, -4.049, 0.561, 4.212, 0, 180, 0, [SEP] 54, Cabinet, -4.032, 0.561, 4.212, 0, 180, 0, [SEP] 55, Cabinet, -2.884, 0.561, 4.212, 0, 180, 0, [SEP] 56, Dresser, -4.041, -0.000, 4.589, 0, 180, 0, [SEP] 57, Drawer, -4.916, 1.014, 4.311, 0, 180, 0, [SEP] 58, Drawer, -3.166, 1.014, 4.311, 0, 180, 0, [SEP] 59, Cabinet, -5.196, 0.561, 4.212, 0, 180, 0, [SEP] 60, Sofa, -0.705, -0.002, 2.753, 0, 270, 0, [SEP] 61, NorthWall, , , , , , , [SEP] 62, SouthWall, , , , , , , [SEP] 63, SouthWall, , , , , , , ", "output": ["STEP 1: Walk to the laptop computer on the tall brown dresser. | STEP 2: Close the laptop and pick it up. | STEP 3: Turn right and walk to the white sofa. | STEP 4: Look up and turn on the standing lamp next to the sofa. | END"]} +{"id": "trial_T20190906_180831_140621-2", "input": "Examine a laptop 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, 0.901, 1.5, 0, 270, 0, [SEP] 1, TissueBox, -4.673, 0.205, 4.587, 0, 90, 0, 59 [SEP] 2, TissueBox, -4.223, 0.201, 4.528, 0, 90, 0, 53 [SEP] 3, CellPhone, -4.826, 1.111, 4.490, 0, 90, 0, 56 [SEP] 4, Statue, -3.222, 1.113, 4.786, 0, 90, 0, 56 [SEP] 5, Statue, -0.213, 0.079, 1.102, 0, 270, 0, 41 [SEP] 6, Vase, -5.534, 1.043, 0.173, 0, 0, 0, 38 [SEP] 7, Vase, -3.570, 0.207, 4.459, 0, 90, 0, 54 [SEP] 8, KeyChain, -2.298, 0.034, 0.369, 0, 90, 0, 39 [SEP] 9, Box, -0.870, 0.843, 2.753, 0, 0, 0, 60 [SEP] 10, Box, -0.787, 0.830, 1.960, 0, 180, 0, 60 [SEP] 11, Laptop, -4.184, 1.109, 4.588, 0, 90, 0, 56 [SEP] 12, Box, -0.324, 1.813, 1.097, 0, 270, 0, 44 [SEP] 13, Watch, -2.458, 0.034, 0.108, 0, 90, 0, 39 [SEP] 14, Pillow, -2.031, 0.668, 4.421, 0, 0, 0, 50 [SEP] 15, TissueBox, -4.016, 0.201, 4.404, 0, 90, 0, 54 [SEP] 16, Newspaper, -0.213, 0.079, 0.828, 0, 90, 0, 41 [SEP] 17, CreditCard, -4.505, 1.107, 4.292, 0, 90, 0, 51 [SEP] 18, KeyChain, -4.505, 1.112, 4.687, 0, 180, 0, 56 [SEP] 19, CellPhone, -0.870, 0.609, 2.224, 0, 0, 0, 60 [SEP] 20, Statue, -2.244, 0.039, 0.212, 0, 90, 0, 39 [SEP] 21, Laptop, -3.393, 1.104, 4.492, 0, 191.867, 0, 56 [SEP] 22, RemoteControl, -3.864, 1.110, 4.687, 0, 90, 0, 56 [SEP] 23, Vase, -3.863, 1.115, 4.490, 0, 90, 0, 56 [SEP] 24, DeskLamp, -4.649, 1.051, 0.268, 0, 0, 0, [SEP] 25, DeskLamp, -2.992, 1.107, 4.522, 0, 0, 0, [SEP] 26, FloorLamp, -0.650, 0.007, 4.431, 0, 0, 0, [SEP] 27, FloorLamp, -5.607, 0.007, 4.641, 0, 0, 0, [SEP] 28, Shelf, -5.237, 1.776, 0.070, 0, 0, 0, [SEP] 29, Shelf, -5.238, 1.968, 0.085, 0, 0, 0, [SEP] 30, Shelf, -5.242, 1.391, 0.086, 0, 0, 0, [SEP] 31, Shelf, -5.241, 1.582, 0.065, 0, 0, 0, [SEP] 32, LightSwitch, -6.002, 1.353, 3.404, 0, 90, 0, [SEP] 33, GarbageCan, -5.794, -0.033, 4.073, 0, 90, 0, [SEP] 34, Painting, -6.017, 1.802, 4.177, 90, 270, 0, [SEP] 35, HousePlant, -3.966, 1.625, 0.135, 0, 315, 0, [SEP] 36, Television, -3.355, 0.833, 0.027, 0, 0, 0, [SEP] 37, Drawer, -5.024, 0.903, 0.370, 0, 0, 0, [SEP] 38, SideTable, -5.024, 0.008, 0.267, 0, 0, 0, [SEP] 39, Safe, -2.298, 5.778, 0.268, 0, 90, 0, [SEP] 40, Shelf, -0.253, 0.781, 1.058, 0, 270, 0, [SEP] 41, Shelf, -0.283, 0.274, 1.066, 0, 270, 0, [SEP] 42, Shelf, -1.224, 1.288, 0.270, 0, 0, 0, [SEP] 43, Shelf, -1.218, 1.810, 0.275, 0, 0, 0, [SEP] 44, Shelf, -0.280, 1.810, 1.057, 0, 270, 0, [SEP] 45, Shelf, -1.218, 0.274, 0.262, 0, 0, 0, [SEP] 46, Shelf, -1.223, 0.782, 0.237, 0, 0, 0, [SEP] 47, Shelf, -0.280, 1.288, 1.055, 0, 270, 0, [SEP] 48, ShelvingUnit, -0.268, 0.004, 1.067, 0, 270, 0, [SEP] 49, ShelvingUnit, -1.218, 0.004, 0.244, 0, 0, 0, [SEP] 50, ArmChair, -2.027, 0.001, 4.422, 0, 178.692, 0, [SEP] 51, Drawer, -4.329, 1.014, 4.311, 0, 180, 0, [SEP] 52, Drawer, -3.750, 1.014, 4.311, 0, 180, 0, [SEP] 53, Cabinet, -4.049, 0.561, 4.212, 0, 180, 0, [SEP] 54, Cabinet, -4.032, 0.561, 4.212, 0, 180, 0, [SEP] 55, Cabinet, -2.884, 0.561, 4.212, 0, 180, 0, [SEP] 56, Dresser, -4.041, -0.000, 4.589, 0, 180, 0, [SEP] 57, Drawer, -4.916, 1.014, 4.311, 0, 180, 0, [SEP] 58, Drawer, -3.166, 1.014, 4.311, 0, 180, 0, [SEP] 59, Cabinet, -5.196, 0.561, 4.212, 0, 180, 0, [SEP] 60, Sofa, -0.705, -0.002, 2.753, 0, 270, 0, [SEP] 61, NorthWall, , , , , , , [SEP] 62, SouthWall, , , , , , , [SEP] 63, SouthWall, , , , , , , ", "output": ["STEP 1: Turn right towards the dresser with the laptop. | STEP 2: Close the lid of the laptop on the dresser and pick up the laptop. | STEP 3: Turn right and walk towards the white sofa. | STEP 4: Raise the laptop up and turn on the lamp on the left. | END"]} +{"id": "trial_T20190906_180831_140621-3", "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, -3.25, 0.901, 1.5, 0, 270, 0, [SEP] 1, TissueBox, -4.673, 0.205, 4.587, 0, 90, 0, 59 [SEP] 2, TissueBox, -4.223, 0.201, 4.528, 0, 90, 0, 53 [SEP] 3, CellPhone, -4.826, 1.111, 4.490, 0, 90, 0, 56 [SEP] 4, Statue, -3.222, 1.113, 4.786, 0, 90, 0, 56 [SEP] 5, Statue, -0.213, 0.079, 1.102, 0, 270, 0, 41 [SEP] 6, Vase, -5.534, 1.043, 0.173, 0, 0, 0, 38 [SEP] 7, Vase, -3.570, 0.207, 4.459, 0, 90, 0, 54 [SEP] 8, KeyChain, -2.298, 0.034, 0.369, 0, 90, 0, 39 [SEP] 9, Box, -0.870, 0.843, 2.753, 0, 0, 0, 60 [SEP] 10, Box, -0.787, 0.830, 1.960, 0, 180, 0, 60 [SEP] 11, Laptop, -4.184, 1.109, 4.588, 0, 90, 0, 56 [SEP] 12, Box, -0.324, 1.813, 1.097, 0, 270, 0, 44 [SEP] 13, Watch, -2.458, 0.034, 0.108, 0, 90, 0, 39 [SEP] 14, Pillow, -2.031, 0.668, 4.421, 0, 0, 0, 50 [SEP] 15, TissueBox, -4.016, 0.201, 4.404, 0, 90, 0, 54 [SEP] 16, Newspaper, -0.213, 0.079, 0.828, 0, 90, 0, 41 [SEP] 17, CreditCard, -4.505, 1.107, 4.292, 0, 90, 0, 51 [SEP] 18, KeyChain, -4.505, 1.112, 4.687, 0, 180, 0, 56 [SEP] 19, CellPhone, -0.870, 0.609, 2.224, 0, 0, 0, 60 [SEP] 20, Statue, -2.244, 0.039, 0.212, 0, 90, 0, 39 [SEP] 21, Laptop, -3.393, 1.104, 4.492, 0, 191.867, 0, 56 [SEP] 22, RemoteControl, -3.864, 1.110, 4.687, 0, 90, 0, 56 [SEP] 23, Vase, -3.863, 1.115, 4.490, 0, 90, 0, 56 [SEP] 24, DeskLamp, -4.649, 1.051, 0.268, 0, 0, 0, [SEP] 25, DeskLamp, -2.992, 1.107, 4.522, 0, 0, 0, [SEP] 26, FloorLamp, -0.650, 0.007, 4.431, 0, 0, 0, [SEP] 27, FloorLamp, -5.607, 0.007, 4.641, 0, 0, 0, [SEP] 28, Shelf, -5.237, 1.776, 0.070, 0, 0, 0, [SEP] 29, Shelf, -5.238, 1.968, 0.085, 0, 0, 0, [SEP] 30, Shelf, -5.242, 1.391, 0.086, 0, 0, 0, [SEP] 31, Shelf, -5.241, 1.582, 0.065, 0, 0, 0, [SEP] 32, LightSwitch, -6.002, 1.353, 3.404, 0, 90, 0, [SEP] 33, GarbageCan, -5.794, -0.033, 4.073, 0, 90, 0, [SEP] 34, Painting, -6.017, 1.802, 4.177, 90, 270, 0, [SEP] 35, HousePlant, -3.966, 1.625, 0.135, 0, 315, 0, [SEP] 36, Television, -3.355, 0.833, 0.027, 0, 0, 0, [SEP] 37, Drawer, -5.024, 0.903, 0.370, 0, 0, 0, [SEP] 38, SideTable, -5.024, 0.008, 0.267, 0, 0, 0, [SEP] 39, Safe, -2.298, 5.778, 0.268, 0, 90, 0, [SEP] 40, Shelf, -0.253, 0.781, 1.058, 0, 270, 0, [SEP] 41, Shelf, -0.283, 0.274, 1.066, 0, 270, 0, [SEP] 42, Shelf, -1.224, 1.288, 0.270, 0, 0, 0, [SEP] 43, Shelf, -1.218, 1.810, 0.275, 0, 0, 0, [SEP] 44, Shelf, -0.280, 1.810, 1.057, 0, 270, 0, [SEP] 45, Shelf, -1.218, 0.274, 0.262, 0, 0, 0, [SEP] 46, Shelf, -1.223, 0.782, 0.237, 0, 0, 0, [SEP] 47, Shelf, -0.280, 1.288, 1.055, 0, 270, 0, [SEP] 48, ShelvingUnit, -0.268, 0.004, 1.067, 0, 270, 0, [SEP] 49, ShelvingUnit, -1.218, 0.004, 0.244, 0, 0, 0, [SEP] 50, ArmChair, -2.027, 0.001, 4.422, 0, 178.692, 0, [SEP] 51, Drawer, -4.329, 1.014, 4.311, 0, 180, 0, [SEP] 52, Drawer, -3.750, 1.014, 4.311, 0, 180, 0, [SEP] 53, Cabinet, -4.049, 0.561, 4.212, 0, 180, 0, [SEP] 54, Cabinet, -4.032, 0.561, 4.212, 0, 180, 0, [SEP] 55, Cabinet, -2.884, 0.561, 4.212, 0, 180, 0, [SEP] 56, Dresser, -4.041, -0.000, 4.589, 0, 180, 0, [SEP] 57, Drawer, -4.916, 1.014, 4.311, 0, 180, 0, [SEP] 58, Drawer, -3.166, 1.014, 4.311, 0, 180, 0, [SEP] 59, Cabinet, -5.196, 0.561, 4.212, 0, 180, 0, [SEP] 60, Sofa, -0.705, -0.002, 2.753, 0, 270, 0, [SEP] 61, NorthWall, , , , , , , [SEP] 62, SouthWall, , , , , , , [SEP] 63, SouthWall, , , , , , , ", "output": ["STEP 1: Turn to the right and move across the room to face the dresser. | STEP 2: Close the lid of the laptop and pick it up. | STEP 3: Turn to the right and move towards the white couch. | STEP 4: Turn on the lamp next to the couch. | END"]} +{"id": "trial_T20190906_180831_140621-4", "input": "Examine the laptop by the 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, 0.901, 1.5, 0, 270, 0, [SEP] 1, TissueBox, -4.673, 0.205, 4.587, 0, 90, 0, 59 [SEP] 2, TissueBox, -4.223, 0.201, 4.528, 0, 90, 0, 53 [SEP] 3, CellPhone, -4.826, 1.111, 4.490, 0, 90, 0, 56 [SEP] 4, Statue, -3.222, 1.113, 4.786, 0, 90, 0, 56 [SEP] 5, Statue, -0.213, 0.079, 1.102, 0, 270, 0, 41 [SEP] 6, Vase, -5.534, 1.043, 0.173, 0, 0, 0, 38 [SEP] 7, Vase, -3.570, 0.207, 4.459, 0, 90, 0, 54 [SEP] 8, KeyChain, -2.298, 0.034, 0.369, 0, 90, 0, 39 [SEP] 9, Box, -0.870, 0.843, 2.753, 0, 0, 0, 60 [SEP] 10, Box, -0.787, 0.830, 1.960, 0, 180, 0, 60 [SEP] 11, Laptop, -4.184, 1.109, 4.588, 0, 90, 0, 56 [SEP] 12, Box, -0.324, 1.813, 1.097, 0, 270, 0, 44 [SEP] 13, Watch, -2.458, 0.034, 0.108, 0, 90, 0, 39 [SEP] 14, Pillow, -2.031, 0.668, 4.421, 0, 0, 0, 50 [SEP] 15, TissueBox, -4.016, 0.201, 4.404, 0, 90, 0, 54 [SEP] 16, Newspaper, -0.213, 0.079, 0.828, 0, 90, 0, 41 [SEP] 17, CreditCard, -4.505, 1.107, 4.292, 0, 90, 0, 51 [SEP] 18, KeyChain, -4.505, 1.112, 4.687, 0, 180, 0, 56 [SEP] 19, CellPhone, -0.870, 0.609, 2.224, 0, 0, 0, 60 [SEP] 20, Statue, -2.244, 0.039, 0.212, 0, 90, 0, 39 [SEP] 21, Laptop, -3.393, 1.104, 4.492, 0, 191.867, 0, 56 [SEP] 22, RemoteControl, -3.864, 1.110, 4.687, 0, 90, 0, 56 [SEP] 23, Vase, -3.863, 1.115, 4.490, 0, 90, 0, 56 [SEP] 24, DeskLamp, -4.649, 1.051, 0.268, 0, 0, 0, [SEP] 25, DeskLamp, -2.992, 1.107, 4.522, 0, 0, 0, [SEP] 26, FloorLamp, -0.650, 0.007, 4.431, 0, 0, 0, [SEP] 27, FloorLamp, -5.607, 0.007, 4.641, 0, 0, 0, [SEP] 28, Shelf, -5.237, 1.776, 0.070, 0, 0, 0, [SEP] 29, Shelf, -5.238, 1.968, 0.085, 0, 0, 0, [SEP] 30, Shelf, -5.242, 1.391, 0.086, 0, 0, 0, [SEP] 31, Shelf, -5.241, 1.582, 0.065, 0, 0, 0, [SEP] 32, LightSwitch, -6.002, 1.353, 3.404, 0, 90, 0, [SEP] 33, GarbageCan, -5.794, -0.033, 4.073, 0, 90, 0, [SEP] 34, Painting, -6.017, 1.802, 4.177, 90, 270, 0, [SEP] 35, HousePlant, -3.966, 1.625, 0.135, 0, 315, 0, [SEP] 36, Television, -3.355, 0.833, 0.027, 0, 0, 0, [SEP] 37, Drawer, -5.024, 0.903, 0.370, 0, 0, 0, [SEP] 38, SideTable, -5.024, 0.008, 0.267, 0, 0, 0, [SEP] 39, Safe, -2.298, 5.778, 0.268, 0, 90, 0, [SEP] 40, Shelf, -0.253, 0.781, 1.058, 0, 270, 0, [SEP] 41, Shelf, -0.283, 0.274, 1.066, 0, 270, 0, [SEP] 42, Shelf, -1.224, 1.288, 0.270, 0, 0, 0, [SEP] 43, Shelf, -1.218, 1.810, 0.275, 0, 0, 0, [SEP] 44, Shelf, -0.280, 1.810, 1.057, 0, 270, 0, [SEP] 45, Shelf, -1.218, 0.274, 0.262, 0, 0, 0, [SEP] 46, Shelf, -1.223, 0.782, 0.237, 0, 0, 0, [SEP] 47, Shelf, -0.280, 1.288, 1.055, 0, 270, 0, [SEP] 48, ShelvingUnit, -0.268, 0.004, 1.067, 0, 270, 0, [SEP] 49, ShelvingUnit, -1.218, 0.004, 0.244, 0, 0, 0, [SEP] 50, ArmChair, -2.027, 0.001, 4.422, 0, 178.692, 0, [SEP] 51, Drawer, -4.329, 1.014, 4.311, 0, 180, 0, [SEP] 52, Drawer, -3.750, 1.014, 4.311, 0, 180, 0, [SEP] 53, Cabinet, -4.049, 0.561, 4.212, 0, 180, 0, [SEP] 54, Cabinet, -4.032, 0.561, 4.212, 0, 180, 0, [SEP] 55, Cabinet, -2.884, 0.561, 4.212, 0, 180, 0, [SEP] 56, Dresser, -4.041, -0.000, 4.589, 0, 180, 0, [SEP] 57, Drawer, -4.916, 1.014, 4.311, 0, 180, 0, [SEP] 58, Drawer, -3.166, 1.014, 4.311, 0, 180, 0, [SEP] 59, Cabinet, -5.196, 0.561, 4.212, 0, 180, 0, [SEP] 60, Sofa, -0.705, -0.002, 2.753, 0, 270, 0, [SEP] 61, NorthWall, , , , , , , [SEP] 62, SouthWall, , , , , , , [SEP] 63, SouthWall, , , , , , , ", "output": ["STEP 1: Turn to your right walk towards the cabinet | STEP 2: Pick up the laptop on the cabinet | STEP 3: Turn to your right walk straight to the lamp on your left beside the sofa | STEP 4: Turn on the lamp | END"]} +{"id": "trial_T20190906_180831_140621-5", "input": "examine a computer with a lamp SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.25, 0.901, 1.5, 0, 270, 0, [SEP] 1, TissueBox, -4.673, 0.205, 4.587, 0, 90, 0, 59 [SEP] 2, TissueBox, -4.223, 0.201, 4.528, 0, 90, 0, 53 [SEP] 3, CellPhone, -4.826, 1.111, 4.490, 0, 90, 0, 56 [SEP] 4, Statue, -3.222, 1.113, 4.786, 0, 90, 0, 56 [SEP] 5, Statue, -0.213, 0.079, 1.102, 0, 270, 0, 41 [SEP] 6, Vase, -5.534, 1.043, 0.173, 0, 0, 0, 38 [SEP] 7, Vase, -3.570, 0.207, 4.459, 0, 90, 0, 54 [SEP] 8, KeyChain, -2.298, 0.034, 0.369, 0, 90, 0, 39 [SEP] 9, Box, -0.870, 0.843, 2.753, 0, 0, 0, 60 [SEP] 10, Box, -0.787, 0.830, 1.960, 0, 180, 0, 60 [SEP] 11, Laptop, -4.184, 1.109, 4.588, 0, 90, 0, 56 [SEP] 12, Box, -0.324, 1.813, 1.097, 0, 270, 0, 44 [SEP] 13, Watch, -2.458, 0.034, 0.108, 0, 90, 0, 39 [SEP] 14, Pillow, -2.031, 0.668, 4.421, 0, 0, 0, 50 [SEP] 15, TissueBox, -4.016, 0.201, 4.404, 0, 90, 0, 54 [SEP] 16, Newspaper, -0.213, 0.079, 0.828, 0, 90, 0, 41 [SEP] 17, CreditCard, -4.505, 1.107, 4.292, 0, 90, 0, 51 [SEP] 18, KeyChain, -4.505, 1.112, 4.687, 0, 180, 0, 56 [SEP] 19, CellPhone, -0.870, 0.609, 2.224, 0, 0, 0, 60 [SEP] 20, Statue, -2.244, 0.039, 0.212, 0, 90, 0, 39 [SEP] 21, Laptop, -3.393, 1.104, 4.492, 0, 191.867, 0, 56 [SEP] 22, RemoteControl, -3.864, 1.110, 4.687, 0, 90, 0, 56 [SEP] 23, Vase, -3.863, 1.115, 4.490, 0, 90, 0, 56 [SEP] 24, DeskLamp, -4.649, 1.051, 0.268, 0, 0, 0, [SEP] 25, DeskLamp, -2.992, 1.107, 4.522, 0, 0, 0, [SEP] 26, FloorLamp, -0.650, 0.007, 4.431, 0, 0, 0, [SEP] 27, FloorLamp, -5.607, 0.007, 4.641, 0, 0, 0, [SEP] 28, Shelf, -5.237, 1.776, 0.070, 0, 0, 0, [SEP] 29, Shelf, -5.238, 1.968, 0.085, 0, 0, 0, [SEP] 30, Shelf, -5.242, 1.391, 0.086, 0, 0, 0, [SEP] 31, Shelf, -5.241, 1.582, 0.065, 0, 0, 0, [SEP] 32, LightSwitch, -6.002, 1.353, 3.404, 0, 90, 0, [SEP] 33, GarbageCan, -5.794, -0.033, 4.073, 0, 90, 0, [SEP] 34, Painting, -6.017, 1.802, 4.177, 90, 270, 0, [SEP] 35, HousePlant, -3.966, 1.625, 0.135, 0, 315, 0, [SEP] 36, Television, -3.355, 0.833, 0.027, 0, 0, 0, [SEP] 37, Drawer, -5.024, 0.903, 0.370, 0, 0, 0, [SEP] 38, SideTable, -5.024, 0.008, 0.267, 0, 0, 0, [SEP] 39, Safe, -2.298, 5.778, 0.268, 0, 90, 0, [SEP] 40, Shelf, -0.253, 0.781, 1.058, 0, 270, 0, [SEP] 41, Shelf, -0.283, 0.274, 1.066, 0, 270, 0, [SEP] 42, Shelf, -1.224, 1.288, 0.270, 0, 0, 0, [SEP] 43, Shelf, -1.218, 1.810, 0.275, 0, 0, 0, [SEP] 44, Shelf, -0.280, 1.810, 1.057, 0, 270, 0, [SEP] 45, Shelf, -1.218, 0.274, 0.262, 0, 0, 0, [SEP] 46, Shelf, -1.223, 0.782, 0.237, 0, 0, 0, [SEP] 47, Shelf, -0.280, 1.288, 1.055, 0, 270, 0, [SEP] 48, ShelvingUnit, -0.268, 0.004, 1.067, 0, 270, 0, [SEP] 49, ShelvingUnit, -1.218, 0.004, 0.244, 0, 0, 0, [SEP] 50, ArmChair, -2.027, 0.001, 4.422, 0, 178.692, 0, [SEP] 51, Drawer, -4.329, 1.014, 4.311, 0, 180, 0, [SEP] 52, Drawer, -3.750, 1.014, 4.311, 0, 180, 0, [SEP] 53, Cabinet, -4.049, 0.561, 4.212, 0, 180, 0, [SEP] 54, Cabinet, -4.032, 0.561, 4.212, 0, 180, 0, [SEP] 55, Cabinet, -2.884, 0.561, 4.212, 0, 180, 0, [SEP] 56, Dresser, -4.041, -0.000, 4.589, 0, 180, 0, [SEP] 57, Drawer, -4.916, 1.014, 4.311, 0, 180, 0, [SEP] 58, Drawer, -3.166, 1.014, 4.311, 0, 180, 0, [SEP] 59, Cabinet, -5.196, 0.561, 4.212, 0, 180, 0, [SEP] 60, Sofa, -0.705, -0.002, 2.753, 0, 270, 0, [SEP] 61, NorthWall, , , , , , , [SEP] 62, SouthWall, , , , , , , [SEP] 63, SouthWall, , , , , , , ", "output": ["STEP 1: turn right, walk forward to the dresser | STEP 2: close the computer that is on the dresser, pick up the computer | STEP 3: turn right, walk forward to the couch, lift computer up to the lamp | STEP 4: turn the lamp on | END"]} +{"id": "trial_T20190908_222933_607649-0", "input": "Examine the alarm clock by the light 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, CD, -2.074, 0.386, 0.759, 0, 0, 0, 46 [SEP] 2, CD, -1.286, 1.723, 0.448, 0, 0, 0, 38 [SEP] 3, CellPhone, -2.240, 0.040, 2.469, 0, 180, 0, 49 [SEP] 4, Pen, -0.511, 0.089, -1.013, 0, 0, 0, 33 [SEP] 5, Pen, -0.549, 0.089, -0.692, 0, 0, 0, 33 [SEP] 6, CreditCard, -0.586, 0.649, -1.012, 0, 0, 0, 32 [SEP] 7, KeyChain, -0.549, 0.649, -0.772, 0, 0, 0, 32 [SEP] 8, KeyChain, -2.292, 0.039, 2.736, 0, 270, 0, 52 [SEP] 9, Pillow, 0.800, 0.918, 0.787, 0, 0, 0, 25 [SEP] 10, Laptop, 1.612, 0.781, 2.234, 0, 0, 0, 25 [SEP] 11, Book, 1.206, 0.783, 1.076, 0, 0, 0, 25 [SEP] 12, AlarmClock, -0.819, 0.858, -0.663, 0, 0, 0, 34 [SEP] 13, BasketBall, 1.976, 0.120, 0.211, 0, 331.076, 0, [SEP] 14, Pen, -0.473, 0.370, -0.772, 0, 0, 0, 35 [SEP] 15, Laptop, -1.783, 0.871, 0.732, 0, 0, 0, 44 [SEP] 16, BaseballBat, 1.953, 0.659, -1.81, 346.388, 0, 0, [SEP] 17, Bowl, -2.091, 0.882, 0.581, 0, 0, 0, 44 [SEP] 18, Pillow, 1.612, 0.918, 0.787, 0, 0, 0, 25 [SEP] 19, KeyChain, -0.567, 0.857, -1.010, 0, 0, 0, 34 [SEP] 20, CreditCard, -1.914, 0.668, 0.796, 0, 0, 0, 45 [SEP] 21, CellPhone, -1.233, 1.351, 0.407, 0, 0, 0, 38 [SEP] 22, CD, -2.083, 0.039, 2.522, 0, 180, 0, 49 [SEP] 23, Pencil, -2.155, 0.671, 0.758, 0, 0, 0, 45 [SEP] 24, Mug, -0.399, 0.855, -1.529, 0, 0, 0, 34 [SEP] 25, Bed, 1.227, -0.002, 1.664, 0, 0, 0, [SEP] 26, LightSwitch, 2.151, 1.233, -0.518, 0, 270, 0, [SEP] 27, GarbageCan, -0.747, 0.014, -0.327, 0, 0, 0, [SEP] 28, Mirror, -1.358, 1.427, 2.855, 0, 0, 0, [SEP] 29, DeskLamp, -2.296, 0.858, 0.750, 0, 0, 0, [SEP] 30, Window, -0.421, 1.534, -1.947, 90, 0, 0, [SEP] 31, Window, 0.579, 1.534, -1.947, 90, 0, 0, [SEP] 32, Drawer, -0.491, 0.739, -0.855, 0, 90, 0, [SEP] 33, Drawer, -0.491, 0.204, -0.855, 0, 90, 0, [SEP] 34, Desk, -0.639, 0.009, -1.187, 0, 90, 0, [SEP] 35, Drawer, -0.491, 0.487, -0.855, 0, 90, 0, [SEP] 36, Shelf, -1.965, 1.514, 0.416, 0, 0, 0, [SEP] 37, Shelf, -1.965, 1.092, 0.416, 0, 0, 0, [SEP] 38, Shelf, -1.312, 1.888, 0.416, 0, 0, 0, [SEP] 39, Shelf, -1.965, 1.888, 0.416, 0, 0, 0, [SEP] 40, Shelf, -1.312, 1.092, 0.416, 0, 0, 0, [SEP] 41, Shelf, -1.312, 1.514, 0.416, 0, 0, 0, [SEP] 42, Blinds, 0.601, 2.161, -1.916, 0, 0, 0, [SEP] 43, Blinds, -0.402, 2.161, -1.916, 0, 0, 0, [SEP] 44, Desk, -1.726, 0.001, 0.575, 0, 0, 0, [SEP] 45, Drawer, -2.058, 0.733, 0.734, 0, 0, 0, [SEP] 46, Drawer, -2.058, 0.482, 0.734, 0, 0, 0, [SEP] 47, Drawer, -2.058, 0.198, 0.735, 0, 0, 0, [SEP] 48, Chair, -0.137, 0.000, -1.587, 0, 315, 0, [SEP] 49, Safe, -2.183, -7.748, 2.576, 0, 180, 0, [SEP] 50, Chair, -1.433, 0.009, 0.780, 357.672, 206.726, 0, [SEP] 51, LaundryHamper, 0.163, 0.003, 2.635, 0, 86.390, 0, [SEP] 52, , , , , , , , [SEP] 53, NorthWall, , , , , , , [SEP] 54, EastWall, , , , , , , [SEP] 55, SouthWall, , , , , , , [SEP] 56, WestWall, , , , , , , ", "output": ["STEP 1: Turn left then face the desk | STEP 2: Pick up the alarm clock on the desk | STEP 3: Turn right then walk straight head to the desk with lamp on your left | STEP 4: Turn on the lamp | END"]} +{"id": "trial_T20190908_222933_607649-1", "input": "Carry a clock 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, 1.0, 0.900, -0.75, 0, 0, 0, [SEP] 1, CD, -2.074, 0.386, 0.759, 0, 0, 0, 46 [SEP] 2, CD, -1.286, 1.723, 0.448, 0, 0, 0, 38 [SEP] 3, CellPhone, -2.240, 0.040, 2.469, 0, 180, 0, 49 [SEP] 4, Pen, -0.511, 0.089, -1.013, 0, 0, 0, 33 [SEP] 5, Pen, -0.549, 0.089, -0.692, 0, 0, 0, 33 [SEP] 6, CreditCard, -0.586, 0.649, -1.012, 0, 0, 0, 32 [SEP] 7, KeyChain, -0.549, 0.649, -0.772, 0, 0, 0, 32 [SEP] 8, KeyChain, -2.292, 0.039, 2.736, 0, 270, 0, 52 [SEP] 9, Pillow, 0.800, 0.918, 0.787, 0, 0, 0, 25 [SEP] 10, Laptop, 1.612, 0.781, 2.234, 0, 0, 0, 25 [SEP] 11, Book, 1.206, 0.783, 1.076, 0, 0, 0, 25 [SEP] 12, AlarmClock, -0.819, 0.858, -0.663, 0, 0, 0, 34 [SEP] 13, BasketBall, 1.976, 0.120, 0.211, 0, 331.076, 0, [SEP] 14, Pen, -0.473, 0.370, -0.772, 0, 0, 0, 35 [SEP] 15, Laptop, -1.783, 0.871, 0.732, 0, 0, 0, 44 [SEP] 16, BaseballBat, 1.953, 0.659, -1.81, 346.388, 0, 0, [SEP] 17, Bowl, -2.091, 0.882, 0.581, 0, 0, 0, 44 [SEP] 18, Pillow, 1.612, 0.918, 0.787, 0, 0, 0, 25 [SEP] 19, KeyChain, -0.567, 0.857, -1.010, 0, 0, 0, 34 [SEP] 20, CreditCard, -1.914, 0.668, 0.796, 0, 0, 0, 45 [SEP] 21, CellPhone, -1.233, 1.351, 0.407, 0, 0, 0, 38 [SEP] 22, CD, -2.083, 0.039, 2.522, 0, 180, 0, 49 [SEP] 23, Pencil, -2.155, 0.671, 0.758, 0, 0, 0, 45 [SEP] 24, Mug, -0.399, 0.855, -1.529, 0, 0, 0, 34 [SEP] 25, Bed, 1.227, -0.002, 1.664, 0, 0, 0, [SEP] 26, LightSwitch, 2.151, 1.233, -0.518, 0, 270, 0, [SEP] 27, GarbageCan, -0.747, 0.014, -0.327, 0, 0, 0, [SEP] 28, Mirror, -1.358, 1.427, 2.855, 0, 0, 0, [SEP] 29, DeskLamp, -2.296, 0.858, 0.750, 0, 0, 0, [SEP] 30, Window, -0.421, 1.534, -1.947, 90, 0, 0, [SEP] 31, Window, 0.579, 1.534, -1.947, 90, 0, 0, [SEP] 32, Drawer, -0.491, 0.739, -0.855, 0, 90, 0, [SEP] 33, Drawer, -0.491, 0.204, -0.855, 0, 90, 0, [SEP] 34, Desk, -0.639, 0.009, -1.187, 0, 90, 0, [SEP] 35, Drawer, -0.491, 0.487, -0.855, 0, 90, 0, [SEP] 36, Shelf, -1.965, 1.514, 0.416, 0, 0, 0, [SEP] 37, Shelf, -1.965, 1.092, 0.416, 0, 0, 0, [SEP] 38, Shelf, -1.312, 1.888, 0.416, 0, 0, 0, [SEP] 39, Shelf, -1.965, 1.888, 0.416, 0, 0, 0, [SEP] 40, Shelf, -1.312, 1.092, 0.416, 0, 0, 0, [SEP] 41, Shelf, -1.312, 1.514, 0.416, 0, 0, 0, [SEP] 42, Blinds, 0.601, 2.161, -1.916, 0, 0, 0, [SEP] 43, Blinds, -0.402, 2.161, -1.916, 0, 0, 0, [SEP] 44, Desk, -1.726, 0.001, 0.575, 0, 0, 0, [SEP] 45, Drawer, -2.058, 0.733, 0.734, 0, 0, 0, [SEP] 46, Drawer, -2.058, 0.482, 0.734, 0, 0, 0, [SEP] 47, Drawer, -2.058, 0.198, 0.735, 0, 0, 0, [SEP] 48, Chair, -0.137, 0.000, -1.587, 0, 315, 0, [SEP] 49, Safe, -2.183, -7.748, 2.576, 0, 180, 0, [SEP] 50, Chair, -1.433, 0.009, 0.780, 357.672, 206.726, 0, [SEP] 51, LaundryHamper, 0.163, 0.003, 2.635, 0, 86.390, 0, [SEP] 52, , , , , , , , [SEP] 53, NorthWall, , , , , , , [SEP] 54, EastWall, , , , , , , [SEP] 55, SouthWall, , , , , , , [SEP] 56, WestWall, , , , , , , ", "output": ["STEP 1: Move left to the wood desk top where the clock is | STEP 2: Pick up the clock on the desk top | STEP 3: Carry the clock to the right side of the desk where the lamp is | STEP 4: Turn on the lamp | END"]} +{"id": "trial_T20190908_222933_607649-2", "input": "turn on desk lamp with red and grey bottle 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, -0.75, 0, 0, 0, [SEP] 1, CD, -2.074, 0.386, 0.759, 0, 0, 0, 46 [SEP] 2, CD, -1.286, 1.723, 0.448, 0, 0, 0, 38 [SEP] 3, CellPhone, -2.240, 0.040, 2.469, 0, 180, 0, 49 [SEP] 4, Pen, -0.511, 0.089, -1.013, 0, 0, 0, 33 [SEP] 5, Pen, -0.549, 0.089, -0.692, 0, 0, 0, 33 [SEP] 6, CreditCard, -0.586, 0.649, -1.012, 0, 0, 0, 32 [SEP] 7, KeyChain, -0.549, 0.649, -0.772, 0, 0, 0, 32 [SEP] 8, KeyChain, -2.292, 0.039, 2.736, 0, 270, 0, 52 [SEP] 9, Pillow, 0.800, 0.918, 0.787, 0, 0, 0, 25 [SEP] 10, Laptop, 1.612, 0.781, 2.234, 0, 0, 0, 25 [SEP] 11, Book, 1.206, 0.783, 1.076, 0, 0, 0, 25 [SEP] 12, AlarmClock, -0.819, 0.858, -0.663, 0, 0, 0, 34 [SEP] 13, BasketBall, 1.976, 0.120, 0.211, 0, 331.076, 0, [SEP] 14, Pen, -0.473, 0.370, -0.772, 0, 0, 0, 35 [SEP] 15, Laptop, -1.783, 0.871, 0.732, 0, 0, 0, 44 [SEP] 16, BaseballBat, 1.953, 0.659, -1.81, 346.388, 0, 0, [SEP] 17, Bowl, -2.091, 0.882, 0.581, 0, 0, 0, 44 [SEP] 18, Pillow, 1.612, 0.918, 0.787, 0, 0, 0, 25 [SEP] 19, KeyChain, -0.567, 0.857, -1.010, 0, 0, 0, 34 [SEP] 20, CreditCard, -1.914, 0.668, 0.796, 0, 0, 0, 45 [SEP] 21, CellPhone, -1.233, 1.351, 0.407, 0, 0, 0, 38 [SEP] 22, CD, -2.083, 0.039, 2.522, 0, 180, 0, 49 [SEP] 23, Pencil, -2.155, 0.671, 0.758, 0, 0, 0, 45 [SEP] 24, Mug, -0.399, 0.855, -1.529, 0, 0, 0, 34 [SEP] 25, Bed, 1.227, -0.002, 1.664, 0, 0, 0, [SEP] 26, LightSwitch, 2.151, 1.233, -0.518, 0, 270, 0, [SEP] 27, GarbageCan, -0.747, 0.014, -0.327, 0, 0, 0, [SEP] 28, Mirror, -1.358, 1.427, 2.855, 0, 0, 0, [SEP] 29, DeskLamp, -2.296, 0.858, 0.750, 0, 0, 0, [SEP] 30, Window, -0.421, 1.534, -1.947, 90, 0, 0, [SEP] 31, Window, 0.579, 1.534, -1.947, 90, 0, 0, [SEP] 32, Drawer, -0.491, 0.739, -0.855, 0, 90, 0, [SEP] 33, Drawer, -0.491, 0.204, -0.855, 0, 90, 0, [SEP] 34, Desk, -0.639, 0.009, -1.187, 0, 90, 0, [SEP] 35, Drawer, -0.491, 0.487, -0.855, 0, 90, 0, [SEP] 36, Shelf, -1.965, 1.514, 0.416, 0, 0, 0, [SEP] 37, Shelf, -1.965, 1.092, 0.416, 0, 0, 0, [SEP] 38, Shelf, -1.312, 1.888, 0.416, 0, 0, 0, [SEP] 39, Shelf, -1.965, 1.888, 0.416, 0, 0, 0, [SEP] 40, Shelf, -1.312, 1.092, 0.416, 0, 0, 0, [SEP] 41, Shelf, -1.312, 1.514, 0.416, 0, 0, 0, [SEP] 42, Blinds, 0.601, 2.161, -1.916, 0, 0, 0, [SEP] 43, Blinds, -0.402, 2.161, -1.916, 0, 0, 0, [SEP] 44, Desk, -1.726, 0.001, 0.575, 0, 0, 0, [SEP] 45, Drawer, -2.058, 0.733, 0.734, 0, 0, 0, [SEP] 46, Drawer, -2.058, 0.482, 0.734, 0, 0, 0, [SEP] 47, Drawer, -2.058, 0.198, 0.735, 0, 0, 0, [SEP] 48, Chair, -0.137, 0.000, -1.587, 0, 315, 0, [SEP] 49, Safe, -2.183, -7.748, 2.576, 0, 180, 0, [SEP] 50, Chair, -1.433, 0.009, 0.780, 357.672, 206.726, 0, [SEP] 51, LaundryHamper, 0.163, 0.003, 2.635, 0, 86.390, 0, [SEP] 52, , , , , , , , [SEP] 53, NorthWall, , , , , , , [SEP] 54, EastWall, , , , , , , [SEP] 55, SouthWall, , , , , , , [SEP] 56, WestWall, , , , , , , ", "output": ["STEP 1: walk to face right side of desk | STEP 2: pick up red and grey bottle from desk | STEP 3: walk to desk on right side of room | STEP 4: turn on lamp on the desk | END"]} +{"id": "trial_T20190907_194015_037530-0", "input": "Put a pan 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, -0.5, 0.900, -2.0, 0, 180, 0, [SEP] 1, CreditCard, -1.104, 0.930, -0.643, 0, 0, 0, 51 [SEP] 2, DishSponge, 1.212, 2.207, -1.408, 0, 270, 0, 58 [SEP] 3, ButterKnife, -0.624, 0.933, 0.162, 0, 0, 0, 51 [SEP] 4, ButterKnife, -1.167, 0.933, 0.144, 0, 0, 0, 51 [SEP] 5, ButterKnife, -0.698, 0.933, -1.231, 0, 0, 0, 51 [SEP] 6, Fork, -0.772, 0.934, 0.162, 0, 0, 0, 51 [SEP] 7, Fork, 0.874, 0.154, -0.729, 0, 0, 0, 54 [SEP] 8, Spoon, -0.698, 0.934, -1.308, 0, 0, 0, 51 [SEP] 9, Cup, 0.844, 1.399, 1.349, 0, 270, 0, 74 [SEP] 10, Cup, 1.029, 0.908, -1.793, 0, 0, 0, 57 [SEP] 11, SaltShaker, 0.688, 0.907, -1.879, 0, 0, 0, 57 [SEP] 12, PepperShaker, 0.944, 0.907, -0.381, 0, 0, 0, 52 [SEP] 13, Bread, 1.026, 0.944, 1.063, 0, 270, 0, 74 [SEP] 14, Mug, 1.029, 0.906, -0.555, 0, 90, 0, 52 [SEP] 15, Apple, 1.087, 1.452, 1.063, 0, 270, 0, 74 [SEP] 16, Apple, -0.960, 0.229, 0.608, 0, 180, 0, 71 [SEP] 17, Statue, -1.167, 0.936, -0.118, 0, 0, 0, 51 [SEP] 18, Glassbottle, -1.104, 0.934, -0.380, 0, 0, 0, 51 [SEP] 19, Bread, 0.905, 0.944, 1.444, 0, 270, 0, 74 [SEP] 20, CreditCard, 0.874, 0.150, -0.571, 0, 270, 0, 54 [SEP] 21, CellPhone, -0.550, 0.930, -1.540, 0, 0, 0, 51 [SEP] 22, Potato, -0.865, 0.209, 0.608, 0, 270, 0, 71 [SEP] 23, Knife, 0.859, 0.934, -0.207, 0, 180, 0, 52 [SEP] 24, Fork, 0.793, 0.154, -0.650, 0, 180, 0, 54 [SEP] 25, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 45 [SEP] 26, Lettuce, 0.866, 1.688, 1.209, 9.746, 11.116, 0, 74 [SEP] 27, Plate, -1.776, 0.885, 2.719, 0, 0, 0, 78 [SEP] 28, Apple, 0.688, 0.961, -0.729, 0, 0, 0, 52 [SEP] 29, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 47 [SEP] 30, Spatula, -0.642, 0.795, -0.918, 0, 0, 0, 72 [SEP] 31, PaperTowelRoll, -1.418, 1.037, -1.167, 0, 0, 0, 51 [SEP] 32, Tomato, 0.965, 1.175, 1.444, 0, 270, 0, 74 [SEP] 33, Egg, 0.944, 0.949, -0.555, 0, 0, 0, 52 [SEP] 34, SaltShaker, -0.624, 0.929, -1.308, 0, 0, 0, 51 [SEP] 35, PepperShaker, 1.199, 0.907, -1.965, 0, 0, 0, 57 [SEP] 36, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 77 [SEP] 37, ButterKnife, 1.114, 0.911, -0.381, 0, 0, 0, 52 [SEP] 38, SoapBottle, 1.029, 0.911, -0.034, 0, 0, 0, 52 [SEP] 39, Vase, 1.194, 1.667, -0.401, 0, 270, 0, 60 [SEP] 40, Bowl, 1.026, 1.646, 1.158, 0, 270, 0, 74 [SEP] 41, DishSponge, -0.920, 0.933, 0.239, 0, 0, 0, 51 [SEP] 42, Spoon, 0.794, 0.495, -0.690, 0, 270, 0, 55 [SEP] 43, Cup, 0.783, 1.640, 0.967, 0, 270, 0, 74 [SEP] 44, Mug, 1.039, 2.203, -1.517, 0, 270, 0, 58 [SEP] 45, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 46, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 47, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 48, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 49, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 50, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 51, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 52, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 53, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 54, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 55, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 56, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 57, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 58, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 59, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 60, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 61, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 62, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 63, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 64, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 65, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 66, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 67, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 68, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 69, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 70, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 71, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 72, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 73, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 74, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 75, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 76, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 77, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 78, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 79, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 80, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 81, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 82, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 83, NorthWall, , , , , , , [SEP] 84, EastWall, , , , , , , [SEP] 85, SouthWall, , , , , , , [SEP] 86, WestWall, , , , , , , ", "output": ["STEP 1: Turn around, go to the end of the kitchen island, then turn left. | STEP 2: Pick up the butter knife on the kitchen island, in front of the fork. | STEP 3: Turn left, go straight, then turn left to face the stove. | STEP 4: Put the butter knife in the pan on the stove. | STEP 5: Pick up the pan on the stove, with the butter knife in it. | STEP 6: Turn left, move forward, then turn left to face the sink. | STEP 7: Put the pan in the sink. | END"]} +{"id": "trial_T20190907_194015_037530-1", "input": "put the knife to the pan on the stove, move the pan 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, -0.5, 0.900, -2.0, 0, 180, 0, [SEP] 1, CreditCard, -1.104, 0.930, -0.643, 0, 0, 0, 51 [SEP] 2, DishSponge, 1.212, 2.207, -1.408, 0, 270, 0, 58 [SEP] 3, ButterKnife, -0.624, 0.933, 0.162, 0, 0, 0, 51 [SEP] 4, ButterKnife, -1.167, 0.933, 0.144, 0, 0, 0, 51 [SEP] 5, ButterKnife, -0.698, 0.933, -1.231, 0, 0, 0, 51 [SEP] 6, Fork, -0.772, 0.934, 0.162, 0, 0, 0, 51 [SEP] 7, Fork, 0.874, 0.154, -0.729, 0, 0, 0, 54 [SEP] 8, Spoon, -0.698, 0.934, -1.308, 0, 0, 0, 51 [SEP] 9, Cup, 0.844, 1.399, 1.349, 0, 270, 0, 74 [SEP] 10, Cup, 1.029, 0.908, -1.793, 0, 0, 0, 57 [SEP] 11, SaltShaker, 0.688, 0.907, -1.879, 0, 0, 0, 57 [SEP] 12, PepperShaker, 0.944, 0.907, -0.381, 0, 0, 0, 52 [SEP] 13, Bread, 1.026, 0.944, 1.063, 0, 270, 0, 74 [SEP] 14, Mug, 1.029, 0.906, -0.555, 0, 90, 0, 52 [SEP] 15, Apple, 1.087, 1.452, 1.063, 0, 270, 0, 74 [SEP] 16, Apple, -0.960, 0.229, 0.608, 0, 180, 0, 71 [SEP] 17, Statue, -1.167, 0.936, -0.118, 0, 0, 0, 51 [SEP] 18, Glassbottle, -1.104, 0.934, -0.380, 0, 0, 0, 51 [SEP] 19, Bread, 0.905, 0.944, 1.444, 0, 270, 0, 74 [SEP] 20, CreditCard, 0.874, 0.150, -0.571, 0, 270, 0, 54 [SEP] 21, CellPhone, -0.550, 0.930, -1.540, 0, 0, 0, 51 [SEP] 22, Potato, -0.865, 0.209, 0.608, 0, 270, 0, 71 [SEP] 23, Knife, 0.859, 0.934, -0.207, 0, 180, 0, 52 [SEP] 24, Fork, 0.793, 0.154, -0.650, 0, 180, 0, 54 [SEP] 25, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 45 [SEP] 26, Lettuce, 0.866, 1.688, 1.209, 9.746, 11.116, 0, 74 [SEP] 27, Plate, -1.776, 0.885, 2.719, 0, 0, 0, 78 [SEP] 28, Apple, 0.688, 0.961, -0.729, 0, 0, 0, 52 [SEP] 29, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 47 [SEP] 30, Spatula, -0.642, 0.795, -0.918, 0, 0, 0, 72 [SEP] 31, PaperTowelRoll, -1.418, 1.037, -1.167, 0, 0, 0, 51 [SEP] 32, Tomato, 0.965, 1.175, 1.444, 0, 270, 0, 74 [SEP] 33, Egg, 0.944, 0.949, -0.555, 0, 0, 0, 52 [SEP] 34, SaltShaker, -0.624, 0.929, -1.308, 0, 0, 0, 51 [SEP] 35, PepperShaker, 1.199, 0.907, -1.965, 0, 0, 0, 57 [SEP] 36, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 77 [SEP] 37, ButterKnife, 1.114, 0.911, -0.381, 0, 0, 0, 52 [SEP] 38, SoapBottle, 1.029, 0.911, -0.034, 0, 0, 0, 52 [SEP] 39, Vase, 1.194, 1.667, -0.401, 0, 270, 0, 60 [SEP] 40, Bowl, 1.026, 1.646, 1.158, 0, 270, 0, 74 [SEP] 41, DishSponge, -0.920, 0.933, 0.239, 0, 0, 0, 51 [SEP] 42, Spoon, 0.794, 0.495, -0.690, 0, 270, 0, 55 [SEP] 43, Cup, 0.783, 1.640, 0.967, 0, 270, 0, 74 [SEP] 44, Mug, 1.039, 2.203, -1.517, 0, 270, 0, 58 [SEP] 45, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 46, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 47, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 48, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 49, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 50, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 51, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 52, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 53, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 54, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 55, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 56, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 57, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 58, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 59, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 60, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 61, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 62, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 63, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 64, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 65, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 66, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 67, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 68, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 69, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 70, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 71, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 72, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 73, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 74, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 75, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 76, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 77, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 78, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 79, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 80, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 81, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 82, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 83, NorthWall, , , , , , , [SEP] 84, EastWall, , , , , , , [SEP] 85, SouthWall, , , , , , , [SEP] 86, WestWall, , , , , , , ", "output": ["STEP 1: turn around, walk to the counter at the end on the left | STEP 2: grab the knife from the counter | STEP 3: turn around to the stove | STEP 4: put the knife in the pan on the stove | STEP 5: grab the pan with the knife | STEP 6: turn around to the sink | STEP 7: put the pan in the sink | END"]} +{"id": "trial_T20190907_194015_037530-2", "input": "Put the pan 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, -0.5, 0.900, -2.0, 0, 180, 0, [SEP] 1, CreditCard, -1.104, 0.930, -0.643, 0, 0, 0, 51 [SEP] 2, DishSponge, 1.212, 2.207, -1.408, 0, 270, 0, 58 [SEP] 3, ButterKnife, -0.624, 0.933, 0.162, 0, 0, 0, 51 [SEP] 4, ButterKnife, -1.167, 0.933, 0.144, 0, 0, 0, 51 [SEP] 5, ButterKnife, -0.698, 0.933, -1.231, 0, 0, 0, 51 [SEP] 6, Fork, -0.772, 0.934, 0.162, 0, 0, 0, 51 [SEP] 7, Fork, 0.874, 0.154, -0.729, 0, 0, 0, 54 [SEP] 8, Spoon, -0.698, 0.934, -1.308, 0, 0, 0, 51 [SEP] 9, Cup, 0.844, 1.399, 1.349, 0, 270, 0, 74 [SEP] 10, Cup, 1.029, 0.908, -1.793, 0, 0, 0, 57 [SEP] 11, SaltShaker, 0.688, 0.907, -1.879, 0, 0, 0, 57 [SEP] 12, PepperShaker, 0.944, 0.907, -0.381, 0, 0, 0, 52 [SEP] 13, Bread, 1.026, 0.944, 1.063, 0, 270, 0, 74 [SEP] 14, Mug, 1.029, 0.906, -0.555, 0, 90, 0, 52 [SEP] 15, Apple, 1.087, 1.452, 1.063, 0, 270, 0, 74 [SEP] 16, Apple, -0.960, 0.229, 0.608, 0, 180, 0, 71 [SEP] 17, Statue, -1.167, 0.936, -0.118, 0, 0, 0, 51 [SEP] 18, Glassbottle, -1.104, 0.934, -0.380, 0, 0, 0, 51 [SEP] 19, Bread, 0.905, 0.944, 1.444, 0, 270, 0, 74 [SEP] 20, CreditCard, 0.874, 0.150, -0.571, 0, 270, 0, 54 [SEP] 21, CellPhone, -0.550, 0.930, -1.540, 0, 0, 0, 51 [SEP] 22, Potato, -0.865, 0.209, 0.608, 0, 270, 0, 71 [SEP] 23, Knife, 0.859, 0.934, -0.207, 0, 180, 0, 52 [SEP] 24, Fork, 0.793, 0.154, -0.650, 0, 180, 0, 54 [SEP] 25, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 45 [SEP] 26, Lettuce, 0.866, 1.688, 1.209, 9.746, 11.116, 0, 74 [SEP] 27, Plate, -1.776, 0.885, 2.719, 0, 0, 0, 78 [SEP] 28, Apple, 0.688, 0.961, -0.729, 0, 0, 0, 52 [SEP] 29, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 47 [SEP] 30, Spatula, -0.642, 0.795, -0.918, 0, 0, 0, 72 [SEP] 31, PaperTowelRoll, -1.418, 1.037, -1.167, 0, 0, 0, 51 [SEP] 32, Tomato, 0.965, 1.175, 1.444, 0, 270, 0, 74 [SEP] 33, Egg, 0.944, 0.949, -0.555, 0, 0, 0, 52 [SEP] 34, SaltShaker, -0.624, 0.929, -1.308, 0, 0, 0, 51 [SEP] 35, PepperShaker, 1.199, 0.907, -1.965, 0, 0, 0, 57 [SEP] 36, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 77 [SEP] 37, ButterKnife, 1.114, 0.911, -0.381, 0, 0, 0, 52 [SEP] 38, SoapBottle, 1.029, 0.911, -0.034, 0, 0, 0, 52 [SEP] 39, Vase, 1.194, 1.667, -0.401, 0, 270, 0, 60 [SEP] 40, Bowl, 1.026, 1.646, 1.158, 0, 270, 0, 74 [SEP] 41, DishSponge, -0.920, 0.933, 0.239, 0, 0, 0, 51 [SEP] 42, Spoon, 0.794, 0.495, -0.690, 0, 270, 0, 55 [SEP] 43, Cup, 0.783, 1.640, 0.967, 0, 270, 0, 74 [SEP] 44, Mug, 1.039, 2.203, -1.517, 0, 270, 0, 58 [SEP] 45, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 46, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 47, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 48, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 49, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 50, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 51, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 52, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 53, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 54, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 55, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 56, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 57, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 58, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 59, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 60, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 61, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 62, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 63, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 64, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 65, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 66, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 67, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 68, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 69, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 70, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 71, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 72, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 73, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 74, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 75, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 76, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 77, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 78, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 79, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 80, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 81, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 82, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 83, NorthWall, , , , , , , [SEP] 84, EastWall, , , , , , , [SEP] 85, SouthWall, , , , , , , [SEP] 86, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and go to the end of the island. | STEP 2: Pick up the knife from the counter. | STEP 3: Turn around and take the knife to the stove. | STEP 4: Put the knife in the pan on the front left of the stove. | STEP 5: Pick up the pan and knife from the stove. | STEP 6: Turn around to the sink. | STEP 7: Put the pan and knife in the sink. | END"]} +{"id": "trial_T20190907_183715_299073-0", "input": "Move a chilled mug 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, -2.25, 0.900, -1.5, 0, 270, 0, [SEP] 1, Vase, 1.082, 2.209, -0.973, 0, 270, 0, 61 [SEP] 2, Potato, 0.844, 1.165, 1.349, 0, 270, 0, 77 [SEP] 3, CreditCard, 1.199, 0.908, -0.208, 0, 0, 0, 55 [SEP] 4, CellPhone, -0.772, 0.930, 0.239, 0, 0, 0, 54 [SEP] 5, CellPhone, -1.363, 0.550, 2.718, 0, 0, 0, 80 [SEP] 6, Glassbottle, 0.688, 0.912, -1.879, 0, 0, 0, 60 [SEP] 7, Fork, 0.834, 0.495, -0.607, 0, 270, 0, 58 [SEP] 8, Spoon, 0.875, 0.703, -0.690, 0, 270, 0, 52 [SEP] 9, Pot, -0.772, 0.936, -1.386, 0, 0, 0, 54 [SEP] 10, Knife, 0.944, 0.934, -0.034, 0, 90, 0, 55 [SEP] 11, Plate, 1.026, 1.138, 1.349, 0, 270, 0, 77 [SEP] 12, SoapBottle, 1.055, 1.666, 0.153, 0, 270, 0, 62 [SEP] 13, Bowl, 0.844, 1.646, 0.967, 0, 270, 0, 77 [SEP] 14, SaltShaker, 1.239, 1.662, 0.153, 0, 270, 0, 62 [SEP] 15, SaltShaker, -1.167, 0.929, -0.905, 0, 0, 0, 54 [SEP] 16, Lettuce, -0.912, 0.256, 0.608, 0, 90, 0, 74 [SEP] 17, Bread, -1.355, 1.014, 0.144, 0, 0, 0, 54 [SEP] 18, Bread, 0.773, 0.992, 0.139, 0, 0, 0, 55 [SEP] 19, Apple, 0.844, 1.452, 1.540, 0, 270, 0, 77 [SEP] 20, Statue, -1.469, 0.884, 2.719, 0, 0, 0, 54 [SEP] 21, Glassbottle, 1.240, 1.667, -2.029, 0, 270, 0, 53 [SEP] 22, Bread, 1.029, 0.992, -0.381, 0, 0, 0, 55 [SEP] 23, CreditCard, -1.292, 0.930, -0.118, 0, 0, 0, 54 [SEP] 24, CellPhone, 0.688, 0.908, -0.555, 0, 0, 0, 55 [SEP] 25, Potato, -1.104, 0.963, -0.643, 0, 0, 0, 54 [SEP] 26, Knife, 0.859, 0.934, -0.729, 0, 0, 0, 55 [SEP] 27, Fork, -1.292, 0.934, -0.380, 0, 0, 0, 54 [SEP] 28, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 48 [SEP] 29, Lettuce, 1.026, 0.940, 1.158, 0, 270, 0, 77 [SEP] 30, Plate, 1.148, 1.669, -0.593, 0, 270, 0, 63 [SEP] 31, Apple, 0.783, 1.185, 1.540, 0, 270, 0, 77 [SEP] 32, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 50 [SEP] 33, Spatula, 0.914, 0.168, -0.729, 0, 0, 0, 57 [SEP] 34, PaperTowelRoll, 0.859, 1.015, -1.879, 0, 0, 0, 60 [SEP] 35, Tomato, 0.905, 1.175, 1.063, 0, 270, 0, 77 [SEP] 36, Egg, 1.087, 0.900, 1.349, 0, 270, 0, 77 [SEP] 37, SaltShaker, 1.009, 1.662, -1.893, 0, 270, 0, 53 [SEP] 38, PepperShaker, 0.811, 0.117, 0.423, 0, 270, 0, 55 [SEP] 39, Vase, 1.055, 1.666, -2.029, 0, 270, 0, 53 [SEP] 40, ButterKnife, -0.550, 0.933, -1.463, 0, 0, 0, 54 [SEP] 41, SoapBottle, 0.859, 0.911, -0.208, 0, 0, 0, 55 [SEP] 42, Vase, 0.910, 0.109, -2.052, 0, 0, 0, 59 [SEP] 43, Bowl, 0.905, 0.866, 0.967, 0, 270, 0, 77 [SEP] 44, DishSponge, -1.881, 0.553, 2.718, 0, 0, 0, 80 [SEP] 45, Spoon, 0.773, 0.912, -0.381, 0, 0, 0, 55 [SEP] 46, Cup, 0.761, 0.105, -2.212, 0, 0, 0, 59 [SEP] 47, Mug, 0.944, 0.906, -1.793, 0, 90, 0, 60 [SEP] 48, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 49, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 50, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 51, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 52, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 53, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 54, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 55, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 56, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 57, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 58, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 59, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 60, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 61, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 62, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 63, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 64, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 65, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 66, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 67, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 68, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 69, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 70, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 71, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 72, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 73, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 74, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 75, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 76, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 77, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 78, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 79, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 80, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 81, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 82, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 83, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 84, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 85, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 86, NorthWall, , , , , , , [SEP] 87, EastWall, , , , , , , [SEP] 88, SouthWall, , , , , , , [SEP] 89, WestWall, , , , , , , ", "output": ["STEP 1: Cross the kitchen to stand in front of the counter to the right of the stove. | STEP 2: Pick up the white coffee mug from the counter. | STEP 3: Carry the mug to the refrigerator. | STEP 4: Open the fridge, place the mug on the top shelf, close the fridge, and then remove the mug once chilled. | STEP 5: Carry the mug back to the counter to the right of the stove. | STEP 6: Place the mug on the base of the coffee maker. | END"]} +{"id": "trial_T20190907_183715_299073-1", "input": "pick up white mug, chill, put mug in coffee maker SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.25, 0.900, -1.5, 0, 270, 0, [SEP] 1, Vase, 1.082, 2.209, -0.973, 0, 270, 0, 61 [SEP] 2, Potato, 0.844, 1.165, 1.349, 0, 270, 0, 77 [SEP] 3, CreditCard, 1.199, 0.908, -0.208, 0, 0, 0, 55 [SEP] 4, CellPhone, -0.772, 0.930, 0.239, 0, 0, 0, 54 [SEP] 5, CellPhone, -1.363, 0.550, 2.718, 0, 0, 0, 80 [SEP] 6, Glassbottle, 0.688, 0.912, -1.879, 0, 0, 0, 60 [SEP] 7, Fork, 0.834, 0.495, -0.607, 0, 270, 0, 58 [SEP] 8, Spoon, 0.875, 0.703, -0.690, 0, 270, 0, 52 [SEP] 9, Pot, -0.772, 0.936, -1.386, 0, 0, 0, 54 [SEP] 10, Knife, 0.944, 0.934, -0.034, 0, 90, 0, 55 [SEP] 11, Plate, 1.026, 1.138, 1.349, 0, 270, 0, 77 [SEP] 12, SoapBottle, 1.055, 1.666, 0.153, 0, 270, 0, 62 [SEP] 13, Bowl, 0.844, 1.646, 0.967, 0, 270, 0, 77 [SEP] 14, SaltShaker, 1.239, 1.662, 0.153, 0, 270, 0, 62 [SEP] 15, SaltShaker, -1.167, 0.929, -0.905, 0, 0, 0, 54 [SEP] 16, Lettuce, -0.912, 0.256, 0.608, 0, 90, 0, 74 [SEP] 17, Bread, -1.355, 1.014, 0.144, 0, 0, 0, 54 [SEP] 18, Bread, 0.773, 0.992, 0.139, 0, 0, 0, 55 [SEP] 19, Apple, 0.844, 1.452, 1.540, 0, 270, 0, 77 [SEP] 20, Statue, -1.469, 0.884, 2.719, 0, 0, 0, 54 [SEP] 21, Glassbottle, 1.240, 1.667, -2.029, 0, 270, 0, 53 [SEP] 22, Bread, 1.029, 0.992, -0.381, 0, 0, 0, 55 [SEP] 23, CreditCard, -1.292, 0.930, -0.118, 0, 0, 0, 54 [SEP] 24, CellPhone, 0.688, 0.908, -0.555, 0, 0, 0, 55 [SEP] 25, Potato, -1.104, 0.963, -0.643, 0, 0, 0, 54 [SEP] 26, Knife, 0.859, 0.934, -0.729, 0, 0, 0, 55 [SEP] 27, Fork, -1.292, 0.934, -0.380, 0, 0, 0, 54 [SEP] 28, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 48 [SEP] 29, Lettuce, 1.026, 0.940, 1.158, 0, 270, 0, 77 [SEP] 30, Plate, 1.148, 1.669, -0.593, 0, 270, 0, 63 [SEP] 31, Apple, 0.783, 1.185, 1.540, 0, 270, 0, 77 [SEP] 32, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 50 [SEP] 33, Spatula, 0.914, 0.168, -0.729, 0, 0, 0, 57 [SEP] 34, PaperTowelRoll, 0.859, 1.015, -1.879, 0, 0, 0, 60 [SEP] 35, Tomato, 0.905, 1.175, 1.063, 0, 270, 0, 77 [SEP] 36, Egg, 1.087, 0.900, 1.349, 0, 270, 0, 77 [SEP] 37, SaltShaker, 1.009, 1.662, -1.893, 0, 270, 0, 53 [SEP] 38, PepperShaker, 0.811, 0.117, 0.423, 0, 270, 0, 55 [SEP] 39, Vase, 1.055, 1.666, -2.029, 0, 270, 0, 53 [SEP] 40, ButterKnife, -0.550, 0.933, -1.463, 0, 0, 0, 54 [SEP] 41, SoapBottle, 0.859, 0.911, -0.208, 0, 0, 0, 55 [SEP] 42, Vase, 0.910, 0.109, -2.052, 0, 0, 0, 59 [SEP] 43, Bowl, 0.905, 0.866, 0.967, 0, 270, 0, 77 [SEP] 44, DishSponge, -1.881, 0.553, 2.718, 0, 0, 0, 80 [SEP] 45, Spoon, 0.773, 0.912, -0.381, 0, 0, 0, 55 [SEP] 46, Cup, 0.761, 0.105, -2.212, 0, 0, 0, 59 [SEP] 47, Mug, 0.944, 0.906, -1.793, 0, 90, 0, 60 [SEP] 48, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 49, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 50, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 51, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 52, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 53, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 54, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 55, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 56, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 57, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 58, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 59, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 60, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 61, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 62, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 63, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 64, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 65, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 66, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 67, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 68, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 69, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 70, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 71, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 72, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 73, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 74, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 75, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 76, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 77, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 78, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 79, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 80, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 81, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 82, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 83, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 84, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 85, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 86, NorthWall, , , , , , , [SEP] 87, EastWall, , , , , , , [SEP] 88, SouthWall, , , , , , , [SEP] 89, WestWall, , , , , , , ", "output": ["STEP 1: turn left, walk to stove in kitchen, stop in front of stove | STEP 2: pick up white mug from counter top between stove and coffee maker | STEP 3: turn left, walk straight to fridge, turn right and face fridge | STEP 4: open fridge door, place mug on shelf near green fruit, close door, chill mug, open door, pick up mug, close fridge door | STEP 5: turn right, walk through kitchen to coffee maker, turn left, stop and face coffee maker | STEP 6: place mug in coffee maker on top of counter | END"]} +{"id": "trial_T20190907_183715_299073-2", "input": "Put the cold 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, -2.25, 0.900, -1.5, 0, 270, 0, [SEP] 1, Vase, 1.082, 2.209, -0.973, 0, 270, 0, 61 [SEP] 2, Potato, 0.844, 1.165, 1.349, 0, 270, 0, 77 [SEP] 3, CreditCard, 1.199, 0.908, -0.208, 0, 0, 0, 55 [SEP] 4, CellPhone, -0.772, 0.930, 0.239, 0, 0, 0, 54 [SEP] 5, CellPhone, -1.363, 0.550, 2.718, 0, 0, 0, 80 [SEP] 6, Glassbottle, 0.688, 0.912, -1.879, 0, 0, 0, 60 [SEP] 7, Fork, 0.834, 0.495, -0.607, 0, 270, 0, 58 [SEP] 8, Spoon, 0.875, 0.703, -0.690, 0, 270, 0, 52 [SEP] 9, Pot, -0.772, 0.936, -1.386, 0, 0, 0, 54 [SEP] 10, Knife, 0.944, 0.934, -0.034, 0, 90, 0, 55 [SEP] 11, Plate, 1.026, 1.138, 1.349, 0, 270, 0, 77 [SEP] 12, SoapBottle, 1.055, 1.666, 0.153, 0, 270, 0, 62 [SEP] 13, Bowl, 0.844, 1.646, 0.967, 0, 270, 0, 77 [SEP] 14, SaltShaker, 1.239, 1.662, 0.153, 0, 270, 0, 62 [SEP] 15, SaltShaker, -1.167, 0.929, -0.905, 0, 0, 0, 54 [SEP] 16, Lettuce, -0.912, 0.256, 0.608, 0, 90, 0, 74 [SEP] 17, Bread, -1.355, 1.014, 0.144, 0, 0, 0, 54 [SEP] 18, Bread, 0.773, 0.992, 0.139, 0, 0, 0, 55 [SEP] 19, Apple, 0.844, 1.452, 1.540, 0, 270, 0, 77 [SEP] 20, Statue, -1.469, 0.884, 2.719, 0, 0, 0, 54 [SEP] 21, Glassbottle, 1.240, 1.667, -2.029, 0, 270, 0, 53 [SEP] 22, Bread, 1.029, 0.992, -0.381, 0, 0, 0, 55 [SEP] 23, CreditCard, -1.292, 0.930, -0.118, 0, 0, 0, 54 [SEP] 24, CellPhone, 0.688, 0.908, -0.555, 0, 0, 0, 55 [SEP] 25, Potato, -1.104, 0.963, -0.643, 0, 0, 0, 54 [SEP] 26, Knife, 0.859, 0.934, -0.729, 0, 0, 0, 55 [SEP] 27, Fork, -1.292, 0.934, -0.380, 0, 0, 0, 54 [SEP] 28, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 48 [SEP] 29, Lettuce, 1.026, 0.940, 1.158, 0, 270, 0, 77 [SEP] 30, Plate, 1.148, 1.669, -0.593, 0, 270, 0, 63 [SEP] 31, Apple, 0.783, 1.185, 1.540, 0, 270, 0, 77 [SEP] 32, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 50 [SEP] 33, Spatula, 0.914, 0.168, -0.729, 0, 0, 0, 57 [SEP] 34, PaperTowelRoll, 0.859, 1.015, -1.879, 0, 0, 0, 60 [SEP] 35, Tomato, 0.905, 1.175, 1.063, 0, 270, 0, 77 [SEP] 36, Egg, 1.087, 0.900, 1.349, 0, 270, 0, 77 [SEP] 37, SaltShaker, 1.009, 1.662, -1.893, 0, 270, 0, 53 [SEP] 38, PepperShaker, 0.811, 0.117, 0.423, 0, 270, 0, 55 [SEP] 39, Vase, 1.055, 1.666, -2.029, 0, 270, 0, 53 [SEP] 40, ButterKnife, -0.550, 0.933, -1.463, 0, 0, 0, 54 [SEP] 41, SoapBottle, 0.859, 0.911, -0.208, 0, 0, 0, 55 [SEP] 42, Vase, 0.910, 0.109, -2.052, 0, 0, 0, 59 [SEP] 43, Bowl, 0.905, 0.866, 0.967, 0, 270, 0, 77 [SEP] 44, DishSponge, -1.881, 0.553, 2.718, 0, 0, 0, 80 [SEP] 45, Spoon, 0.773, 0.912, -0.381, 0, 0, 0, 55 [SEP] 46, Cup, 0.761, 0.105, -2.212, 0, 0, 0, 59 [SEP] 47, Mug, 0.944, 0.906, -1.793, 0, 90, 0, 60 [SEP] 48, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 49, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 50, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 51, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 52, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 53, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 54, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 55, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 56, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 57, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 58, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 59, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 60, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 61, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 62, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 63, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 64, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 65, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 66, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 67, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 68, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 69, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 70, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 71, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 72, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 73, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 74, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 75, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 76, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 77, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 78, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 79, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 80, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 81, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 82, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 83, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 84, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 85, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 86, NorthWall, , , , , , , [SEP] 87, EastWall, , , , , , , [SEP] 88, SouthWall, , , , , , , [SEP] 89, WestWall, , , , , , , ", "output": ["STEP 1: Turn to your left then head towards the counter beside the coffee maker | STEP 2: Pick up the mug beside the coffee maker on the counter | STEP 3: Turn to your left then head to the fridge | STEP 4: Open the fridge put in and out the mug then close the fridge | STEP 5: Turn to your right walk straight then face to the microwave on your left | STEP 6: Put the mug on the coffee maker | END"]} +{"id": "trial_T20190908_131635_504536-0", "input": "put a cooked apple slice on 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, -1.0, 0.900, 2.0, 0, 0, 0, [SEP] 1, Vase, 0.811, 0.109, -2.132, 0, 0, 0, 64 [SEP] 2, Potato, -1.054, 0.209, 0.608, 0, 180, 0, 79 [SEP] 3, CreditCard, 0.915, 0.492, -0.565, 0, 270, 0, 63 [SEP] 4, CreditCard, -0.772, 0.930, -0.067, 0, 0, 0, 59 [SEP] 5, CellPhone, 0.773, 0.908, -0.034, 0, 0, 0, 60 [SEP] 6, ButterKnife, 0.773, 0.911, -0.381, 0, 0, 0, 60 [SEP] 7, ButterKnife, -0.550, 0.933, -1.540, 0, 0, 0, 59 [SEP] 8, Glassbottle, -1.104, 0.934, -0.643, 0, 0, 0, 59 [SEP] 9, Fork, 0.874, 0.154, -0.769, 0, 0, 0, 62 [SEP] 10, Spoon, 0.834, 0.495, -0.690, 0, 270, 0, 63 [SEP] 11, Spatula, -0.697, 0.791, -0.745, 0, 90, 0, 80 [SEP] 12, Spatula, 1.029, 0.926, -0.034, 0, 90, 0, 60 [SEP] 13, Knife, -0.698, 0.957, -1.308, 0, 270, 0, 59 [SEP] 14, Knife, -0.624, 0.957, 0.239, 0, 180, 0, 59 [SEP] 15, Egg, -0.477, 0.971, -1.618, 0, 0, 0, 59 [SEP] 16, Plate, 1.082, 2.211, -1.299, 0, 270, 0, 66 [SEP] 17, Tomato, -0.587, 0.821, -0.573, 0, 90, 0, 80 [SEP] 18, Tomato, 1.026, 1.683, 1.063, 0, 270, 0, 82 [SEP] 19, Bowl, 0.773, 0.914, -1.879, 0, 0, 0, 65 [SEP] 20, Bowl, 0.910, 0.111, -1.892, 0, 0, 0, 64 [SEP] 21, SaltShaker, 0.944, 0.907, 0.139, 0, 0, 0, 60 [SEP] 22, Lettuce, 1.026, 1.479, 1.063, 0, 270, 0, 82 [SEP] 23, Apple, 0.905, 0.913, 1.158, 0, 270, 0, 82 [SEP] 24, Apple, 0.844, 1.452, 1.444, 0, 270, 0, 82 [SEP] 25, Statue, -1.167, 0.936, -1.167, 0, 0, 0, 59 [SEP] 26, Glassbottle, 1.169, 2.208, -0.973, 0, 270, 0, 66 [SEP] 27, Bread, -1.229, 1.014, 0.144, 0, 0, 0, 59 [SEP] 28, CreditCard, 0.688, 0.908, -1.965, 0, 0, 0, 65 [SEP] 29, CellPhone, -1.571, 0.878, 2.719, 0, 0, 0, 86 [SEP] 30, Potato, -0.477, 0.963, -1.308, 0, 0, 0, 59 [SEP] 31, Knife, -0.550, 0.957, -1.154, 0, 0, 0, 59 [SEP] 32, Fork, 0.794, 0.494, -0.524, 0, 180, 0, 63 [SEP] 33, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 53 [SEP] 34, Lettuce, 0.688, 0.988, -0.555, 0, 0, 0, 60 [SEP] 35, Plate, 1.194, 1.669, -2.166, 0, 270, 0, 58 [SEP] 36, Apple, -0.912, 0.229, 0.608, 0, 180, 0, 79 [SEP] 37, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 55 [SEP] 38, Spatula, -0.753, 0.795, -0.745, 0, 180, 0, 80 [SEP] 39, PaperTowelRoll, -1.981, 0.986, 2.719, 0, 0, 0, 86 [SEP] 40, Tomato, 1.026, 1.683, 1.444, 0, 270, 0, 82 [SEP] 41, Egg, -0.818, 0.214, 0.641, 0, 180, 0, 79 [SEP] 42, SaltShaker, 0.944, 0.907, -0.729, 0, 0, 0, 60 [SEP] 43, PepperShaker, -1.674, 0.878, 2.692, 0, 0, 0, 86 [SEP] 44, Vase, 1.212, 2.207, -1.626, 0, 270, 0, 66 [SEP] 45, ButterKnife, 0.773, 0.911, -0.555, 0, 0, 0, 60 [SEP] 46, SoapBottle, 0.688, 0.911, 0.139, 0, 0, 0, 60 [SEP] 47, Vase, 1.194, 1.667, -0.465, 0, 270, 0, 68 [SEP] 48, Bowl, 0.859, 0.914, -0.381, 0, 0, 0, 60 [SEP] 49, DishSponge, 0.914, 0.153, -0.611, 0, 270, 0, 62 [SEP] 50, Spoon, 0.859, 0.912, -0.729, 0, 0, 0, 60 [SEP] 51, Cup, 0.783, 1.640, 1.444, 0, 270, 0, 82 [SEP] 52, Mug, -1.985, 0.549, 2.615, 0, 0, 0, 85 [SEP] 53, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 54, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 55, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 56, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 57, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 58, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 59, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 60, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 61, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 62, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 63, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 64, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 65, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 66, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 67, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 68, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 69, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 70, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 71, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 72, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 73, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 74, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 75, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 76, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 77, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 78, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 79, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 80, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 81, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 82, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 83, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 84, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 85, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 86, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 87, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 88, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 89, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 90, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 91, NorthWall, , , , , , , [SEP] 92, EastWall, , , , , , , [SEP] 93, SouthWall, , , , , , , [SEP] 94, WestWall, , , , , , , ", "output": ["STEP 1: turn around and move forward to the counter that is to the left of the stove | STEP 2: pick up the butter knife that is directly in front of the tan bowl | STEP 3: turn to the left and at the end of the counter on the left turn left and stop to face the black trash can that is at the end of the counter | STEP 4: slice the green apple that is in the trash can with the knife | STEP 5: put the knife in to the trash can behind the apples | STEP 6: remove a slice of the green apple from the trash can | STEP 7: turn to the left and at the edge of the counter, turn to the right and move forward to the stove on the left, turn left to face the stove with the microwave above it | STEP 8: open the microwave door, put the apple slice in to the microwave, close the door, cook for a few seconds, open the door, remove the apple slice and close the door | STEP 9: turn to the right and move to the edge of the counter on the right, turn right and move to the center of the counter turning right to face the counter long ways | STEP 10: put the apple slice on to the counter | END"]} +{"id": "trial_T20190908_131635_504536-1", "input": "Put cooked apple slice 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, -1.0, 0.900, 2.0, 0, 0, 0, [SEP] 1, Vase, 0.811, 0.109, -2.132, 0, 0, 0, 64 [SEP] 2, Potato, -1.054, 0.209, 0.608, 0, 180, 0, 79 [SEP] 3, CreditCard, 0.915, 0.492, -0.565, 0, 270, 0, 63 [SEP] 4, CreditCard, -0.772, 0.930, -0.067, 0, 0, 0, 59 [SEP] 5, CellPhone, 0.773, 0.908, -0.034, 0, 0, 0, 60 [SEP] 6, ButterKnife, 0.773, 0.911, -0.381, 0, 0, 0, 60 [SEP] 7, ButterKnife, -0.550, 0.933, -1.540, 0, 0, 0, 59 [SEP] 8, Glassbottle, -1.104, 0.934, -0.643, 0, 0, 0, 59 [SEP] 9, Fork, 0.874, 0.154, -0.769, 0, 0, 0, 62 [SEP] 10, Spoon, 0.834, 0.495, -0.690, 0, 270, 0, 63 [SEP] 11, Spatula, -0.697, 0.791, -0.745, 0, 90, 0, 80 [SEP] 12, Spatula, 1.029, 0.926, -0.034, 0, 90, 0, 60 [SEP] 13, Knife, -0.698, 0.957, -1.308, 0, 270, 0, 59 [SEP] 14, Knife, -0.624, 0.957, 0.239, 0, 180, 0, 59 [SEP] 15, Egg, -0.477, 0.971, -1.618, 0, 0, 0, 59 [SEP] 16, Plate, 1.082, 2.211, -1.299, 0, 270, 0, 66 [SEP] 17, Tomato, -0.587, 0.821, -0.573, 0, 90, 0, 80 [SEP] 18, Tomato, 1.026, 1.683, 1.063, 0, 270, 0, 82 [SEP] 19, Bowl, 0.773, 0.914, -1.879, 0, 0, 0, 65 [SEP] 20, Bowl, 0.910, 0.111, -1.892, 0, 0, 0, 64 [SEP] 21, SaltShaker, 0.944, 0.907, 0.139, 0, 0, 0, 60 [SEP] 22, Lettuce, 1.026, 1.479, 1.063, 0, 270, 0, 82 [SEP] 23, Apple, 0.905, 0.913, 1.158, 0, 270, 0, 82 [SEP] 24, Apple, 0.844, 1.452, 1.444, 0, 270, 0, 82 [SEP] 25, Statue, -1.167, 0.936, -1.167, 0, 0, 0, 59 [SEP] 26, Glassbottle, 1.169, 2.208, -0.973, 0, 270, 0, 66 [SEP] 27, Bread, -1.229, 1.014, 0.144, 0, 0, 0, 59 [SEP] 28, CreditCard, 0.688, 0.908, -1.965, 0, 0, 0, 65 [SEP] 29, CellPhone, -1.571, 0.878, 2.719, 0, 0, 0, 86 [SEP] 30, Potato, -0.477, 0.963, -1.308, 0, 0, 0, 59 [SEP] 31, Knife, -0.550, 0.957, -1.154, 0, 0, 0, 59 [SEP] 32, Fork, 0.794, 0.494, -0.524, 0, 180, 0, 63 [SEP] 33, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 53 [SEP] 34, Lettuce, 0.688, 0.988, -0.555, 0, 0, 0, 60 [SEP] 35, Plate, 1.194, 1.669, -2.166, 0, 270, 0, 58 [SEP] 36, Apple, -0.912, 0.229, 0.608, 0, 180, 0, 79 [SEP] 37, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 55 [SEP] 38, Spatula, -0.753, 0.795, -0.745, 0, 180, 0, 80 [SEP] 39, PaperTowelRoll, -1.981, 0.986, 2.719, 0, 0, 0, 86 [SEP] 40, Tomato, 1.026, 1.683, 1.444, 0, 270, 0, 82 [SEP] 41, Egg, -0.818, 0.214, 0.641, 0, 180, 0, 79 [SEP] 42, SaltShaker, 0.944, 0.907, -0.729, 0, 0, 0, 60 [SEP] 43, PepperShaker, -1.674, 0.878, 2.692, 0, 0, 0, 86 [SEP] 44, Vase, 1.212, 2.207, -1.626, 0, 270, 0, 66 [SEP] 45, ButterKnife, 0.773, 0.911, -0.555, 0, 0, 0, 60 [SEP] 46, SoapBottle, 0.688, 0.911, 0.139, 0, 0, 0, 60 [SEP] 47, Vase, 1.194, 1.667, -0.465, 0, 270, 0, 68 [SEP] 48, Bowl, 0.859, 0.914, -0.381, 0, 0, 0, 60 [SEP] 49, DishSponge, 0.914, 0.153, -0.611, 0, 270, 0, 62 [SEP] 50, Spoon, 0.859, 0.912, -0.729, 0, 0, 0, 60 [SEP] 51, Cup, 0.783, 1.640, 1.444, 0, 270, 0, 82 [SEP] 52, Mug, -1.985, 0.549, 2.615, 0, 0, 0, 85 [SEP] 53, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 54, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 55, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 56, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 57, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 58, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 59, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 60, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 61, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 62, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 63, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 64, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 65, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 66, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 67, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 68, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 69, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 70, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 71, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 72, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 73, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 74, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 75, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 76, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 77, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 78, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 79, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 80, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 81, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 82, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 83, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 84, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 85, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 86, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 87, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 88, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 89, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 90, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 91, NorthWall, , , , , , , [SEP] 92, EastWall, , , , , , , [SEP] 93, SouthWall, , , , , , , [SEP] 94, WestWall, , , , , , , ", "output": ["STEP 1: Turn to the right and go to the wall, hang a right and go to the counter to the left of the stove where the lettuce is. | STEP 2: Pick up the butter knife that is in front of the bowl on the counter. | STEP 3: Turn to the left, go to the end of the counter and turn left, go to the garbage can that will be on the left. | STEP 4: Cut the apple that is in the garbage can into slices. | STEP 5: Put the knife in the garbage can. | STEP 6: Pick up a slice of apple that is in the garbage can. | STEP 7: Turn to the left, go to the fridge, hang a right and go to the microwave that is above the stove on the left. | STEP 8: Put the apple in the microwave and turn it on to cook, remove the cooked apple from the microwave. | STEP 9: Turn to the right, go to the wall, hang a right and go to the counter where the plant is that is on the left. | STEP 10: Put the slice of apple on the counter to the right of the statue. | END"]} +{"id": "trial_T20190908_131635_504536-2", "input": "Put a heated apple slice 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, -1.0, 0.900, 2.0, 0, 0, 0, [SEP] 1, Vase, 0.811, 0.109, -2.132, 0, 0, 0, 64 [SEP] 2, Potato, -1.054, 0.209, 0.608, 0, 180, 0, 79 [SEP] 3, CreditCard, 0.915, 0.492, -0.565, 0, 270, 0, 63 [SEP] 4, CreditCard, -0.772, 0.930, -0.067, 0, 0, 0, 59 [SEP] 5, CellPhone, 0.773, 0.908, -0.034, 0, 0, 0, 60 [SEP] 6, ButterKnife, 0.773, 0.911, -0.381, 0, 0, 0, 60 [SEP] 7, ButterKnife, -0.550, 0.933, -1.540, 0, 0, 0, 59 [SEP] 8, Glassbottle, -1.104, 0.934, -0.643, 0, 0, 0, 59 [SEP] 9, Fork, 0.874, 0.154, -0.769, 0, 0, 0, 62 [SEP] 10, Spoon, 0.834, 0.495, -0.690, 0, 270, 0, 63 [SEP] 11, Spatula, -0.697, 0.791, -0.745, 0, 90, 0, 80 [SEP] 12, Spatula, 1.029, 0.926, -0.034, 0, 90, 0, 60 [SEP] 13, Knife, -0.698, 0.957, -1.308, 0, 270, 0, 59 [SEP] 14, Knife, -0.624, 0.957, 0.239, 0, 180, 0, 59 [SEP] 15, Egg, -0.477, 0.971, -1.618, 0, 0, 0, 59 [SEP] 16, Plate, 1.082, 2.211, -1.299, 0, 270, 0, 66 [SEP] 17, Tomato, -0.587, 0.821, -0.573, 0, 90, 0, 80 [SEP] 18, Tomato, 1.026, 1.683, 1.063, 0, 270, 0, 82 [SEP] 19, Bowl, 0.773, 0.914, -1.879, 0, 0, 0, 65 [SEP] 20, Bowl, 0.910, 0.111, -1.892, 0, 0, 0, 64 [SEP] 21, SaltShaker, 0.944, 0.907, 0.139, 0, 0, 0, 60 [SEP] 22, Lettuce, 1.026, 1.479, 1.063, 0, 270, 0, 82 [SEP] 23, Apple, 0.905, 0.913, 1.158, 0, 270, 0, 82 [SEP] 24, Apple, 0.844, 1.452, 1.444, 0, 270, 0, 82 [SEP] 25, Statue, -1.167, 0.936, -1.167, 0, 0, 0, 59 [SEP] 26, Glassbottle, 1.169, 2.208, -0.973, 0, 270, 0, 66 [SEP] 27, Bread, -1.229, 1.014, 0.144, 0, 0, 0, 59 [SEP] 28, CreditCard, 0.688, 0.908, -1.965, 0, 0, 0, 65 [SEP] 29, CellPhone, -1.571, 0.878, 2.719, 0, 0, 0, 86 [SEP] 30, Potato, -0.477, 0.963, -1.308, 0, 0, 0, 59 [SEP] 31, Knife, -0.550, 0.957, -1.154, 0, 0, 0, 59 [SEP] 32, Fork, 0.794, 0.494, -0.524, 0, 180, 0, 63 [SEP] 33, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 53 [SEP] 34, Lettuce, 0.688, 0.988, -0.555, 0, 0, 0, 60 [SEP] 35, Plate, 1.194, 1.669, -2.166, 0, 270, 0, 58 [SEP] 36, Apple, -0.912, 0.229, 0.608, 0, 180, 0, 79 [SEP] 37, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 55 [SEP] 38, Spatula, -0.753, 0.795, -0.745, 0, 180, 0, 80 [SEP] 39, PaperTowelRoll, -1.981, 0.986, 2.719, 0, 0, 0, 86 [SEP] 40, Tomato, 1.026, 1.683, 1.444, 0, 270, 0, 82 [SEP] 41, Egg, -0.818, 0.214, 0.641, 0, 180, 0, 79 [SEP] 42, SaltShaker, 0.944, 0.907, -0.729, 0, 0, 0, 60 [SEP] 43, PepperShaker, -1.674, 0.878, 2.692, 0, 0, 0, 86 [SEP] 44, Vase, 1.212, 2.207, -1.626, 0, 270, 0, 66 [SEP] 45, ButterKnife, 0.773, 0.911, -0.555, 0, 0, 0, 60 [SEP] 46, SoapBottle, 0.688, 0.911, 0.139, 0, 0, 0, 60 [SEP] 47, Vase, 1.194, 1.667, -0.465, 0, 270, 0, 68 [SEP] 48, Bowl, 0.859, 0.914, -0.381, 0, 0, 0, 60 [SEP] 49, DishSponge, 0.914, 0.153, -0.611, 0, 270, 0, 62 [SEP] 50, Spoon, 0.859, 0.912, -0.729, 0, 0, 0, 60 [SEP] 51, Cup, 0.783, 1.640, 1.444, 0, 270, 0, 82 [SEP] 52, Mug, -1.985, 0.549, 2.615, 0, 0, 0, 85 [SEP] 53, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 54, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 55, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 56, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 57, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 58, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 59, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 60, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 61, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 62, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 63, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 64, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 65, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 66, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 67, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 68, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 69, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 70, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 71, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 72, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 73, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 74, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 75, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 76, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 77, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 78, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 79, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 80, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 81, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 82, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 83, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 84, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 85, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 86, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 87, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 88, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 89, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 90, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 91, NorthWall, , , , , , , [SEP] 92, EastWall, , , , , , , [SEP] 93, SouthWall, , , , , , , [SEP] 94, WestWall, , , , , , , ", "output": ["STEP 1: Go to the left of the stove | STEP 2: Take a knife from the counter | STEP 3: Go to the bin | STEP 4: Cut an apple in the bin | STEP 5: Put the knife in the bin | STEP 6: Take an apple piece | STEP 7: Go to the microwave | STEP 8: Heat the apple | STEP 9: Go to the kitchen island | STEP 10: Put the apple down on the kitchen island | END"]} +{"id": "trial_T20190909_081720_491733-0", "input": "Put two bars of soap 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, 0.901, 3.5, 0, 270, 0, [SEP] 1, Cloth, -0.280, 0.076, 3.462, 0, 0, 0, 24 [SEP] 2, SprayBottle, -0.280, 0.077, 2.743, 0, 0, 0, 20 [SEP] 3, SprayBottle, -0.388, 0.955, 2.878, 0, 0, 0, 23 [SEP] 4, SoapBar, -0.450, 0.954, 2.807, 0, 0, 0, 23 [SEP] 5, ToiletPaper, -0.330, 0.072, 3.145, 0, 0, 0, 19 [SEP] 6, HandTowel, -0.038, 1.619, 1.887, 0, 90, 0, 29 [SEP] 7, Towel, -1.082, 1.326, 1.302, 0, 0, 0, 26 [SEP] 8, SoapBar, -0.158, 0.953, 1.606, 0, 0, 0, 31 [SEP] 9, ToiletPaper, -0.280, 0.654, 1.985, 0, 180, 90, 28 [SEP] 10, Plunger, -0.112, -0.000, 1.848, 0, 0, 0, [SEP] 11, Candle, -0.077, 0.953, 1.669, 0, 0, 0, 31 [SEP] 12, ToiletPaper, -0.326, 0.951, 2.878, 0, 0, 0, 23 [SEP] 13, SprayBottle, -0.024, 0.954, 1.544, 0, 90, 0, 31 [SEP] 14, Cloth, -0.178, 0.075, 2.202, 0, 90, 0, 25 [SEP] 15, ScrubBrush, -0.322, 3.109, 1.950, 0, 0, 0, [SEP] 16, SoapBottle, -0.141, 0.955, 2.878, 0, 0, 0, 23 [SEP] 17, Mirror, -0.030, 1.544, 2.864, 0, 0, 0, [SEP] 18, Sink, -0.302, 0.799, 3.263, 0, 270, 0, [SEP] 19, Cabinet, -0.491, 0.404, 2.863, 0, 0, 0, [SEP] 20, Cabinet, -0.495, 0.384, 2.842, 0, 0, 0, [SEP] 21, ShowerDoor, -1.647, 1.017, 1.180, 0, 0, 0, [SEP] 22, ShowerGlass, -0.909, 0.788, 0.485, 0, 0, 0, [SEP] 23, CounterTop, -0.261, 0.927, 2.843, 0, 0, 0, [SEP] 24, Cabinet, -0.495, 0.384, 3.650, 0, 0, 0, [SEP] 25, Cabinet, -0.491, 0.404, 2.055, 0, 0, 0, [SEP] 26, TowelHolder, -1.082, 1.312, 1.195, 0, 0, 0, [SEP] 27, LightSwitch, -2.424, 1.447, 3.338, 0, 90, 0, [SEP] 28, ToiletPaperHanger, -0.266, 0.786, 2.043, 0, 180, 0, [SEP] 29, HandTowelHolder, 0.000, 1.721, 1.887, 0, 180, 0, [SEP] 30, HandTowelHolder, 0.000, 1.721, 3.799, 0, 180, 0, [SEP] 31, Toilet, -0.542, 3.109, 1.493, 0, 270, 0, [SEP] 32, GarbageCan, -2.159, -0.000, 3.756, 0, 0, 0, [SEP] 33, SinkBasin, -0.308, 0.820, 3.266, 0, 0, 0, [SEP] 34, ShowerHead, -0.134, 1.888, 0.564, 0, 90, 0, [SEP] 35, Faucet, 0.0, 1.009, 3.265, 0, 0, 0, [SEP] 36, Faucet, 0.0, 1.009, 2.421, 0, 0, 0, [SEP] 37, SinkBasin, -0.308, 0.820, 2.422, 0, 0, 0, [SEP] 38, Sink, -0.302, 0.799, 2.419, 0, 270, 0, [SEP] 39, NorthWall, , , , , , , [SEP] 40, SouthWall, , , , , , , [SEP] 41, SouthWall, , , , , , , ", "output": ["STEP 1: Turn left and go toward the shower, then turn left to face the toilet. | STEP 2: Pick up the bar of soap on the back of the toilet. | STEP 3: Go to the cabinet beneath the sink, to the left of the toilet. | STEP 4: Open the cabinet, put the bar of soap inside, and close the cabinet. | STEP 5: Turn left and move forward, then turn right to face the counter between the sink basins. | STEP 6: Pick up the bar of soap from the counter. | STEP 7: Return to the cabinet to the left of the toilet. | STEP 8: Open the cabinet, put the bar of soap inside, and close the cabinet. | END"]} +{"id": "trial_T20190909_081720_491733-1", "input": "Put two soap 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, 0.901, 3.5, 0, 270, 0, [SEP] 1, Cloth, -0.280, 0.076, 3.462, 0, 0, 0, 24 [SEP] 2, SprayBottle, -0.280, 0.077, 2.743, 0, 0, 0, 20 [SEP] 3, SprayBottle, -0.388, 0.955, 2.878, 0, 0, 0, 23 [SEP] 4, SoapBar, -0.450, 0.954, 2.807, 0, 0, 0, 23 [SEP] 5, ToiletPaper, -0.330, 0.072, 3.145, 0, 0, 0, 19 [SEP] 6, HandTowel, -0.038, 1.619, 1.887, 0, 90, 0, 29 [SEP] 7, Towel, -1.082, 1.326, 1.302, 0, 0, 0, 26 [SEP] 8, SoapBar, -0.158, 0.953, 1.606, 0, 0, 0, 31 [SEP] 9, ToiletPaper, -0.280, 0.654, 1.985, 0, 180, 90, 28 [SEP] 10, Plunger, -0.112, -0.000, 1.848, 0, 0, 0, [SEP] 11, Candle, -0.077, 0.953, 1.669, 0, 0, 0, 31 [SEP] 12, ToiletPaper, -0.326, 0.951, 2.878, 0, 0, 0, 23 [SEP] 13, SprayBottle, -0.024, 0.954, 1.544, 0, 90, 0, 31 [SEP] 14, Cloth, -0.178, 0.075, 2.202, 0, 90, 0, 25 [SEP] 15, ScrubBrush, -0.322, 3.109, 1.950, 0, 0, 0, [SEP] 16, SoapBottle, -0.141, 0.955, 2.878, 0, 0, 0, 23 [SEP] 17, Mirror, -0.030, 1.544, 2.864, 0, 0, 0, [SEP] 18, Sink, -0.302, 0.799, 3.263, 0, 270, 0, [SEP] 19, Cabinet, -0.491, 0.404, 2.863, 0, 0, 0, [SEP] 20, Cabinet, -0.495, 0.384, 2.842, 0, 0, 0, [SEP] 21, ShowerDoor, -1.647, 1.017, 1.180, 0, 0, 0, [SEP] 22, ShowerGlass, -0.909, 0.788, 0.485, 0, 0, 0, [SEP] 23, CounterTop, -0.261, 0.927, 2.843, 0, 0, 0, [SEP] 24, Cabinet, -0.495, 0.384, 3.650, 0, 0, 0, [SEP] 25, Cabinet, -0.491, 0.404, 2.055, 0, 0, 0, [SEP] 26, TowelHolder, -1.082, 1.312, 1.195, 0, 0, 0, [SEP] 27, LightSwitch, -2.424, 1.447, 3.338, 0, 90, 0, [SEP] 28, ToiletPaperHanger, -0.266, 0.786, 2.043, 0, 180, 0, [SEP] 29, HandTowelHolder, 0.000, 1.721, 1.887, 0, 180, 0, [SEP] 30, HandTowelHolder, 0.000, 1.721, 3.799, 0, 180, 0, [SEP] 31, Toilet, -0.542, 3.109, 1.493, 0, 270, 0, [SEP] 32, GarbageCan, -2.159, -0.000, 3.756, 0, 0, 0, [SEP] 33, SinkBasin, -0.308, 0.820, 3.266, 0, 0, 0, [SEP] 34, ShowerHead, -0.134, 1.888, 0.564, 0, 90, 0, [SEP] 35, Faucet, 0.0, 1.009, 3.265, 0, 0, 0, [SEP] 36, Faucet, 0.0, 1.009, 2.421, 0, 0, 0, [SEP] 37, SinkBasin, -0.308, 0.820, 2.422, 0, 0, 0, [SEP] 38, Sink, -0.302, 0.799, 2.419, 0, 270, 0, [SEP] 39, NorthWall, , , , , , , [SEP] 40, SouthWall, , , , , , , [SEP] 41, SouthWall, , , , , , , ", "output": ["STEP 1: Turn left then head to the toilet tank | STEP 2: Pick up the soap on the tank | STEP 3: Turn around adjust your position and look at the sink cabinet | STEP 4: Open the cabinet and put in the soap then close the cabinet | STEP 5: Turn left head to the sink counter | STEP 6: Pick up the soap on the counter | STEP 7: Turn right then adjust your position and look at the sink cabinet | STEP 8: Open the cabinet and put in the soap then close the cabinet | END"]} +{"id": "trial_T20190909_081720_491733-2", "input": "Put two bars of soap in a 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, -1.5, 0.901, 3.5, 0, 270, 0, [SEP] 1, Cloth, -0.280, 0.076, 3.462, 0, 0, 0, 24 [SEP] 2, SprayBottle, -0.280, 0.077, 2.743, 0, 0, 0, 20 [SEP] 3, SprayBottle, -0.388, 0.955, 2.878, 0, 0, 0, 23 [SEP] 4, SoapBar, -0.450, 0.954, 2.807, 0, 0, 0, 23 [SEP] 5, ToiletPaper, -0.330, 0.072, 3.145, 0, 0, 0, 19 [SEP] 6, HandTowel, -0.038, 1.619, 1.887, 0, 90, 0, 29 [SEP] 7, Towel, -1.082, 1.326, 1.302, 0, 0, 0, 26 [SEP] 8, SoapBar, -0.158, 0.953, 1.606, 0, 0, 0, 31 [SEP] 9, ToiletPaper, -0.280, 0.654, 1.985, 0, 180, 90, 28 [SEP] 10, Plunger, -0.112, -0.000, 1.848, 0, 0, 0, [SEP] 11, Candle, -0.077, 0.953, 1.669, 0, 0, 0, 31 [SEP] 12, ToiletPaper, -0.326, 0.951, 2.878, 0, 0, 0, 23 [SEP] 13, SprayBottle, -0.024, 0.954, 1.544, 0, 90, 0, 31 [SEP] 14, Cloth, -0.178, 0.075, 2.202, 0, 90, 0, 25 [SEP] 15, ScrubBrush, -0.322, 3.109, 1.950, 0, 0, 0, [SEP] 16, SoapBottle, -0.141, 0.955, 2.878, 0, 0, 0, 23 [SEP] 17, Mirror, -0.030, 1.544, 2.864, 0, 0, 0, [SEP] 18, Sink, -0.302, 0.799, 3.263, 0, 270, 0, [SEP] 19, Cabinet, -0.491, 0.404, 2.863, 0, 0, 0, [SEP] 20, Cabinet, -0.495, 0.384, 2.842, 0, 0, 0, [SEP] 21, ShowerDoor, -1.647, 1.017, 1.180, 0, 0, 0, [SEP] 22, ShowerGlass, -0.909, 0.788, 0.485, 0, 0, 0, [SEP] 23, CounterTop, -0.261, 0.927, 2.843, 0, 0, 0, [SEP] 24, Cabinet, -0.495, 0.384, 3.650, 0, 0, 0, [SEP] 25, Cabinet, -0.491, 0.404, 2.055, 0, 0, 0, [SEP] 26, TowelHolder, -1.082, 1.312, 1.195, 0, 0, 0, [SEP] 27, LightSwitch, -2.424, 1.447, 3.338, 0, 90, 0, [SEP] 28, ToiletPaperHanger, -0.266, 0.786, 2.043, 0, 180, 0, [SEP] 29, HandTowelHolder, 0.000, 1.721, 1.887, 0, 180, 0, [SEP] 30, HandTowelHolder, 0.000, 1.721, 3.799, 0, 180, 0, [SEP] 31, Toilet, -0.542, 3.109, 1.493, 0, 270, 0, [SEP] 32, GarbageCan, -2.159, -0.000, 3.756, 0, 0, 0, [SEP] 33, SinkBasin, -0.308, 0.820, 3.266, 0, 0, 0, [SEP] 34, ShowerHead, -0.134, 1.888, 0.564, 0, 90, 0, [SEP] 35, Faucet, 0.0, 1.009, 3.265, 0, 0, 0, [SEP] 36, Faucet, 0.0, 1.009, 2.421, 0, 0, 0, [SEP] 37, SinkBasin, -0.308, 0.820, 2.422, 0, 0, 0, [SEP] 38, Sink, -0.302, 0.799, 2.419, 0, 270, 0, [SEP] 39, NorthWall, , , , , , , [SEP] 40, SouthWall, , , , , , , [SEP] 41, SouthWall, , , , , , , ", "output": ["STEP 1: Make a left to reach the sink across the room. | STEP 2: Pick up the bar of soap from the sink countertop, the one farthest to the right. | STEP 3: Turn to face the cabinet under the sink. | STEP 4: Put the bar of soap in the rightmost cabinet under the sink. | STEP 5: Walk to the left-hand sink. | STEP 6: Pick up the bar of soap sitting in between the two sinks. | STEP 7: Turn to face the cabinet under the right sink. | STEP 8: Put the other bar of soap in the rightmost cabinet under the sink. | END"]} +{"id": "trial_T20190907_161853_945788-0", "input": "Put a cooked potato in the garbage can. 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, 2.0, 0, 0, 0, [SEP] 1, Pan, -1.292, 0.931, 0.144, 0, 0, 0, 63 [SEP] 2, Pan, -0.550, 0.931, -1.231, 0, 90, 0, 63 [SEP] 3, Statue, 0.859, 0.914, -0.729, 0, 0, 0, 64 [SEP] 4, Potato, 0.688, 0.941, -0.555, 0, 0, 0, 64 [SEP] 5, Potato, 0.944, 0.941, -0.208, 0, 0, 0, 64 [SEP] 6, CreditCard, -1.104, 0.930, -0.118, 0, 0, 0, 63 [SEP] 7, CellPhone, 1.029, 0.908, -0.555, 0, 0, 0, 64 [SEP] 8, CellPhone, 0.944, 0.908, -1.879, 0, 0, 0, 69 [SEP] 9, DishSponge, -0.772, 0.933, -0.143, 0, 0, 0, 63 [SEP] 10, DishSponge, 0.915, 0.701, -0.731, 0, 270, 0, 61 [SEP] 11, Glassbottle, 0.773, 0.912, -0.381, 0, 0, 0, 64 [SEP] 12, Glassbottle, -1.363, 0.554, 2.615, 0, 0, 0, 89 [SEP] 13, Fork, 0.874, 0.154, -0.769, 0, 0, 0, 66 [SEP] 14, Fork, -0.550, 0.934, 0.009, 0, 0, 0, 63 [SEP] 15, Spoon, 0.833, 0.154, -0.611, 0, 270, 0, 66 [SEP] 16, Spatula, -0.550, 0.948, 0.162, 0, 0, 0, 63 [SEP] 17, Spatula, -1.292, 0.948, -1.167, 0, 270, 0, 63 [SEP] 18, Cup, 0.905, 0.860, 1.158, 0, 270, 0, 86 [SEP] 19, Tomato, 0.905, 1.175, 1.444, 0, 270, 0, 86 [SEP] 20, SoapBottle, 1.114, 0.911, -1.879, 0, 0, 0, 69 [SEP] 21, Bowl, 1.082, 2.211, -0.973, 0, 270, 0, 70 [SEP] 22, SaltShaker, 1.102, 1.662, -0.401, 0, 270, 0, 72 [SEP] 23, SaltShaker, 1.010, 0.104, -2.052, 0, 0, 0, 68 [SEP] 24, PepperShaker, 0.794, 0.491, -0.690, 0, 270, 0, 67 [SEP] 25, Bread, -1.292, 1.014, -0.905, 0, 0, 0, 63 [SEP] 26, Bread, 1.029, 0.992, -0.034, 0, 0, 0, 64 [SEP] 27, Apple, 1.026, 1.185, 0.967, 0, 270, 0, 86 [SEP] 28, Apple, 0.773, 0.961, -1.879, 0, 0, 0, 69 [SEP] 29, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 63 [SEP] 30, Glassbottle, -0.772, 0.934, -1.618, 0, 0, 0, 63 [SEP] 31, Bread, 0.905, 1.482, 1.444, 0, 270, 0, 86 [SEP] 32, CreditCard, -0.477, 0.930, 0.162, 0, 0, 0, 63 [SEP] 33, CellPhone, -1.104, 0.930, -0.905, 0, 0, 0, 63 [SEP] 34, Potato, -0.698, 0.963, 0.315, 0, 0, 0, 63 [SEP] 35, Knife, 0.944, 0.934, -0.207, 0, 0, 0, 64 [SEP] 36, Fork, -0.697, 0.780, -0.573, 0, 180, 0, 84 [SEP] 37, Pan, 1.077, 0.950, -1.504, 0, 0, 0, 59 [SEP] 38, Lettuce, 1.026, 1.720, 1.158, 0, 270, 0, 86 [SEP] 39, Plate, 1.101, 1.669, -2.029, 0, 270, 0, 62 [SEP] 40, Apple, -0.865, 0.229, 0.608, 0, 180, 0, 83 [SEP] 41, Pot, -1.221, 0.92, -0.49, 0, 0, 0, 63 [SEP] 42, Spatula, -0.587, 0.795, -0.745, 0, 0, 0, 84 [SEP] 43, PaperTowelRoll, -1.571, 0.986, 2.773, 0, 0, 0, 90 [SEP] 44, Tomato, 0.844, 1.683, 0.967, 0, 270, 0, 86 [SEP] 45, Egg, -1.101, 0.214, 0.608, 0, 180, 0, 83 [SEP] 46, SaltShaker, 0.794, 0.490, -0.607, 0, 270, 0, 67 [SEP] 47, PepperShaker, 0.688, 0.907, -0.729, 0, 0, 0, 64 [SEP] 48, Vase, 1.212, 2.207, -1.191, 0, 270, 0, 70 [SEP] 49, ButterKnife, 1.114, 0.911, -0.729, 0, 0, 0, 64 [SEP] 50, SoapBottle, -1.007, 0.177, 0.543, 0, 180, 0, 83 [SEP] 51, Vase, 0.811, 0.109, -1.972, 0, 0, 0, 68 [SEP] 52, Bowl, 1.114, 0.914, -0.381, 0, 0, 0, 64 [SEP] 53, DishSponge, 1.169, 2.207, -1.408, 0, 270, 0, 70 [SEP] 54, Spoon, 0.773, 0.912, 0.313, 0, 0, 0, 64 [SEP] 55, Cup, 0.966, 1.640, 1.349, 0, 270, 0, 86 [SEP] 56, Mug, 0.905, 0.858, 1.444, 0, 270, 0, 86 [SEP] 57, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 58, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 59, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 60, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 61, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 62, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 63, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 64, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 65, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 66, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 67, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 68, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 69, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 70, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 71, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 72, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 73, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 74, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 75, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 76, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 77, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 78, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 79, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 80, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 81, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 82, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 83, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 84, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 85, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 86, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 87, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 88, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 89, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 90, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 91, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 92, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 93, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 94, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 95, NorthWall, , , , , , , [SEP] 96, EastWall, , , , , , , [SEP] 97, SouthWall, , , , , , , [SEP] 98, WestWall, , , , , , , ", "output": ["STEP 1: Go to the right and walk to the fridge, hang a right and go to the counter between the dishwasher and stove. | STEP 2: Pick up the potato that is on the counter. | STEP 3: Go right to the microwave, raise the potato up. | STEP 4: Put the potato in the microwave, turn it on to cook, remove the potato. | STEP 5: Go left towards toward the fridge, then hang a left, go to the garbage can. | STEP 6: Put the potato in the garbage can. | END"]} +{"id": "trial_T20190907_161853_945788-1", "input": "Put a warmed 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, -3.75, 0.900, 2.0, 0, 0, 0, [SEP] 1, Pan, -1.292, 0.931, 0.144, 0, 0, 0, 63 [SEP] 2, Pan, -0.550, 0.931, -1.231, 0, 90, 0, 63 [SEP] 3, Statue, 0.859, 0.914, -0.729, 0, 0, 0, 64 [SEP] 4, Potato, 0.688, 0.941, -0.555, 0, 0, 0, 64 [SEP] 5, Potato, 0.944, 0.941, -0.208, 0, 0, 0, 64 [SEP] 6, CreditCard, -1.104, 0.930, -0.118, 0, 0, 0, 63 [SEP] 7, CellPhone, 1.029, 0.908, -0.555, 0, 0, 0, 64 [SEP] 8, CellPhone, 0.944, 0.908, -1.879, 0, 0, 0, 69 [SEP] 9, DishSponge, -0.772, 0.933, -0.143, 0, 0, 0, 63 [SEP] 10, DishSponge, 0.915, 0.701, -0.731, 0, 270, 0, 61 [SEP] 11, Glassbottle, 0.773, 0.912, -0.381, 0, 0, 0, 64 [SEP] 12, Glassbottle, -1.363, 0.554, 2.615, 0, 0, 0, 89 [SEP] 13, Fork, 0.874, 0.154, -0.769, 0, 0, 0, 66 [SEP] 14, Fork, -0.550, 0.934, 0.009, 0, 0, 0, 63 [SEP] 15, Spoon, 0.833, 0.154, -0.611, 0, 270, 0, 66 [SEP] 16, Spatula, -0.550, 0.948, 0.162, 0, 0, 0, 63 [SEP] 17, Spatula, -1.292, 0.948, -1.167, 0, 270, 0, 63 [SEP] 18, Cup, 0.905, 0.860, 1.158, 0, 270, 0, 86 [SEP] 19, Tomato, 0.905, 1.175, 1.444, 0, 270, 0, 86 [SEP] 20, SoapBottle, 1.114, 0.911, -1.879, 0, 0, 0, 69 [SEP] 21, Bowl, 1.082, 2.211, -0.973, 0, 270, 0, 70 [SEP] 22, SaltShaker, 1.102, 1.662, -0.401, 0, 270, 0, 72 [SEP] 23, SaltShaker, 1.010, 0.104, -2.052, 0, 0, 0, 68 [SEP] 24, PepperShaker, 0.794, 0.491, -0.690, 0, 270, 0, 67 [SEP] 25, Bread, -1.292, 1.014, -0.905, 0, 0, 0, 63 [SEP] 26, Bread, 1.029, 0.992, -0.034, 0, 0, 0, 64 [SEP] 27, Apple, 1.026, 1.185, 0.967, 0, 270, 0, 86 [SEP] 28, Apple, 0.773, 0.961, -1.879, 0, 0, 0, 69 [SEP] 29, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 63 [SEP] 30, Glassbottle, -0.772, 0.934, -1.618, 0, 0, 0, 63 [SEP] 31, Bread, 0.905, 1.482, 1.444, 0, 270, 0, 86 [SEP] 32, CreditCard, -0.477, 0.930, 0.162, 0, 0, 0, 63 [SEP] 33, CellPhone, -1.104, 0.930, -0.905, 0, 0, 0, 63 [SEP] 34, Potato, -0.698, 0.963, 0.315, 0, 0, 0, 63 [SEP] 35, Knife, 0.944, 0.934, -0.207, 0, 0, 0, 64 [SEP] 36, Fork, -0.697, 0.780, -0.573, 0, 180, 0, 84 [SEP] 37, Pan, 1.077, 0.950, -1.504, 0, 0, 0, 59 [SEP] 38, Lettuce, 1.026, 1.720, 1.158, 0, 270, 0, 86 [SEP] 39, Plate, 1.101, 1.669, -2.029, 0, 270, 0, 62 [SEP] 40, Apple, -0.865, 0.229, 0.608, 0, 180, 0, 83 [SEP] 41, Pot, -1.221, 0.92, -0.49, 0, 0, 0, 63 [SEP] 42, Spatula, -0.587, 0.795, -0.745, 0, 0, 0, 84 [SEP] 43, PaperTowelRoll, -1.571, 0.986, 2.773, 0, 0, 0, 90 [SEP] 44, Tomato, 0.844, 1.683, 0.967, 0, 270, 0, 86 [SEP] 45, Egg, -1.101, 0.214, 0.608, 0, 180, 0, 83 [SEP] 46, SaltShaker, 0.794, 0.490, -0.607, 0, 270, 0, 67 [SEP] 47, PepperShaker, 0.688, 0.907, -0.729, 0, 0, 0, 64 [SEP] 48, Vase, 1.212, 2.207, -1.191, 0, 270, 0, 70 [SEP] 49, ButterKnife, 1.114, 0.911, -0.729, 0, 0, 0, 64 [SEP] 50, SoapBottle, -1.007, 0.177, 0.543, 0, 180, 0, 83 [SEP] 51, Vase, 0.811, 0.109, -1.972, 0, 0, 0, 68 [SEP] 52, Bowl, 1.114, 0.914, -0.381, 0, 0, 0, 64 [SEP] 53, DishSponge, 1.169, 2.207, -1.408, 0, 270, 0, 70 [SEP] 54, Spoon, 0.773, 0.912, 0.313, 0, 0, 0, 64 [SEP] 55, Cup, 0.966, 1.640, 1.349, 0, 270, 0, 86 [SEP] 56, Mug, 0.905, 0.858, 1.444, 0, 270, 0, 86 [SEP] 57, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 58, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 59, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 60, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 61, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 62, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 63, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 64, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 65, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 66, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 67, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 68, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 69, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 70, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 71, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 72, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 73, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 74, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 75, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 76, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 77, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 78, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 79, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 80, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 81, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 82, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 83, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 84, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 85, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 86, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 87, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 88, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 89, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 90, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 91, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 92, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 93, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 94, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 95, NorthWall, , , , , , , [SEP] 96, EastWall, , , , , , , [SEP] 97, SouthWall, , , , , , , [SEP] 98, WestWall, , , , , , , ", "output": ["STEP 1: Cross the room to the right and go right again at the fridge to turn and face the statue on the counter to the right. | STEP 2: Pick the potato up from the left of the statue on the counter. | STEP 3: Go to the right and stand in front of the microwave over the stove. | STEP 4: Put the potato in the microwave and turn it on and then off and take the potato out and shut the door. | STEP 5: Go left and then left again to turn and face the black trash can. | STEP 6: Put the potato in the trash can. | END"]} +{"id": "trial_T20190907_161853_945788-2", "input": "Cook a potato, put the potato 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, -3.75, 0.900, 2.0, 0, 0, 0, [SEP] 1, Pan, -1.292, 0.931, 0.144, 0, 0, 0, 63 [SEP] 2, Pan, -0.550, 0.931, -1.231, 0, 90, 0, 63 [SEP] 3, Statue, 0.859, 0.914, -0.729, 0, 0, 0, 64 [SEP] 4, Potato, 0.688, 0.941, -0.555, 0, 0, 0, 64 [SEP] 5, Potato, 0.944, 0.941, -0.208, 0, 0, 0, 64 [SEP] 6, CreditCard, -1.104, 0.930, -0.118, 0, 0, 0, 63 [SEP] 7, CellPhone, 1.029, 0.908, -0.555, 0, 0, 0, 64 [SEP] 8, CellPhone, 0.944, 0.908, -1.879, 0, 0, 0, 69 [SEP] 9, DishSponge, -0.772, 0.933, -0.143, 0, 0, 0, 63 [SEP] 10, DishSponge, 0.915, 0.701, -0.731, 0, 270, 0, 61 [SEP] 11, Glassbottle, 0.773, 0.912, -0.381, 0, 0, 0, 64 [SEP] 12, Glassbottle, -1.363, 0.554, 2.615, 0, 0, 0, 89 [SEP] 13, Fork, 0.874, 0.154, -0.769, 0, 0, 0, 66 [SEP] 14, Fork, -0.550, 0.934, 0.009, 0, 0, 0, 63 [SEP] 15, Spoon, 0.833, 0.154, -0.611, 0, 270, 0, 66 [SEP] 16, Spatula, -0.550, 0.948, 0.162, 0, 0, 0, 63 [SEP] 17, Spatula, -1.292, 0.948, -1.167, 0, 270, 0, 63 [SEP] 18, Cup, 0.905, 0.860, 1.158, 0, 270, 0, 86 [SEP] 19, Tomato, 0.905, 1.175, 1.444, 0, 270, 0, 86 [SEP] 20, SoapBottle, 1.114, 0.911, -1.879, 0, 0, 0, 69 [SEP] 21, Bowl, 1.082, 2.211, -0.973, 0, 270, 0, 70 [SEP] 22, SaltShaker, 1.102, 1.662, -0.401, 0, 270, 0, 72 [SEP] 23, SaltShaker, 1.010, 0.104, -2.052, 0, 0, 0, 68 [SEP] 24, PepperShaker, 0.794, 0.491, -0.690, 0, 270, 0, 67 [SEP] 25, Bread, -1.292, 1.014, -0.905, 0, 0, 0, 63 [SEP] 26, Bread, 1.029, 0.992, -0.034, 0, 0, 0, 64 [SEP] 27, Apple, 1.026, 1.185, 0.967, 0, 270, 0, 86 [SEP] 28, Apple, 0.773, 0.961, -1.879, 0, 0, 0, 69 [SEP] 29, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 63 [SEP] 30, Glassbottle, -0.772, 0.934, -1.618, 0, 0, 0, 63 [SEP] 31, Bread, 0.905, 1.482, 1.444, 0, 270, 0, 86 [SEP] 32, CreditCard, -0.477, 0.930, 0.162, 0, 0, 0, 63 [SEP] 33, CellPhone, -1.104, 0.930, -0.905, 0, 0, 0, 63 [SEP] 34, Potato, -0.698, 0.963, 0.315, 0, 0, 0, 63 [SEP] 35, Knife, 0.944, 0.934, -0.207, 0, 0, 0, 64 [SEP] 36, Fork, -0.697, 0.780, -0.573, 0, 180, 0, 84 [SEP] 37, Pan, 1.077, 0.950, -1.504, 0, 0, 0, 59 [SEP] 38, Lettuce, 1.026, 1.720, 1.158, 0, 270, 0, 86 [SEP] 39, Plate, 1.101, 1.669, -2.029, 0, 270, 0, 62 [SEP] 40, Apple, -0.865, 0.229, 0.608, 0, 180, 0, 83 [SEP] 41, Pot, -1.221, 0.92, -0.49, 0, 0, 0, 63 [SEP] 42, Spatula, -0.587, 0.795, -0.745, 0, 0, 0, 84 [SEP] 43, PaperTowelRoll, -1.571, 0.986, 2.773, 0, 0, 0, 90 [SEP] 44, Tomato, 0.844, 1.683, 0.967, 0, 270, 0, 86 [SEP] 45, Egg, -1.101, 0.214, 0.608, 0, 180, 0, 83 [SEP] 46, SaltShaker, 0.794, 0.490, -0.607, 0, 270, 0, 67 [SEP] 47, PepperShaker, 0.688, 0.907, -0.729, 0, 0, 0, 64 [SEP] 48, Vase, 1.212, 2.207, -1.191, 0, 270, 0, 70 [SEP] 49, ButterKnife, 1.114, 0.911, -0.729, 0, 0, 0, 64 [SEP] 50, SoapBottle, -1.007, 0.177, 0.543, 0, 180, 0, 83 [SEP] 51, Vase, 0.811, 0.109, -1.972, 0, 0, 0, 68 [SEP] 52, Bowl, 1.114, 0.914, -0.381, 0, 0, 0, 64 [SEP] 53, DishSponge, 1.169, 2.207, -1.408, 0, 270, 0, 70 [SEP] 54, Spoon, 0.773, 0.912, 0.313, 0, 0, 0, 64 [SEP] 55, Cup, 0.966, 1.640, 1.349, 0, 270, 0, 86 [SEP] 56, Mug, 0.905, 0.858, 1.444, 0, 270, 0, 86 [SEP] 57, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 58, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 59, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 60, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 61, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 62, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 63, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 64, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 65, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 66, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 67, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 68, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 69, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 70, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 71, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 72, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 73, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 74, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 75, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 76, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 77, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 78, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 79, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 80, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 81, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 82, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 83, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 84, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 85, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 86, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 87, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 88, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 89, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 90, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 91, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 92, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 93, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 94, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 95, NorthWall, , , , , , , [SEP] 96, EastWall, , , , , , , [SEP] 97, SouthWall, , , , , , , [SEP] 98, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and walk towards the refrigerator, turn right walk to the counter on the left with the potatoes on it. | STEP 2: Pick up one potato from the counter. | STEP 3: Go to the stove on your right, look up at the microwave. | STEP 4: Cook the potato in the microwave, remove the potato from the microwave. | STEP 5: Turn left and walk to the refrigerator, turn left and walk to the black trash can. | STEP 6: Put the potato inside the trash can. | END"]} +{"id": "trial_T20190907_183807_477267-0", "input": "get mug from coffee maker, chill, and return mug to 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, 2.25, 0, 90, 0, [SEP] 1, Vase, -1.363, 0.555, 2.615, 0, 0, 0, 82 [SEP] 2, Potato, -0.912, 0.207, 0.510, 0, 0, 0, 76 [SEP] 3, CreditCard, 0.753, 0.150, -0.571, 0, 270, 0, 59 [SEP] 4, CellPhone, -1.104, 0.930, -0.118, 0, 0, 0, 56 [SEP] 5, CellPhone, 0.688, 0.908, -1.879, 0, 0, 0, 62 [SEP] 6, ButterKnife, -0.698, 0.933, -1.618, 0, 0, 0, 56 [SEP] 7, Glassbottle, 0.811, 0.109, -1.892, 0, 0, 0, 61 [SEP] 8, Glassbottle, 1.199, 0.912, 0.139, 0, 0, 0, 57 [SEP] 9, Fork, -0.698, 0.934, 0.239, 0, 0, 0, 56 [SEP] 10, Spoon, 0.773, 0.912, -1.965, 0, 0, 0, 62 [SEP] 11, Spatula, 0.833, 0.168, -0.729, 0, 90, 0, 59 [SEP] 12, Spatula, -0.808, 0.791, -0.573, 0, 180, 0, 77 [SEP] 13, Cup, 1.060, 1.792, -1.132, 0, 270, 0, 78 [SEP] 14, Plate, 0.944, 0.914, -0.034, 0, 0, 0, 57 [SEP] 15, SoapBottle, 0.960, 0.108, -1.972, 0, 0, 0, 61 [SEP] 16, SoapBottle, 1.039, 2.208, -1.517, 0, 270, 0, 63 [SEP] 17, Bowl, 1.212, 2.211, -0.973, 0, 270, 0, 63 [SEP] 18, Bowl, 0.760, 0.124, 0.374, 0, 270, 0, 51 [SEP] 19, PepperShaker, 1.240, 1.662, -1.961, 0, 270, 0, 55 [SEP] 20, PepperShaker, 1.056, 1.662, -0.593, 0, 270, 0, 65 [SEP] 21, Bread, 0.944, 0.992, -0.381, 0, 0, 0, 57 [SEP] 22, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 56 [SEP] 23, Glassbottle, -1.355, 0.934, 0.144, 0, 0, 0, 56 [SEP] 24, Bread, 0.905, 1.216, 1.349, 0, 270, 0, 79 [SEP] 25, CreditCard, -0.624, 0.930, -0.143, 0, 0, 0, 56 [SEP] 26, CellPhone, 0.859, 0.908, 0.139, 0, 0, 0, 57 [SEP] 27, Potato, -1.054, 0.209, 0.510, 0, 180, 0, 76 [SEP] 28, Knife, -0.550, 0.957, -0.067, 0, 90, 0, 56 [SEP] 29, Fork, -0.772, 0.934, -0.067, 0, 90, 0, 56 [SEP] 30, Pan, 1.077, 0.950, -1.098, 0, 0, 0, 58 [SEP] 31, Lettuce, -0.846, 1.010, 0.162, 0, 0, 0, 56 [SEP] 32, Plate, -0.772, 0.936, -1.231, 0, 0, 0, 56 [SEP] 33, Apple, -1.054, 0.229, 0.641, 0, 180, 0, 76 [SEP] 34, Pot, -1.221, 0.92, -0.49, 0, 0, 0, 56 [SEP] 35, Spatula, -0.642, 0.795, -0.918, 0, 0, 0, 77 [SEP] 36, PaperTowelRoll, -1.292, 1.037, -0.905, 0, 0, 0, 56 [SEP] 37, Tomato, 0.944, 0.952, -0.729, 0, 0, 0, 57 [SEP] 38, Egg, 0.783, 1.439, 0.967, 0, 270, 0, 79 [SEP] 39, SaltShaker, -0.920, 0.929, -1.618, 0, 0, 0, 56 [SEP] 40, PepperShaker, -1.467, 0.550, 2.874, 0, 0, 0, 82 [SEP] 41, Vase, -1.367, 0.881, 2.692, 0, 0, 0, 83 [SEP] 42, ButterKnife, 0.773, 0.911, -0.555, 0, 0, 0, 57 [SEP] 43, SoapBottle, -0.865, 0.177, 0.608, 0, 180, 0, 76 [SEP] 44, Vase, 0.811, 0.109, -2.212, 0, 0, 0, 61 [SEP] 45, Bowl, -0.753, 0.783, -0.745, 0, 90, 0, 77 [SEP] 46, DishSponge, -1.571, 0.881, 2.692, 0, 0, 0, 82 [SEP] 47, Spoon, -0.642, 0.777, -0.832, 0, 0, 0, 77 [SEP] 48, Cup, -0.624, 0.930, -1.386, 0, 0, 0, 56 [SEP] 49, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 75 [SEP] 50, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 51, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 52, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 53, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 54, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 55, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 56, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 57, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 58, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 59, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 60, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 61, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 62, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 63, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 64, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 65, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 66, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 67, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 68, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 69, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 70, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 71, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 72, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 73, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 74, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 75, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 76, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 77, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 78, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 79, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 80, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 81, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 82, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 83, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 84, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 85, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 86, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 87, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 88, NorthWall, , , , , , , [SEP] 89, EastWall, , , , , , , [SEP] 90, SouthWall, , , , , , , [SEP] 91, WestWall, , , , , , , ", "output": ["STEP 1: turn right, walk through kitchen to coffee maker, turn to face coffee maker | STEP 2: pick up white mug in coffee maker | STEP 3: turn left, walk to fridge, turn to face fridge | STEP 4: open fridge door, place mug inside fridge, close door, chill mug and wait, open fridge door, pick up mug, close door | STEP 5: turn right, walk to coffee maker, turn to face coffee maker | STEP 6: put mug inside coffee maker on counter | END"]} +{"id": "trial_T20190907_183807_477267-1", "input": "Put a chilled mug 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, -1.25, 0.900, 2.25, 0, 90, 0, [SEP] 1, Vase, -1.363, 0.555, 2.615, 0, 0, 0, 82 [SEP] 2, Potato, -0.912, 0.207, 0.510, 0, 0, 0, 76 [SEP] 3, CreditCard, 0.753, 0.150, -0.571, 0, 270, 0, 59 [SEP] 4, CellPhone, -1.104, 0.930, -0.118, 0, 0, 0, 56 [SEP] 5, CellPhone, 0.688, 0.908, -1.879, 0, 0, 0, 62 [SEP] 6, ButterKnife, -0.698, 0.933, -1.618, 0, 0, 0, 56 [SEP] 7, Glassbottle, 0.811, 0.109, -1.892, 0, 0, 0, 61 [SEP] 8, Glassbottle, 1.199, 0.912, 0.139, 0, 0, 0, 57 [SEP] 9, Fork, -0.698, 0.934, 0.239, 0, 0, 0, 56 [SEP] 10, Spoon, 0.773, 0.912, -1.965, 0, 0, 0, 62 [SEP] 11, Spatula, 0.833, 0.168, -0.729, 0, 90, 0, 59 [SEP] 12, Spatula, -0.808, 0.791, -0.573, 0, 180, 0, 77 [SEP] 13, Cup, 1.060, 1.792, -1.132, 0, 270, 0, 78 [SEP] 14, Plate, 0.944, 0.914, -0.034, 0, 0, 0, 57 [SEP] 15, SoapBottle, 0.960, 0.108, -1.972, 0, 0, 0, 61 [SEP] 16, SoapBottle, 1.039, 2.208, -1.517, 0, 270, 0, 63 [SEP] 17, Bowl, 1.212, 2.211, -0.973, 0, 270, 0, 63 [SEP] 18, Bowl, 0.760, 0.124, 0.374, 0, 270, 0, 51 [SEP] 19, PepperShaker, 1.240, 1.662, -1.961, 0, 270, 0, 55 [SEP] 20, PepperShaker, 1.056, 1.662, -0.593, 0, 270, 0, 65 [SEP] 21, Bread, 0.944, 0.992, -0.381, 0, 0, 0, 57 [SEP] 22, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 56 [SEP] 23, Glassbottle, -1.355, 0.934, 0.144, 0, 0, 0, 56 [SEP] 24, Bread, 0.905, 1.216, 1.349, 0, 270, 0, 79 [SEP] 25, CreditCard, -0.624, 0.930, -0.143, 0, 0, 0, 56 [SEP] 26, CellPhone, 0.859, 0.908, 0.139, 0, 0, 0, 57 [SEP] 27, Potato, -1.054, 0.209, 0.510, 0, 180, 0, 76 [SEP] 28, Knife, -0.550, 0.957, -0.067, 0, 90, 0, 56 [SEP] 29, Fork, -0.772, 0.934, -0.067, 0, 90, 0, 56 [SEP] 30, Pan, 1.077, 0.950, -1.098, 0, 0, 0, 58 [SEP] 31, Lettuce, -0.846, 1.010, 0.162, 0, 0, 0, 56 [SEP] 32, Plate, -0.772, 0.936, -1.231, 0, 0, 0, 56 [SEP] 33, Apple, -1.054, 0.229, 0.641, 0, 180, 0, 76 [SEP] 34, Pot, -1.221, 0.92, -0.49, 0, 0, 0, 56 [SEP] 35, Spatula, -0.642, 0.795, -0.918, 0, 0, 0, 77 [SEP] 36, PaperTowelRoll, -1.292, 1.037, -0.905, 0, 0, 0, 56 [SEP] 37, Tomato, 0.944, 0.952, -0.729, 0, 0, 0, 57 [SEP] 38, Egg, 0.783, 1.439, 0.967, 0, 270, 0, 79 [SEP] 39, SaltShaker, -0.920, 0.929, -1.618, 0, 0, 0, 56 [SEP] 40, PepperShaker, -1.467, 0.550, 2.874, 0, 0, 0, 82 [SEP] 41, Vase, -1.367, 0.881, 2.692, 0, 0, 0, 83 [SEP] 42, ButterKnife, 0.773, 0.911, -0.555, 0, 0, 0, 57 [SEP] 43, SoapBottle, -0.865, 0.177, 0.608, 0, 180, 0, 76 [SEP] 44, Vase, 0.811, 0.109, -2.212, 0, 0, 0, 61 [SEP] 45, Bowl, -0.753, 0.783, -0.745, 0, 90, 0, 77 [SEP] 46, DishSponge, -1.571, 0.881, 2.692, 0, 0, 0, 82 [SEP] 47, Spoon, -0.642, 0.777, -0.832, 0, 0, 0, 77 [SEP] 48, Cup, -0.624, 0.930, -1.386, 0, 0, 0, 56 [SEP] 49, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 75 [SEP] 50, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 51, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 52, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 53, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 54, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 55, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 56, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 57, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 58, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 59, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 60, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 61, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 62, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 63, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 64, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 65, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 66, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 67, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 68, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 69, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 70, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 71, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 72, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 73, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 74, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 75, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 76, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 77, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 78, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 79, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 80, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 81, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 82, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 83, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 84, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 85, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 86, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 87, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 88, NorthWall, , , , , , , [SEP] 89, EastWall, , , , , , , [SEP] 90, SouthWall, , , , , , , [SEP] 91, WestWall, , , , , , , ", "output": ["STEP 1: Go right and then turn left to face the coffee maker on the counter. | STEP 2: Pick the white mug up from under the coffee maker. | STEP 3: Go left and then turn toward the right to face the fridge. | STEP 4: Put the mug in the fridge and shut the door and then take the cup out again and shut the door. | STEP 5: Go right and cross to the other side of the room and turn right towards the coffee maker. | STEP 6: Put the mug under the coffee maker on the counter. | END"]} +{"id": "trial_T20190907_183807_477267-2", "input": "Put a chilled mug in 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, 2.25, 0, 90, 0, [SEP] 1, Vase, -1.363, 0.555, 2.615, 0, 0, 0, 82 [SEP] 2, Potato, -0.912, 0.207, 0.510, 0, 0, 0, 76 [SEP] 3, CreditCard, 0.753, 0.150, -0.571, 0, 270, 0, 59 [SEP] 4, CellPhone, -1.104, 0.930, -0.118, 0, 0, 0, 56 [SEP] 5, CellPhone, 0.688, 0.908, -1.879, 0, 0, 0, 62 [SEP] 6, ButterKnife, -0.698, 0.933, -1.618, 0, 0, 0, 56 [SEP] 7, Glassbottle, 0.811, 0.109, -1.892, 0, 0, 0, 61 [SEP] 8, Glassbottle, 1.199, 0.912, 0.139, 0, 0, 0, 57 [SEP] 9, Fork, -0.698, 0.934, 0.239, 0, 0, 0, 56 [SEP] 10, Spoon, 0.773, 0.912, -1.965, 0, 0, 0, 62 [SEP] 11, Spatula, 0.833, 0.168, -0.729, 0, 90, 0, 59 [SEP] 12, Spatula, -0.808, 0.791, -0.573, 0, 180, 0, 77 [SEP] 13, Cup, 1.060, 1.792, -1.132, 0, 270, 0, 78 [SEP] 14, Plate, 0.944, 0.914, -0.034, 0, 0, 0, 57 [SEP] 15, SoapBottle, 0.960, 0.108, -1.972, 0, 0, 0, 61 [SEP] 16, SoapBottle, 1.039, 2.208, -1.517, 0, 270, 0, 63 [SEP] 17, Bowl, 1.212, 2.211, -0.973, 0, 270, 0, 63 [SEP] 18, Bowl, 0.760, 0.124, 0.374, 0, 270, 0, 51 [SEP] 19, PepperShaker, 1.240, 1.662, -1.961, 0, 270, 0, 55 [SEP] 20, PepperShaker, 1.056, 1.662, -0.593, 0, 270, 0, 65 [SEP] 21, Bread, 0.944, 0.992, -0.381, 0, 0, 0, 57 [SEP] 22, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 56 [SEP] 23, Glassbottle, -1.355, 0.934, 0.144, 0, 0, 0, 56 [SEP] 24, Bread, 0.905, 1.216, 1.349, 0, 270, 0, 79 [SEP] 25, CreditCard, -0.624, 0.930, -0.143, 0, 0, 0, 56 [SEP] 26, CellPhone, 0.859, 0.908, 0.139, 0, 0, 0, 57 [SEP] 27, Potato, -1.054, 0.209, 0.510, 0, 180, 0, 76 [SEP] 28, Knife, -0.550, 0.957, -0.067, 0, 90, 0, 56 [SEP] 29, Fork, -0.772, 0.934, -0.067, 0, 90, 0, 56 [SEP] 30, Pan, 1.077, 0.950, -1.098, 0, 0, 0, 58 [SEP] 31, Lettuce, -0.846, 1.010, 0.162, 0, 0, 0, 56 [SEP] 32, Plate, -0.772, 0.936, -1.231, 0, 0, 0, 56 [SEP] 33, Apple, -1.054, 0.229, 0.641, 0, 180, 0, 76 [SEP] 34, Pot, -1.221, 0.92, -0.49, 0, 0, 0, 56 [SEP] 35, Spatula, -0.642, 0.795, -0.918, 0, 0, 0, 77 [SEP] 36, PaperTowelRoll, -1.292, 1.037, -0.905, 0, 0, 0, 56 [SEP] 37, Tomato, 0.944, 0.952, -0.729, 0, 0, 0, 57 [SEP] 38, Egg, 0.783, 1.439, 0.967, 0, 270, 0, 79 [SEP] 39, SaltShaker, -0.920, 0.929, -1.618, 0, 0, 0, 56 [SEP] 40, PepperShaker, -1.467, 0.550, 2.874, 0, 0, 0, 82 [SEP] 41, Vase, -1.367, 0.881, 2.692, 0, 0, 0, 83 [SEP] 42, ButterKnife, 0.773, 0.911, -0.555, 0, 0, 0, 57 [SEP] 43, SoapBottle, -0.865, 0.177, 0.608, 0, 180, 0, 76 [SEP] 44, Vase, 0.811, 0.109, -2.212, 0, 0, 0, 61 [SEP] 45, Bowl, -0.753, 0.783, -0.745, 0, 90, 0, 77 [SEP] 46, DishSponge, -1.571, 0.881, 2.692, 0, 0, 0, 82 [SEP] 47, Spoon, -0.642, 0.777, -0.832, 0, 0, 0, 77 [SEP] 48, Cup, -0.624, 0.930, -1.386, 0, 0, 0, 56 [SEP] 49, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 75 [SEP] 50, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 51, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 52, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 53, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 54, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 55, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 56, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 57, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 58, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 59, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 60, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 61, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 62, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 63, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 64, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 65, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 66, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 67, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 68, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 69, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 70, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 71, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 72, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 73, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 74, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 75, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 76, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 77, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 78, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 79, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 80, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 81, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 82, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 83, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 84, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 85, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 86, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 87, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 88, NorthWall, , , , , , , [SEP] 89, EastWall, , , , , , , [SEP] 90, SouthWall, , , , , , , [SEP] 91, WestWall, , , , , , , ", "output": ["STEP 1: Begin walking across the room, then hang a right and walk over to the coffee machine on the counter. | STEP 2: Pick up the white mug that is in the coffee machine on the counter. | STEP 3: Turn around and walk towards the wall, then hang a right and walk over to the fridge. | STEP 4: Open the fridge door and put the mug inside on the bottom shelf, then close the door, after a couple seconds open the fridge and remove the mug then close the fridge door. | STEP 5: Turn right and walk across the room, then turn left and walk up to the coffee machine. | STEP 6: Put the chilled mug in the coffee machine on the counter. | END"]} +{"id": "trial_T20190909_025340_208825-0", "input": "Cook a slice of tomato 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, -1.75, 0, 180, 0, [SEP] 1, Statue, -1.355, 0.936, -0.643, 0, 0, 0, 57 [SEP] 2, Statue, 1.114, 0.914, -0.208, 0, 0, 0, 58 [SEP] 3, Potato, -0.808, 0.807, -0.745, 0, 90, 0, 78 [SEP] 4, CreditCard, 0.688, 0.908, -1.965, 0, 0, 0, 63 [SEP] 5, CreditCard, 0.754, 0.699, -0.565, 0, 270, 0, 55 [SEP] 6, DishSponge, 0.754, 0.494, -0.690, 0, 270, 0, 61 [SEP] 7, Glassbottle, 1.194, 1.667, -0.529, 0, 270, 0, 66 [SEP] 8, Fork, 0.834, 0.495, -0.607, 0, 270, 0, 61 [SEP] 9, Fork, 0.944, 0.911, -0.555, 0, 0, 0, 58 [SEP] 10, Spatula, 0.914, 0.168, -0.611, 0, 0, 0, 60 [SEP] 11, Knife, -0.624, 0.957, 0.009, 0, 180, 0, 57 [SEP] 12, Cup, -1.674, 0.551, 2.874, 0, 0, 0, 83 [SEP] 13, Cup, 1.256, 2.205, -1.408, 0, 270, 0, 64 [SEP] 14, Tomato, 0.688, 0.952, -2.051, 0, 0, 0, 63 [SEP] 15, Tomato, -0.550, 0.974, -1.308, 0, 0, 0, 57 [SEP] 16, Tomato, 1.029, 0.952, -0.034, 0, 0, 0, 58 [SEP] 17, SoapBottle, 1.199, 0.911, -0.034, 0, 0, 0, 58 [SEP] 18, SoapBottle, 0.859, 0.911, -0.381, 0, 0, 0, 58 [SEP] 19, SaltShaker, 1.199, 0.907, -0.381, 0, 0, 0, 58 [SEP] 20, SaltShaker, 1.147, 1.662, 0.025, 0, 270, 0, 65 [SEP] 21, Apple, -0.960, 0.227, 0.576, 0, 180, 0, 77 [SEP] 22, Apple, 0.773, 0.961, -0.729, 0, 0, 0, 58 [SEP] 23, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 57 [SEP] 24, Glassbottle, -1.571, 0.882, 2.746, 0, 0, 0, 84 [SEP] 25, Bread, -0.846, 1.014, -1.540, 0, 0, 0, 57 [SEP] 26, CreditCard, 0.915, 0.492, -0.690, 0, 270, 0, 61 [SEP] 27, CellPhone, 0.834, 0.700, -0.690, 0, 270, 0, 55 [SEP] 28, Potato, -0.642, 0.810, -0.659, 0, 90, 0, 78 [SEP] 29, Knife, -0.698, 0.803, -0.745, 0, 90, 0, 78 [SEP] 30, Fork, 0.874, 0.154, -0.769, 0, 0, 0, 60 [SEP] 31, Pan, 0.966, 0.860, 1.063, 0, 180, 0, 80 [SEP] 32, Lettuce, -1.229, 1.010, -0.905, 0, 0, 0, 57 [SEP] 33, Plate, 0.861, 0.111, -1.892, 0, 0, 0, 62 [SEP] 34, Apple, 0.859, 0.961, -1.793, 0, 0, 0, 63 [SEP] 35, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 53 [SEP] 36, Spatula, 0.754, 0.718, -0.648, 0, 180, 0, 55 [SEP] 37, PaperTowelRoll, -0.818, 0.283, 0.543, 0, 270, 0, 77 [SEP] 38, Tomato, -0.772, 0.974, -1.231, 0, 0, 0, 57 [SEP] 39, Egg, -0.753, 0.814, -0.573, 0, 90, 0, 78 [SEP] 40, SaltShaker, 0.834, 0.699, -0.524, 0, 270, 0, 55 [SEP] 41, PepperShaker, 1.212, 2.204, -1.626, 0, 270, 0, 64 [SEP] 42, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 83 [SEP] 43, ButterKnife, -0.846, 0.933, -1.154, 0, 0, 0, 57 [SEP] 44, SoapBottle, 0.910, 0.108, -2.292, 0, 0, 0, 62 [SEP] 45, Vase, -1.985, 0.555, 2.615, 0, 0, 0, 83 [SEP] 46, Bowl, 0.905, 1.405, 1.540, 0, 270, 0, 80 [SEP] 47, DishSponge, 1.101, 1.665, -2.029, 0, 270, 0, 56 [SEP] 48, Spoon, -1.241, 0.919, -1.209, 0, 0, 0, 57 [SEP] 49, Cup, -1.363, 0.551, 2.718, 0, 0, 0, 83 [SEP] 50, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 76 [SEP] 51, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 52, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 53, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 54, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 55, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 56, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 57, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 58, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 59, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 60, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 61, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 62, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 63, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 64, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 65, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 66, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 67, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 68, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 69, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 70, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 71, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 72, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 73, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 74, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 75, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 76, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 77, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 78, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 79, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 80, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 81, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 82, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 83, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 84, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 85, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 86, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 87, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 88, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 89, NorthWall, , , , , , , [SEP] 90, EastWall, , , , , , , [SEP] 91, SouthWall, , , , , , , [SEP] 92, WestWall, , , , , , , ", "output": ["STEP 1: Turn left, go forward, turn left, go forward a bit, turn left to the counter | STEP 2: Take the tomato from the counter | STEP 3: Move a bit to the right | STEP 4: Put the tomato in the sink | STEP 5: Pick up the knife from the sink | STEP 6: Slice the tomato in the sink | STEP 7: Put the knife in the sink | STEP 8: Pick up a tomato slice from the sink | STEP 9: Turn around, go to the microwave | STEP 10: Put the tomato slice in the microwave, start the microwave, wait, pick up the tomato slice from the microwave | STEP 11: Turn around, go to the sink | STEP 12: Put the tomato slice in the sink | END"]} +{"id": "trial_T20190909_025340_208825-1", "input": "Place a warm tomato 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, -2.5, 0.900, -1.75, 0, 180, 0, [SEP] 1, Statue, -1.355, 0.936, -0.643, 0, 0, 0, 57 [SEP] 2, Statue, 1.114, 0.914, -0.208, 0, 0, 0, 58 [SEP] 3, Potato, -0.808, 0.807, -0.745, 0, 90, 0, 78 [SEP] 4, CreditCard, 0.688, 0.908, -1.965, 0, 0, 0, 63 [SEP] 5, CreditCard, 0.754, 0.699, -0.565, 0, 270, 0, 55 [SEP] 6, DishSponge, 0.754, 0.494, -0.690, 0, 270, 0, 61 [SEP] 7, Glassbottle, 1.194, 1.667, -0.529, 0, 270, 0, 66 [SEP] 8, Fork, 0.834, 0.495, -0.607, 0, 270, 0, 61 [SEP] 9, Fork, 0.944, 0.911, -0.555, 0, 0, 0, 58 [SEP] 10, Spatula, 0.914, 0.168, -0.611, 0, 0, 0, 60 [SEP] 11, Knife, -0.624, 0.957, 0.009, 0, 180, 0, 57 [SEP] 12, Cup, -1.674, 0.551, 2.874, 0, 0, 0, 83 [SEP] 13, Cup, 1.256, 2.205, -1.408, 0, 270, 0, 64 [SEP] 14, Tomato, 0.688, 0.952, -2.051, 0, 0, 0, 63 [SEP] 15, Tomato, -0.550, 0.974, -1.308, 0, 0, 0, 57 [SEP] 16, Tomato, 1.029, 0.952, -0.034, 0, 0, 0, 58 [SEP] 17, SoapBottle, 1.199, 0.911, -0.034, 0, 0, 0, 58 [SEP] 18, SoapBottle, 0.859, 0.911, -0.381, 0, 0, 0, 58 [SEP] 19, SaltShaker, 1.199, 0.907, -0.381, 0, 0, 0, 58 [SEP] 20, SaltShaker, 1.147, 1.662, 0.025, 0, 270, 0, 65 [SEP] 21, Apple, -0.960, 0.227, 0.576, 0, 180, 0, 77 [SEP] 22, Apple, 0.773, 0.961, -0.729, 0, 0, 0, 58 [SEP] 23, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 57 [SEP] 24, Glassbottle, -1.571, 0.882, 2.746, 0, 0, 0, 84 [SEP] 25, Bread, -0.846, 1.014, -1.540, 0, 0, 0, 57 [SEP] 26, CreditCard, 0.915, 0.492, -0.690, 0, 270, 0, 61 [SEP] 27, CellPhone, 0.834, 0.700, -0.690, 0, 270, 0, 55 [SEP] 28, Potato, -0.642, 0.810, -0.659, 0, 90, 0, 78 [SEP] 29, Knife, -0.698, 0.803, -0.745, 0, 90, 0, 78 [SEP] 30, Fork, 0.874, 0.154, -0.769, 0, 0, 0, 60 [SEP] 31, Pan, 0.966, 0.860, 1.063, 0, 180, 0, 80 [SEP] 32, Lettuce, -1.229, 1.010, -0.905, 0, 0, 0, 57 [SEP] 33, Plate, 0.861, 0.111, -1.892, 0, 0, 0, 62 [SEP] 34, Apple, 0.859, 0.961, -1.793, 0, 0, 0, 63 [SEP] 35, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 53 [SEP] 36, Spatula, 0.754, 0.718, -0.648, 0, 180, 0, 55 [SEP] 37, PaperTowelRoll, -0.818, 0.283, 0.543, 0, 270, 0, 77 [SEP] 38, Tomato, -0.772, 0.974, -1.231, 0, 0, 0, 57 [SEP] 39, Egg, -0.753, 0.814, -0.573, 0, 90, 0, 78 [SEP] 40, SaltShaker, 0.834, 0.699, -0.524, 0, 270, 0, 55 [SEP] 41, PepperShaker, 1.212, 2.204, -1.626, 0, 270, 0, 64 [SEP] 42, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 83 [SEP] 43, ButterKnife, -0.846, 0.933, -1.154, 0, 0, 0, 57 [SEP] 44, SoapBottle, 0.910, 0.108, -2.292, 0, 0, 0, 62 [SEP] 45, Vase, -1.985, 0.555, 2.615, 0, 0, 0, 83 [SEP] 46, Bowl, 0.905, 1.405, 1.540, 0, 270, 0, 80 [SEP] 47, DishSponge, 1.101, 1.665, -2.029, 0, 270, 0, 56 [SEP] 48, Spoon, -1.241, 0.919, -1.209, 0, 0, 0, 57 [SEP] 49, Cup, -1.363, 0.551, 2.718, 0, 0, 0, 83 [SEP] 50, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 76 [SEP] 51, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 52, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 53, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 54, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 55, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 56, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 57, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 58, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 59, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 60, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 61, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 62, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 63, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 64, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 65, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 66, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 67, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 68, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 69, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 70, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 71, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 72, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 73, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 74, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 75, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 76, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 77, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 78, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 79, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 80, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 81, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 82, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 83, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 84, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 85, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 86, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 87, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 88, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 89, NorthWall, , , , , , , [SEP] 90, EastWall, , , , , , , [SEP] 91, SouthWall, , , , , , , [SEP] 92, WestWall, , , , , , , ", "output": ["STEP 1: Turn left, then left again and face the sink to your left. | STEP 2: Take a tomato off of the counter in front of you. | STEP 3: Turn right and face the sink to your left. | STEP 4: Place the tomato in the sink in front of you. | STEP 5: Take the knife from the sink in front of you. | STEP 6: Slice the tomato in the sink in front of you. | STEP 7: Place the knife in the sink in front of you. | STEP 8: Take a tomato slice from the sink in front of you. | STEP 9: Turn around and face the microwave on top of the stove in front of you. | STEP 10: Heat up the tomato slice in the microwave and take the tomato out. | STEP 11: Turn around and face the sink in front of you. | STEP 12: Place the warm tomato slice in the sink in front of you. | END"]} +{"id": "trial_T20190909_025340_208825-2", "input": "Putting a hot 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, -2.5, 0.900, -1.75, 0, 180, 0, [SEP] 1, Statue, -1.355, 0.936, -0.643, 0, 0, 0, 57 [SEP] 2, Statue, 1.114, 0.914, -0.208, 0, 0, 0, 58 [SEP] 3, Potato, -0.808, 0.807, -0.745, 0, 90, 0, 78 [SEP] 4, CreditCard, 0.688, 0.908, -1.965, 0, 0, 0, 63 [SEP] 5, CreditCard, 0.754, 0.699, -0.565, 0, 270, 0, 55 [SEP] 6, DishSponge, 0.754, 0.494, -0.690, 0, 270, 0, 61 [SEP] 7, Glassbottle, 1.194, 1.667, -0.529, 0, 270, 0, 66 [SEP] 8, Fork, 0.834, 0.495, -0.607, 0, 270, 0, 61 [SEP] 9, Fork, 0.944, 0.911, -0.555, 0, 0, 0, 58 [SEP] 10, Spatula, 0.914, 0.168, -0.611, 0, 0, 0, 60 [SEP] 11, Knife, -0.624, 0.957, 0.009, 0, 180, 0, 57 [SEP] 12, Cup, -1.674, 0.551, 2.874, 0, 0, 0, 83 [SEP] 13, Cup, 1.256, 2.205, -1.408, 0, 270, 0, 64 [SEP] 14, Tomato, 0.688, 0.952, -2.051, 0, 0, 0, 63 [SEP] 15, Tomato, -0.550, 0.974, -1.308, 0, 0, 0, 57 [SEP] 16, Tomato, 1.029, 0.952, -0.034, 0, 0, 0, 58 [SEP] 17, SoapBottle, 1.199, 0.911, -0.034, 0, 0, 0, 58 [SEP] 18, SoapBottle, 0.859, 0.911, -0.381, 0, 0, 0, 58 [SEP] 19, SaltShaker, 1.199, 0.907, -0.381, 0, 0, 0, 58 [SEP] 20, SaltShaker, 1.147, 1.662, 0.025, 0, 270, 0, 65 [SEP] 21, Apple, -0.960, 0.227, 0.576, 0, 180, 0, 77 [SEP] 22, Apple, 0.773, 0.961, -0.729, 0, 0, 0, 58 [SEP] 23, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 57 [SEP] 24, Glassbottle, -1.571, 0.882, 2.746, 0, 0, 0, 84 [SEP] 25, Bread, -0.846, 1.014, -1.540, 0, 0, 0, 57 [SEP] 26, CreditCard, 0.915, 0.492, -0.690, 0, 270, 0, 61 [SEP] 27, CellPhone, 0.834, 0.700, -0.690, 0, 270, 0, 55 [SEP] 28, Potato, -0.642, 0.810, -0.659, 0, 90, 0, 78 [SEP] 29, Knife, -0.698, 0.803, -0.745, 0, 90, 0, 78 [SEP] 30, Fork, 0.874, 0.154, -0.769, 0, 0, 0, 60 [SEP] 31, Pan, 0.966, 0.860, 1.063, 0, 180, 0, 80 [SEP] 32, Lettuce, -1.229, 1.010, -0.905, 0, 0, 0, 57 [SEP] 33, Plate, 0.861, 0.111, -1.892, 0, 0, 0, 62 [SEP] 34, Apple, 0.859, 0.961, -1.793, 0, 0, 0, 63 [SEP] 35, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 53 [SEP] 36, Spatula, 0.754, 0.718, -0.648, 0, 180, 0, 55 [SEP] 37, PaperTowelRoll, -0.818, 0.283, 0.543, 0, 270, 0, 77 [SEP] 38, Tomato, -0.772, 0.974, -1.231, 0, 0, 0, 57 [SEP] 39, Egg, -0.753, 0.814, -0.573, 0, 90, 0, 78 [SEP] 40, SaltShaker, 0.834, 0.699, -0.524, 0, 270, 0, 55 [SEP] 41, PepperShaker, 1.212, 2.204, -1.626, 0, 270, 0, 64 [SEP] 42, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 83 [SEP] 43, ButterKnife, -0.846, 0.933, -1.154, 0, 0, 0, 57 [SEP] 44, SoapBottle, 0.910, 0.108, -2.292, 0, 0, 0, 62 [SEP] 45, Vase, -1.985, 0.555, 2.615, 0, 0, 0, 83 [SEP] 46, Bowl, 0.905, 1.405, 1.540, 0, 270, 0, 80 [SEP] 47, DishSponge, 1.101, 1.665, -2.029, 0, 270, 0, 56 [SEP] 48, Spoon, -1.241, 0.919, -1.209, 0, 0, 0, 57 [SEP] 49, Cup, -1.363, 0.551, 2.718, 0, 0, 0, 83 [SEP] 50, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 76 [SEP] 51, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 52, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 53, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 54, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 55, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 56, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 57, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 58, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 59, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 60, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 61, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 62, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 63, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 64, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 65, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 66, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 67, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 68, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 69, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 70, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 71, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 72, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 73, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 74, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 75, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 76, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 77, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 78, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 79, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 80, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 81, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 82, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 83, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 84, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 85, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 86, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 87, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 88, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 89, NorthWall, , , , , , , [SEP] 90, EastWall, , , , , , , [SEP] 91, SouthWall, , , , , , , [SEP] 92, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and go to the counter to the left of the sink | STEP 2: Grab a tomato off of the counter | STEP 3: Turn right and go to the sink | STEP 4: Put the tomato in the sink | STEP 5: Grab the knife out of the sink | STEP 6: Slice the tomato in the sink | STEP 7: Put the knife in the sink | STEP 8: Grab a slice of tomato | STEP 9: Turn around and go to the microwave | STEP 10: Heat the sliced tomato in the microwave and then take it out | STEP 11: Turn around and go to the sink | STEP 12: Put the sliced tomato in the sink | END"]} +{"id": "trial_T20190907_103005_855069-0", "input": "Examine an empty 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, -5.5, 0.901, 3.25, 0, 0, 0, [SEP] 1, TissueBox, -5.764, 0.078, 4.069, 0, 90, 0, 35 [SEP] 2, TissueBox, -5.194, 1.040, 0.239, 0, 0, 0, 40 [SEP] 3, Newspaper, -0.376, 1.597, 1.097, 0, 270, 0, 49 [SEP] 4, Newspaper, -5.534, 1.045, 0.438, 0, 0, 0, 40 [SEP] 5, CellPhone, -2.901, 1.111, 4.786, 0, 90, 0, 58 [SEP] 6, CellPhone, -2.085, 0.590, 4.644, 0, 0, 0, 52 [SEP] 7, Statue, -4.184, 1.117, 4.687, 0, 90, 0, 58 [SEP] 8, Statue, -2.297, 0.039, 0.212, 0, 90, 0, 41 [SEP] 9, RemoteControl, -1.117, 0.611, 3.281, 0, 0, 0, 62 [SEP] 10, RemoteControl, -0.705, 0.611, 2.224, 0, 0, 0, 62 [SEP] 11, Box, -4.741, 0.425, 4.331, 0, 180, 0, 61 [SEP] 12, Box, -0.787, 0.830, 3.545, 0, 0, 0, 62 [SEP] 13, Box, -3.052, 0.421, 4.342, 0, 180, 0, 57 [SEP] 14, Box, -0.870, 0.830, 1.960, 0, 180, 0, 62 [SEP] 15, Watch, -4.854, 1.039, 0.239, 0, 0, 0, 40 [SEP] 16, Pillow, -2.031, 0.668, 4.421, 0, 0, 0, 52 [SEP] 17, TissueBox, -3.864, 1.112, 4.687, 0, 90, 0, 58 [SEP] 18, Newspaper, -0.870, 0.628, 2.753, 0, 0, 0, 62 [SEP] 19, CreditCard, -4.854, 1.038, 0.438, 0, 0, 0, 40 [SEP] 20, KeyChain, -5.364, 1.039, 0.504, 0, 180, 0, 40 [SEP] 21, CellPhone, -0.787, 0.609, 3.281, 0, 0, 0, 62 [SEP] 22, Statue, -4.505, 1.113, 4.490, 0, 90, 0, 58 [SEP] 23, Laptop, -3.393, 1.104, 4.492, 0, 191.867, 0, 58 [SEP] 24, RemoteControl, -3.863, 1.110, 4.391, 0, 90, 0, 54 [SEP] 25, Vase, -4.826, 1.111, 4.786, 0, 90, 0, 58 [SEP] 26, DeskLamp, -4.649, 1.051, 0.268, 0, 0, 0, [SEP] 27, DeskLamp, -2.992, 1.107, 4.522, 0, 0, 0, [SEP] 28, FloorLamp, -0.650, 0.007, 4.431, 0, 0, 0, [SEP] 29, FloorLamp, -5.607, 0.007, 4.641, 0, 0, 0, [SEP] 30, Shelf, -5.237, 1.776, 0.070, 0, 0, 0, [SEP] 31, Shelf, -5.238, 1.968, 0.085, 0, 0, 0, [SEP] 32, Shelf, -5.242, 1.391, 0.086, 0, 0, 0, [SEP] 33, Shelf, -5.241, 1.582, 0.065, 0, 0, 0, [SEP] 34, LightSwitch, -6.002, 1.353, 3.404, 0, 90, 0, [SEP] 35, GarbageCan, -5.794, -0.033, 4.073, 0, 90, 0, [SEP] 36, Painting, -6.017, 1.802, 4.177, 90, 270, 0, [SEP] 37, HousePlant, -3.966, 1.625, 0.135, 0, 315, 0, [SEP] 38, Television, -3.355, 0.833, 0.027, 0, 0, 0, [SEP] 39, Drawer, -5.024, 0.903, 0.370, 0, 0, 0, [SEP] 40, SideTable, -5.024, 0.008, 0.267, 0, 0, 0, [SEP] 41, Safe, -2.298, 5.778, 0.268, 0, 90, 0, [SEP] 42, Shelf, -0.253, 0.781, 1.058, 0, 270, 0, [SEP] 43, Shelf, -0.283, 0.274, 1.066, 0, 270, 0, [SEP] 44, Shelf, -1.224, 1.288, 0.270, 0, 0, 0, [SEP] 45, Shelf, -1.218, 1.810, 0.275, 0, 0, 0, [SEP] 46, Shelf, -0.280, 1.810, 1.057, 0, 270, 0, [SEP] 47, Shelf, -1.218, 0.274, 0.262, 0, 0, 0, [SEP] 48, Shelf, -1.223, 0.782, 0.237, 0, 0, 0, [SEP] 49, Shelf, -0.280, 1.288, 1.055, 0, 270, 0, [SEP] 50, ShelvingUnit, -0.268, 0.004, 1.067, 0, 270, 0, [SEP] 51, ShelvingUnit, -1.218, 0.004, 0.244, 0, 0, 0, [SEP] 52, ArmChair, -2.027, 0.001, 4.422, 0, 178.692, 0, [SEP] 53, Drawer, -4.329, 1.014, 4.311, 0, 180, 0, [SEP] 54, Drawer, -3.750, 1.014, 4.311, 0, 180, 0, [SEP] 55, Cabinet, -4.049, 0.561, 4.212, 0, 180, 0, [SEP] 56, Cabinet, -4.032, 0.561, 4.212, 0, 180, 0, [SEP] 57, Cabinet, -2.884, 0.561, 4.212, 0, 180, 0, [SEP] 58, Dresser, -4.041, -0.000, 4.589, 0, 180, 0, [SEP] 59, Drawer, -4.916, 1.014, 4.311, 0, 180, 0, [SEP] 60, Drawer, -3.166, 1.014, 4.311, 0, 180, 0, [SEP] 61, Cabinet, -5.196, 0.561, 4.212, 0, 180, 0, [SEP] 62, Sofa, -0.705, -0.002, 2.753, 0, 270, 0, [SEP] 63, NorthWall, , , , , , , [SEP] 64, SouthWall, , , , , , , [SEP] 65, SouthWall, , , , , , , ", "output": ["STEP 1: Turn right and walk forward to the large sofa. | STEP 2: Pick up the empty box from the sofa. | STEP 3: Move slightly forward to face the floor lamp next to the sofa. | STEP 4: Turn on the floor lamp. | END"]} +{"id": "trial_T20190907_103005_855069-1", "input": "Grab the box on the sofa, turn on the lamp by the sofa SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -5.5, 0.901, 3.25, 0, 0, 0, [SEP] 1, TissueBox, -5.764, 0.078, 4.069, 0, 90, 0, 35 [SEP] 2, TissueBox, -5.194, 1.040, 0.239, 0, 0, 0, 40 [SEP] 3, Newspaper, -0.376, 1.597, 1.097, 0, 270, 0, 49 [SEP] 4, Newspaper, -5.534, 1.045, 0.438, 0, 0, 0, 40 [SEP] 5, CellPhone, -2.901, 1.111, 4.786, 0, 90, 0, 58 [SEP] 6, CellPhone, -2.085, 0.590, 4.644, 0, 0, 0, 52 [SEP] 7, Statue, -4.184, 1.117, 4.687, 0, 90, 0, 58 [SEP] 8, Statue, -2.297, 0.039, 0.212, 0, 90, 0, 41 [SEP] 9, RemoteControl, -1.117, 0.611, 3.281, 0, 0, 0, 62 [SEP] 10, RemoteControl, -0.705, 0.611, 2.224, 0, 0, 0, 62 [SEP] 11, Box, -4.741, 0.425, 4.331, 0, 180, 0, 61 [SEP] 12, Box, -0.787, 0.830, 3.545, 0, 0, 0, 62 [SEP] 13, Box, -3.052, 0.421, 4.342, 0, 180, 0, 57 [SEP] 14, Box, -0.870, 0.830, 1.960, 0, 180, 0, 62 [SEP] 15, Watch, -4.854, 1.039, 0.239, 0, 0, 0, 40 [SEP] 16, Pillow, -2.031, 0.668, 4.421, 0, 0, 0, 52 [SEP] 17, TissueBox, -3.864, 1.112, 4.687, 0, 90, 0, 58 [SEP] 18, Newspaper, -0.870, 0.628, 2.753, 0, 0, 0, 62 [SEP] 19, CreditCard, -4.854, 1.038, 0.438, 0, 0, 0, 40 [SEP] 20, KeyChain, -5.364, 1.039, 0.504, 0, 180, 0, 40 [SEP] 21, CellPhone, -0.787, 0.609, 3.281, 0, 0, 0, 62 [SEP] 22, Statue, -4.505, 1.113, 4.490, 0, 90, 0, 58 [SEP] 23, Laptop, -3.393, 1.104, 4.492, 0, 191.867, 0, 58 [SEP] 24, RemoteControl, -3.863, 1.110, 4.391, 0, 90, 0, 54 [SEP] 25, Vase, -4.826, 1.111, 4.786, 0, 90, 0, 58 [SEP] 26, DeskLamp, -4.649, 1.051, 0.268, 0, 0, 0, [SEP] 27, DeskLamp, -2.992, 1.107, 4.522, 0, 0, 0, [SEP] 28, FloorLamp, -0.650, 0.007, 4.431, 0, 0, 0, [SEP] 29, FloorLamp, -5.607, 0.007, 4.641, 0, 0, 0, [SEP] 30, Shelf, -5.237, 1.776, 0.070, 0, 0, 0, [SEP] 31, Shelf, -5.238, 1.968, 0.085, 0, 0, 0, [SEP] 32, Shelf, -5.242, 1.391, 0.086, 0, 0, 0, [SEP] 33, Shelf, -5.241, 1.582, 0.065, 0, 0, 0, [SEP] 34, LightSwitch, -6.002, 1.353, 3.404, 0, 90, 0, [SEP] 35, GarbageCan, -5.794, -0.033, 4.073, 0, 90, 0, [SEP] 36, Painting, -6.017, 1.802, 4.177, 90, 270, 0, [SEP] 37, HousePlant, -3.966, 1.625, 0.135, 0, 315, 0, [SEP] 38, Television, -3.355, 0.833, 0.027, 0, 0, 0, [SEP] 39, Drawer, -5.024, 0.903, 0.370, 0, 0, 0, [SEP] 40, SideTable, -5.024, 0.008, 0.267, 0, 0, 0, [SEP] 41, Safe, -2.298, 5.778, 0.268, 0, 90, 0, [SEP] 42, Shelf, -0.253, 0.781, 1.058, 0, 270, 0, [SEP] 43, Shelf, -0.283, 0.274, 1.066, 0, 270, 0, [SEP] 44, Shelf, -1.224, 1.288, 0.270, 0, 0, 0, [SEP] 45, Shelf, -1.218, 1.810, 0.275, 0, 0, 0, [SEP] 46, Shelf, -0.280, 1.810, 1.057, 0, 270, 0, [SEP] 47, Shelf, -1.218, 0.274, 0.262, 0, 0, 0, [SEP] 48, Shelf, -1.223, 0.782, 0.237, 0, 0, 0, [SEP] 49, Shelf, -0.280, 1.288, 1.055, 0, 270, 0, [SEP] 50, ShelvingUnit, -0.268, 0.004, 1.067, 0, 270, 0, [SEP] 51, ShelvingUnit, -1.218, 0.004, 0.244, 0, 0, 0, [SEP] 52, ArmChair, -2.027, 0.001, 4.422, 0, 178.692, 0, [SEP] 53, Drawer, -4.329, 1.014, 4.311, 0, 180, 0, [SEP] 54, Drawer, -3.750, 1.014, 4.311, 0, 180, 0, [SEP] 55, Cabinet, -4.049, 0.561, 4.212, 0, 180, 0, [SEP] 56, Cabinet, -4.032, 0.561, 4.212, 0, 180, 0, [SEP] 57, Cabinet, -2.884, 0.561, 4.212, 0, 180, 0, [SEP] 58, Dresser, -4.041, -0.000, 4.589, 0, 180, 0, [SEP] 59, Drawer, -4.916, 1.014, 4.311, 0, 180, 0, [SEP] 60, Drawer, -3.166, 1.014, 4.311, 0, 180, 0, [SEP] 61, Cabinet, -5.196, 0.561, 4.212, 0, 180, 0, [SEP] 62, Sofa, -0.705, -0.002, 2.753, 0, 270, 0, [SEP] 63, NorthWall, , , , , , , [SEP] 64, SouthWall, , , , , , , [SEP] 65, SouthWall, , , , , , , ", "output": ["STEP 1: Turn right, walk to the sofa | STEP 2: Grab the box on the sofa | STEP 3: Turn to the floor lamp by the sofa | STEP 4: Turn on the floor lamp | END"]} +{"id": "trial_T20190907_103005_855069-2", "input": "To use the lamp to see the box. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -5.5, 0.901, 3.25, 0, 0, 0, [SEP] 1, TissueBox, -5.764, 0.078, 4.069, 0, 90, 0, 35 [SEP] 2, TissueBox, -5.194, 1.040, 0.239, 0, 0, 0, 40 [SEP] 3, Newspaper, -0.376, 1.597, 1.097, 0, 270, 0, 49 [SEP] 4, Newspaper, -5.534, 1.045, 0.438, 0, 0, 0, 40 [SEP] 5, CellPhone, -2.901, 1.111, 4.786, 0, 90, 0, 58 [SEP] 6, CellPhone, -2.085, 0.590, 4.644, 0, 0, 0, 52 [SEP] 7, Statue, -4.184, 1.117, 4.687, 0, 90, 0, 58 [SEP] 8, Statue, -2.297, 0.039, 0.212, 0, 90, 0, 41 [SEP] 9, RemoteControl, -1.117, 0.611, 3.281, 0, 0, 0, 62 [SEP] 10, RemoteControl, -0.705, 0.611, 2.224, 0, 0, 0, 62 [SEP] 11, Box, -4.741, 0.425, 4.331, 0, 180, 0, 61 [SEP] 12, Box, -0.787, 0.830, 3.545, 0, 0, 0, 62 [SEP] 13, Box, -3.052, 0.421, 4.342, 0, 180, 0, 57 [SEP] 14, Box, -0.870, 0.830, 1.960, 0, 180, 0, 62 [SEP] 15, Watch, -4.854, 1.039, 0.239, 0, 0, 0, 40 [SEP] 16, Pillow, -2.031, 0.668, 4.421, 0, 0, 0, 52 [SEP] 17, TissueBox, -3.864, 1.112, 4.687, 0, 90, 0, 58 [SEP] 18, Newspaper, -0.870, 0.628, 2.753, 0, 0, 0, 62 [SEP] 19, CreditCard, -4.854, 1.038, 0.438, 0, 0, 0, 40 [SEP] 20, KeyChain, -5.364, 1.039, 0.504, 0, 180, 0, 40 [SEP] 21, CellPhone, -0.787, 0.609, 3.281, 0, 0, 0, 62 [SEP] 22, Statue, -4.505, 1.113, 4.490, 0, 90, 0, 58 [SEP] 23, Laptop, -3.393, 1.104, 4.492, 0, 191.867, 0, 58 [SEP] 24, RemoteControl, -3.863, 1.110, 4.391, 0, 90, 0, 54 [SEP] 25, Vase, -4.826, 1.111, 4.786, 0, 90, 0, 58 [SEP] 26, DeskLamp, -4.649, 1.051, 0.268, 0, 0, 0, [SEP] 27, DeskLamp, -2.992, 1.107, 4.522, 0, 0, 0, [SEP] 28, FloorLamp, -0.650, 0.007, 4.431, 0, 0, 0, [SEP] 29, FloorLamp, -5.607, 0.007, 4.641, 0, 0, 0, [SEP] 30, Shelf, -5.237, 1.776, 0.070, 0, 0, 0, [SEP] 31, Shelf, -5.238, 1.968, 0.085, 0, 0, 0, [SEP] 32, Shelf, -5.242, 1.391, 0.086, 0, 0, 0, [SEP] 33, Shelf, -5.241, 1.582, 0.065, 0, 0, 0, [SEP] 34, LightSwitch, -6.002, 1.353, 3.404, 0, 90, 0, [SEP] 35, GarbageCan, -5.794, -0.033, 4.073, 0, 90, 0, [SEP] 36, Painting, -6.017, 1.802, 4.177, 90, 270, 0, [SEP] 37, HousePlant, -3.966, 1.625, 0.135, 0, 315, 0, [SEP] 38, Television, -3.355, 0.833, 0.027, 0, 0, 0, [SEP] 39, Drawer, -5.024, 0.903, 0.370, 0, 0, 0, [SEP] 40, SideTable, -5.024, 0.008, 0.267, 0, 0, 0, [SEP] 41, Safe, -2.298, 5.778, 0.268, 0, 90, 0, [SEP] 42, Shelf, -0.253, 0.781, 1.058, 0, 270, 0, [SEP] 43, Shelf, -0.283, 0.274, 1.066, 0, 270, 0, [SEP] 44, Shelf, -1.224, 1.288, 0.270, 0, 0, 0, [SEP] 45, Shelf, -1.218, 1.810, 0.275, 0, 0, 0, [SEP] 46, Shelf, -0.280, 1.810, 1.057, 0, 270, 0, [SEP] 47, Shelf, -1.218, 0.274, 0.262, 0, 0, 0, [SEP] 48, Shelf, -1.223, 0.782, 0.237, 0, 0, 0, [SEP] 49, Shelf, -0.280, 1.288, 1.055, 0, 270, 0, [SEP] 50, ShelvingUnit, -0.268, 0.004, 1.067, 0, 270, 0, [SEP] 51, ShelvingUnit, -1.218, 0.004, 0.244, 0, 0, 0, [SEP] 52, ArmChair, -2.027, 0.001, 4.422, 0, 178.692, 0, [SEP] 53, Drawer, -4.329, 1.014, 4.311, 0, 180, 0, [SEP] 54, Drawer, -3.750, 1.014, 4.311, 0, 180, 0, [SEP] 55, Cabinet, -4.049, 0.561, 4.212, 0, 180, 0, [SEP] 56, Cabinet, -4.032, 0.561, 4.212, 0, 180, 0, [SEP] 57, Cabinet, -2.884, 0.561, 4.212, 0, 180, 0, [SEP] 58, Dresser, -4.041, -0.000, 4.589, 0, 180, 0, [SEP] 59, Drawer, -4.916, 1.014, 4.311, 0, 180, 0, [SEP] 60, Drawer, -3.166, 1.014, 4.311, 0, 180, 0, [SEP] 61, Cabinet, -5.196, 0.561, 4.212, 0, 180, 0, [SEP] 62, Sofa, -0.705, -0.002, 2.753, 0, 270, 0, [SEP] 63, NorthWall, , , , , , , [SEP] 64, SouthWall, , , , , , , [SEP] 65, SouthWall, , , , , , , ", "output": ["STEP 1: Turn to the right and walk to the white couch across the room. | STEP 2: Pick up the empty white box that is to the left of the cell phone. | STEP 3: Look up and to the left of the white couch. | STEP 4: Turn on the lamp to the left of the couch. | END"]} +{"id": "trial_T20190906_213948_501157-0", "input": "Look at the box of tissues 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, -4.25, 0.901, 3.0, 0, 270, 0, [SEP] 1, TissueBox, -3.638, 0.205, 4.395, 0, 90, 0, 56 [SEP] 2, TissueBox, -4.854, 1.040, 0.173, 0, 0, 0, 40 [SEP] 3, TissueBox, -4.505, 1.112, 4.588, 0, 90, 0, 58 [SEP] 4, Newspaper, -0.787, 0.615, 1.960, 0, 0, 0, 62 [SEP] 5, Statue, -1.369, 1.107, 0.265, 0, 0, 0, 44 [SEP] 6, Vase, -5.534, 1.043, 0.173, 0, 0, 0, 40 [SEP] 7, Vase, -4.154, 0.203, 4.528, 0, 90, 0, 55 [SEP] 8, Watch, -3.543, 1.111, 4.490, 0, 90, 0, 58 [SEP] 9, KeyChain, -2.210, 0.590, 4.384, 0, 0, 0, 52 [SEP] 10, CreditCard, -0.705, 0.608, 2.488, 0, 0, 0, 62 [SEP] 11, CreditCard, -3.222, 1.107, 4.391, 0, 90, 0, 60 [SEP] 12, RemoteControl, -0.705, 0.611, 3.545, 0, 0, 0, 62 [SEP] 13, RemoteControl, -4.826, 1.110, 4.786, 0, 90, 0, 58 [SEP] 14, Box, -0.221, 1.813, 1.097, 0, 90, 0, 46 [SEP] 15, Watch, -5.413, 1.591, 0.052, 0, 0, 0, 33 [SEP] 16, Pillow, -2.031, 0.668, 4.421, 0, 0, 0, 52 [SEP] 17, TissueBox, -5.024, 1.040, 0.504, 0, 0, 0, 40 [SEP] 18, Newspaper, -1.280, 1.597, 0.221, 0, 0, 0, 45 [SEP] 19, CreditCard, -4.157, 0.997, 4.313, 0, 90, 0, 53 [SEP] 20, KeyChain, -4.184, 1.112, 4.391, 0, 180, 0, 53 [SEP] 21, CellPhone, -2.351, 0.034, 0.160, 0, 90, 0, 41 [SEP] 22, Statue, -3.222, 1.117, 4.786, 0, 90, 0, 58 [SEP] 23, Laptop, -4.184, 1.105, 4.687, 0, 90, 0, 58 [SEP] 24, RemoteControl, -3.543, 1.110, 4.292, 0, 90, 0, 58 [SEP] 25, Vase, -2.191, 0.037, 0.369, 0, 90, 0, 41 [SEP] 26, DeskLamp, -4.649, 1.051, 0.268, 0, 0, 0, [SEP] 27, DeskLamp, -2.992, 1.107, 4.522, 0, 0, 0, [SEP] 28, FloorLamp, -0.650, 0.007, 4.431, 0, 0, 0, [SEP] 29, FloorLamp, -5.607, 0.007, 4.641, 0, 0, 0, [SEP] 30, Shelf, -5.237, 1.776, 0.070, 0, 0, 0, [SEP] 31, Shelf, -5.238, 1.968, 0.085, 0, 0, 0, [SEP] 32, Shelf, -5.242, 1.391, 0.086, 0, 0, 0, [SEP] 33, Shelf, -5.241, 1.582, 0.065, 0, 0, 0, [SEP] 34, LightSwitch, -6.002, 1.353, 3.404, 0, 90, 0, [SEP] 35, GarbageCan, -5.794, -0.033, 4.073, 0, 90, 0, [SEP] 36, Painting, -6.017, 1.802, 4.177, 90, 270, 0, [SEP] 37, HousePlant, -3.966, 1.625, 0.135, 0, 315, 0, [SEP] 38, Television, -3.355, 0.833, 0.027, 0, 0, 0, [SEP] 39, Drawer, -5.024, 0.903, 0.370, 0, 0, 0, [SEP] 40, SideTable, -5.024, 0.008, 0.267, 0, 0, 0, [SEP] 41, Safe, -2.298, 5.778, 0.268, 0, 90, 0, [SEP] 42, Shelf, -0.253, 0.781, 1.058, 0, 270, 0, [SEP] 43, Shelf, -0.283, 0.274, 1.066, 0, 270, 0, [SEP] 44, Shelf, -1.224, 1.288, 0.270, 0, 0, 0, [SEP] 45, Shelf, -1.218, 1.810, 0.275, 0, 0, 0, [SEP] 46, Shelf, -0.280, 1.810, 1.057, 0, 270, 0, [SEP] 47, Shelf, -1.218, 0.274, 0.262, 0, 0, 0, [SEP] 48, Shelf, -1.223, 0.782, 0.237, 0, 0, 0, [SEP] 49, Shelf, -0.280, 1.288, 1.055, 0, 270, 0, [SEP] 50, ShelvingUnit, -0.268, 0.004, 1.067, 0, 270, 0, [SEP] 51, ShelvingUnit, -1.218, 0.004, 0.244, 0, 0, 0, [SEP] 52, ArmChair, -2.027, 0.001, 4.422, 0, 178.692, 0, [SEP] 53, Drawer, -4.329, 1.014, 4.311, 0, 180, 0, [SEP] 54, Drawer, -3.750, 1.014, 4.311, 0, 180, 0, [SEP] 55, Cabinet, -4.049, 0.561, 4.212, 0, 180, 0, [SEP] 56, Cabinet, -4.032, 0.561, 4.212, 0, 180, 0, [SEP] 57, Cabinet, -2.884, 0.561, 4.212, 0, 180, 0, [SEP] 58, Dresser, -4.041, -0.000, 4.589, 0, 180, 0, [SEP] 59, Drawer, -4.916, 1.014, 4.311, 0, 180, 0, [SEP] 60, Drawer, -3.166, 1.014, 4.311, 0, 180, 0, [SEP] 61, Cabinet, -5.196, 0.561, 4.212, 0, 180, 0, [SEP] 62, Sofa, -0.705, -0.002, 2.753, 0, 270, 0, [SEP] 63, NorthWall, , , , , , , [SEP] 64, SouthWall, , , , , , , [SEP] 65, SouthWall, , , , , , , ", "output": ["STEP 1: Turn to the dresser on your right. | STEP 2: Pick up the box of tissues. | STEP 3: Turn and go to the lamp in the corner on your left. | STEP 4: Turn on the lamp. | END"]} +{"id": "trial_T20190906_213948_501157-1", "input": "Examine a box of tissues 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, -4.25, 0.901, 3.0, 0, 270, 0, [SEP] 1, TissueBox, -3.638, 0.205, 4.395, 0, 90, 0, 56 [SEP] 2, TissueBox, -4.854, 1.040, 0.173, 0, 0, 0, 40 [SEP] 3, TissueBox, -4.505, 1.112, 4.588, 0, 90, 0, 58 [SEP] 4, Newspaper, -0.787, 0.615, 1.960, 0, 0, 0, 62 [SEP] 5, Statue, -1.369, 1.107, 0.265, 0, 0, 0, 44 [SEP] 6, Vase, -5.534, 1.043, 0.173, 0, 0, 0, 40 [SEP] 7, Vase, -4.154, 0.203, 4.528, 0, 90, 0, 55 [SEP] 8, Watch, -3.543, 1.111, 4.490, 0, 90, 0, 58 [SEP] 9, KeyChain, -2.210, 0.590, 4.384, 0, 0, 0, 52 [SEP] 10, CreditCard, -0.705, 0.608, 2.488, 0, 0, 0, 62 [SEP] 11, CreditCard, -3.222, 1.107, 4.391, 0, 90, 0, 60 [SEP] 12, RemoteControl, -0.705, 0.611, 3.545, 0, 0, 0, 62 [SEP] 13, RemoteControl, -4.826, 1.110, 4.786, 0, 90, 0, 58 [SEP] 14, Box, -0.221, 1.813, 1.097, 0, 90, 0, 46 [SEP] 15, Watch, -5.413, 1.591, 0.052, 0, 0, 0, 33 [SEP] 16, Pillow, -2.031, 0.668, 4.421, 0, 0, 0, 52 [SEP] 17, TissueBox, -5.024, 1.040, 0.504, 0, 0, 0, 40 [SEP] 18, Newspaper, -1.280, 1.597, 0.221, 0, 0, 0, 45 [SEP] 19, CreditCard, -4.157, 0.997, 4.313, 0, 90, 0, 53 [SEP] 20, KeyChain, -4.184, 1.112, 4.391, 0, 180, 0, 53 [SEP] 21, CellPhone, -2.351, 0.034, 0.160, 0, 90, 0, 41 [SEP] 22, Statue, -3.222, 1.117, 4.786, 0, 90, 0, 58 [SEP] 23, Laptop, -4.184, 1.105, 4.687, 0, 90, 0, 58 [SEP] 24, RemoteControl, -3.543, 1.110, 4.292, 0, 90, 0, 58 [SEP] 25, Vase, -2.191, 0.037, 0.369, 0, 90, 0, 41 [SEP] 26, DeskLamp, -4.649, 1.051, 0.268, 0, 0, 0, [SEP] 27, DeskLamp, -2.992, 1.107, 4.522, 0, 0, 0, [SEP] 28, FloorLamp, -0.650, 0.007, 4.431, 0, 0, 0, [SEP] 29, FloorLamp, -5.607, 0.007, 4.641, 0, 0, 0, [SEP] 30, Shelf, -5.237, 1.776, 0.070, 0, 0, 0, [SEP] 31, Shelf, -5.238, 1.968, 0.085, 0, 0, 0, [SEP] 32, Shelf, -5.242, 1.391, 0.086, 0, 0, 0, [SEP] 33, Shelf, -5.241, 1.582, 0.065, 0, 0, 0, [SEP] 34, LightSwitch, -6.002, 1.353, 3.404, 0, 90, 0, [SEP] 35, GarbageCan, -5.794, -0.033, 4.073, 0, 90, 0, [SEP] 36, Painting, -6.017, 1.802, 4.177, 90, 270, 0, [SEP] 37, HousePlant, -3.966, 1.625, 0.135, 0, 315, 0, [SEP] 38, Television, -3.355, 0.833, 0.027, 0, 0, 0, [SEP] 39, Drawer, -5.024, 0.903, 0.370, 0, 0, 0, [SEP] 40, SideTable, -5.024, 0.008, 0.267, 0, 0, 0, [SEP] 41, Safe, -2.298, 5.778, 0.268, 0, 90, 0, [SEP] 42, Shelf, -0.253, 0.781, 1.058, 0, 270, 0, [SEP] 43, Shelf, -0.283, 0.274, 1.066, 0, 270, 0, [SEP] 44, Shelf, -1.224, 1.288, 0.270, 0, 0, 0, [SEP] 45, Shelf, -1.218, 1.810, 0.275, 0, 0, 0, [SEP] 46, Shelf, -0.280, 1.810, 1.057, 0, 270, 0, [SEP] 47, Shelf, -1.218, 0.274, 0.262, 0, 0, 0, [SEP] 48, Shelf, -1.223, 0.782, 0.237, 0, 0, 0, [SEP] 49, Shelf, -0.280, 1.288, 1.055, 0, 270, 0, [SEP] 50, ShelvingUnit, -0.268, 0.004, 1.067, 0, 270, 0, [SEP] 51, ShelvingUnit, -1.218, 0.004, 0.244, 0, 0, 0, [SEP] 52, ArmChair, -2.027, 0.001, 4.422, 0, 178.692, 0, [SEP] 53, Drawer, -4.329, 1.014, 4.311, 0, 180, 0, [SEP] 54, Drawer, -3.750, 1.014, 4.311, 0, 180, 0, [SEP] 55, Cabinet, -4.049, 0.561, 4.212, 0, 180, 0, [SEP] 56, Cabinet, -4.032, 0.561, 4.212, 0, 180, 0, [SEP] 57, Cabinet, -2.884, 0.561, 4.212, 0, 180, 0, [SEP] 58, Dresser, -4.041, -0.000, 4.589, 0, 180, 0, [SEP] 59, Drawer, -4.916, 1.014, 4.311, 0, 180, 0, [SEP] 60, Drawer, -3.166, 1.014, 4.311, 0, 180, 0, [SEP] 61, Cabinet, -5.196, 0.561, 4.212, 0, 180, 0, [SEP] 62, Sofa, -0.705, -0.002, 2.753, 0, 270, 0, [SEP] 63, NorthWall, , , , , , , [SEP] 64, SouthWall, , , , , , , [SEP] 65, SouthWall, , , , , , , ", "output": ["STEP 1: Turn right and move to the dresser. | STEP 2: Pick up the box of tissues from the dresser. | STEP 3: Head to the lamp at the left of the dresser. | STEP 4: Turn on the lamp. | END"]} +{"id": "trial_T20190906_213948_501157-2", "input": "To perform an task using both hands. 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, 3.0, 0, 270, 0, [SEP] 1, TissueBox, -3.638, 0.205, 4.395, 0, 90, 0, 56 [SEP] 2, TissueBox, -4.854, 1.040, 0.173, 0, 0, 0, 40 [SEP] 3, TissueBox, -4.505, 1.112, 4.588, 0, 90, 0, 58 [SEP] 4, Newspaper, -0.787, 0.615, 1.960, 0, 0, 0, 62 [SEP] 5, Statue, -1.369, 1.107, 0.265, 0, 0, 0, 44 [SEP] 6, Vase, -5.534, 1.043, 0.173, 0, 0, 0, 40 [SEP] 7, Vase, -4.154, 0.203, 4.528, 0, 90, 0, 55 [SEP] 8, Watch, -3.543, 1.111, 4.490, 0, 90, 0, 58 [SEP] 9, KeyChain, -2.210, 0.590, 4.384, 0, 0, 0, 52 [SEP] 10, CreditCard, -0.705, 0.608, 2.488, 0, 0, 0, 62 [SEP] 11, CreditCard, -3.222, 1.107, 4.391, 0, 90, 0, 60 [SEP] 12, RemoteControl, -0.705, 0.611, 3.545, 0, 0, 0, 62 [SEP] 13, RemoteControl, -4.826, 1.110, 4.786, 0, 90, 0, 58 [SEP] 14, Box, -0.221, 1.813, 1.097, 0, 90, 0, 46 [SEP] 15, Watch, -5.413, 1.591, 0.052, 0, 0, 0, 33 [SEP] 16, Pillow, -2.031, 0.668, 4.421, 0, 0, 0, 52 [SEP] 17, TissueBox, -5.024, 1.040, 0.504, 0, 0, 0, 40 [SEP] 18, Newspaper, -1.280, 1.597, 0.221, 0, 0, 0, 45 [SEP] 19, CreditCard, -4.157, 0.997, 4.313, 0, 90, 0, 53 [SEP] 20, KeyChain, -4.184, 1.112, 4.391, 0, 180, 0, 53 [SEP] 21, CellPhone, -2.351, 0.034, 0.160, 0, 90, 0, 41 [SEP] 22, Statue, -3.222, 1.117, 4.786, 0, 90, 0, 58 [SEP] 23, Laptop, -4.184, 1.105, 4.687, 0, 90, 0, 58 [SEP] 24, RemoteControl, -3.543, 1.110, 4.292, 0, 90, 0, 58 [SEP] 25, Vase, -2.191, 0.037, 0.369, 0, 90, 0, 41 [SEP] 26, DeskLamp, -4.649, 1.051, 0.268, 0, 0, 0, [SEP] 27, DeskLamp, -2.992, 1.107, 4.522, 0, 0, 0, [SEP] 28, FloorLamp, -0.650, 0.007, 4.431, 0, 0, 0, [SEP] 29, FloorLamp, -5.607, 0.007, 4.641, 0, 0, 0, [SEP] 30, Shelf, -5.237, 1.776, 0.070, 0, 0, 0, [SEP] 31, Shelf, -5.238, 1.968, 0.085, 0, 0, 0, [SEP] 32, Shelf, -5.242, 1.391, 0.086, 0, 0, 0, [SEP] 33, Shelf, -5.241, 1.582, 0.065, 0, 0, 0, [SEP] 34, LightSwitch, -6.002, 1.353, 3.404, 0, 90, 0, [SEP] 35, GarbageCan, -5.794, -0.033, 4.073, 0, 90, 0, [SEP] 36, Painting, -6.017, 1.802, 4.177, 90, 270, 0, [SEP] 37, HousePlant, -3.966, 1.625, 0.135, 0, 315, 0, [SEP] 38, Television, -3.355, 0.833, 0.027, 0, 0, 0, [SEP] 39, Drawer, -5.024, 0.903, 0.370, 0, 0, 0, [SEP] 40, SideTable, -5.024, 0.008, 0.267, 0, 0, 0, [SEP] 41, Safe, -2.298, 5.778, 0.268, 0, 90, 0, [SEP] 42, Shelf, -0.253, 0.781, 1.058, 0, 270, 0, [SEP] 43, Shelf, -0.283, 0.274, 1.066, 0, 270, 0, [SEP] 44, Shelf, -1.224, 1.288, 0.270, 0, 0, 0, [SEP] 45, Shelf, -1.218, 1.810, 0.275, 0, 0, 0, [SEP] 46, Shelf, -0.280, 1.810, 1.057, 0, 270, 0, [SEP] 47, Shelf, -1.218, 0.274, 0.262, 0, 0, 0, [SEP] 48, Shelf, -1.223, 0.782, 0.237, 0, 0, 0, [SEP] 49, Shelf, -0.280, 1.288, 1.055, 0, 270, 0, [SEP] 50, ShelvingUnit, -0.268, 0.004, 1.067, 0, 270, 0, [SEP] 51, ShelvingUnit, -1.218, 0.004, 0.244, 0, 0, 0, [SEP] 52, ArmChair, -2.027, 0.001, 4.422, 0, 178.692, 0, [SEP] 53, Drawer, -4.329, 1.014, 4.311, 0, 180, 0, [SEP] 54, Drawer, -3.750, 1.014, 4.311, 0, 180, 0, [SEP] 55, Cabinet, -4.049, 0.561, 4.212, 0, 180, 0, [SEP] 56, Cabinet, -4.032, 0.561, 4.212, 0, 180, 0, [SEP] 57, Cabinet, -2.884, 0.561, 4.212, 0, 180, 0, [SEP] 58, Dresser, -4.041, -0.000, 4.589, 0, 180, 0, [SEP] 59, Drawer, -4.916, 1.014, 4.311, 0, 180, 0, [SEP] 60, Drawer, -3.166, 1.014, 4.311, 0, 180, 0, [SEP] 61, Cabinet, -5.196, 0.561, 4.212, 0, 180, 0, [SEP] 62, Sofa, -0.705, -0.002, 2.753, 0, 270, 0, [SEP] 63, NorthWall, , , , , , , [SEP] 64, SouthWall, , , , , , , [SEP] 65, SouthWall, , , , , , , ", "output": ["STEP 1: Walk to the right and reach cross to the wooded brown dresser with the computer. | STEP 2: Grab the tissue paper from the dresser. | STEP 3: walk over to the right for two paces as you reach the corner lamp.\n | STEP 4: Carry the tissue as you turn on the lamp. | END"]} +{"id": "trial_T20190907_074045_109439-0", "input": "Rinse off the soap 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, -0.75, 0.901, 2.5, 0, 180, 0, [SEP] 1, SprayBottle, -0.077, 0.954, 1.294, 0, 0, 0, 30 [SEP] 2, Candle, -0.079, 0.954, 2.913, 0, 0, 0, 22 [SEP] 3, SoapBottle, -0.388, 0.955, 2.878, 0, 0, 0, 22 [SEP] 4, HandTowel, -0.038, 1.619, 1.887, 0, 90, 0, 28 [SEP] 5, HandTowel, -0.038, 1.619, 3.799, 0, 90, 0, 29 [SEP] 6, Towel, -1.082, 1.326, 1.302, 0, 0, 0, 25 [SEP] 7, SoapBar, -0.326, 0.954, 2.807, 0, 0, 0, 22 [SEP] 8, ToiletPaper, -0.202, 0.951, 2.843, 0, 0, 0, 22 [SEP] 9, Plunger, -0.112, -0.000, 1.848, 0, 0, 0, [SEP] 10, Candle, -0.229, 0.075, 2.381, 0, 0, 0, 24 [SEP] 11, ToiletPaper, -0.179, 0.073, 2.609, 0, 0, 0, 19 [SEP] 12, SprayBottle, -0.381, 0.076, 2.202, 0, 0, 0, 24 [SEP] 13, Cloth, -0.230, 0.076, 3.417, 0, 0, 0, 23 [SEP] 14, ScrubBrush, -0.322, 3.109, 1.950, 0, 0, 0, [SEP] 15, SoapBottle, -0.381, 0.076, 3.055, 0, 0, 0, 18 [SEP] 16, Mirror, -0.030, 1.544, 2.864, 0, 0, 0, [SEP] 17, Sink, -0.302, 0.799, 3.263, 0, 270, 0, [SEP] 18, Cabinet, -0.491, 0.404, 2.863, 0, 0, 0, [SEP] 19, Cabinet, -0.495, 0.384, 2.842, 0, 0, 0, [SEP] 20, ShowerDoor, -1.647, 1.017, 1.180, 0, 0, 0, [SEP] 21, ShowerGlass, -0.909, 0.788, 0.485, 0, 0, 0, [SEP] 22, CounterTop, -0.261, 0.927, 2.843, 0, 0, 0, [SEP] 23, Cabinet, -0.495, 0.384, 3.650, 0, 0, 0, [SEP] 24, Cabinet, -0.491, 0.404, 2.055, 0, 0, 0, [SEP] 25, TowelHolder, -1.082, 1.312, 1.195, 0, 0, 0, [SEP] 26, LightSwitch, -2.424, 1.447, 3.338, 0, 90, 0, [SEP] 27, ToiletPaperHanger, -0.266, 0.786, 2.043, 0, 180, 0, [SEP] 28, HandTowelHolder, 0.000, 1.721, 1.887, 0, 180, 0, [SEP] 29, HandTowelHolder, 0.000, 1.721, 3.799, 0, 180, 0, [SEP] 30, Toilet, -0.542, 3.109, 1.493, 0, 270, 0, [SEP] 31, GarbageCan, -2.159, -0.000, 3.756, 0, 0, 0, [SEP] 32, SinkBasin, -0.308, 0.820, 3.266, 0, 0, 0, [SEP] 33, ShowerHead, -0.134, 1.888, 0.564, 0, 90, 0, [SEP] 34, Faucet, 0.0, 1.009, 3.265, 0, 0, 0, [SEP] 35, Faucet, 0.0, 1.009, 2.421, 0, 0, 0, [SEP] 36, SinkBasin, -0.308, 0.820, 2.422, 0, 0, 0, [SEP] 37, Sink, -0.302, 0.799, 2.419, 0, 270, 0, [SEP] 38, NorthWall, , , , , , , [SEP] 39, SouthWall, , , , , , , [SEP] 40, SouthWall, , , , , , , ", "output": ["STEP 1: Turn to the left to face the sinks. | STEP 2: Pick up the bar of soap from in between the sinks. | STEP 3: Take the soap and move a step to the right. | STEP 4: Place the soap in the sink and turn the water on. Turn it off and pick up the soap again. | STEP 5: Hold the soap and take a step to the left. | STEP 6: Place the soap on the counter in between the sinks. | END"]} +{"id": "trial_T20190907_074045_109439-1", "input": "Place wet soap 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, -0.75, 0.901, 2.5, 0, 180, 0, [SEP] 1, SprayBottle, -0.077, 0.954, 1.294, 0, 0, 0, 30 [SEP] 2, Candle, -0.079, 0.954, 2.913, 0, 0, 0, 22 [SEP] 3, SoapBottle, -0.388, 0.955, 2.878, 0, 0, 0, 22 [SEP] 4, HandTowel, -0.038, 1.619, 1.887, 0, 90, 0, 28 [SEP] 5, HandTowel, -0.038, 1.619, 3.799, 0, 90, 0, 29 [SEP] 6, Towel, -1.082, 1.326, 1.302, 0, 0, 0, 25 [SEP] 7, SoapBar, -0.326, 0.954, 2.807, 0, 0, 0, 22 [SEP] 8, ToiletPaper, -0.202, 0.951, 2.843, 0, 0, 0, 22 [SEP] 9, Plunger, -0.112, -0.000, 1.848, 0, 0, 0, [SEP] 10, Candle, -0.229, 0.075, 2.381, 0, 0, 0, 24 [SEP] 11, ToiletPaper, -0.179, 0.073, 2.609, 0, 0, 0, 19 [SEP] 12, SprayBottle, -0.381, 0.076, 2.202, 0, 0, 0, 24 [SEP] 13, Cloth, -0.230, 0.076, 3.417, 0, 0, 0, 23 [SEP] 14, ScrubBrush, -0.322, 3.109, 1.950, 0, 0, 0, [SEP] 15, SoapBottle, -0.381, 0.076, 3.055, 0, 0, 0, 18 [SEP] 16, Mirror, -0.030, 1.544, 2.864, 0, 0, 0, [SEP] 17, Sink, -0.302, 0.799, 3.263, 0, 270, 0, [SEP] 18, Cabinet, -0.491, 0.404, 2.863, 0, 0, 0, [SEP] 19, Cabinet, -0.495, 0.384, 2.842, 0, 0, 0, [SEP] 20, ShowerDoor, -1.647, 1.017, 1.180, 0, 0, 0, [SEP] 21, ShowerGlass, -0.909, 0.788, 0.485, 0, 0, 0, [SEP] 22, CounterTop, -0.261, 0.927, 2.843, 0, 0, 0, [SEP] 23, Cabinet, -0.495, 0.384, 3.650, 0, 0, 0, [SEP] 24, Cabinet, -0.491, 0.404, 2.055, 0, 0, 0, [SEP] 25, TowelHolder, -1.082, 1.312, 1.195, 0, 0, 0, [SEP] 26, LightSwitch, -2.424, 1.447, 3.338, 0, 90, 0, [SEP] 27, ToiletPaperHanger, -0.266, 0.786, 2.043, 0, 180, 0, [SEP] 28, HandTowelHolder, 0.000, 1.721, 1.887, 0, 180, 0, [SEP] 29, HandTowelHolder, 0.000, 1.721, 3.799, 0, 180, 0, [SEP] 30, Toilet, -0.542, 3.109, 1.493, 0, 270, 0, [SEP] 31, GarbageCan, -2.159, -0.000, 3.756, 0, 0, 0, [SEP] 32, SinkBasin, -0.308, 0.820, 3.266, 0, 0, 0, [SEP] 33, ShowerHead, -0.134, 1.888, 0.564, 0, 90, 0, [SEP] 34, Faucet, 0.0, 1.009, 3.265, 0, 0, 0, [SEP] 35, Faucet, 0.0, 1.009, 2.421, 0, 0, 0, [SEP] 36, SinkBasin, -0.308, 0.820, 2.422, 0, 0, 0, [SEP] 37, Sink, -0.302, 0.799, 2.419, 0, 270, 0, [SEP] 38, NorthWall, , , , , , , [SEP] 39, SouthWall, , , , , , , [SEP] 40, SouthWall, , , , , , , ", "output": ["STEP 1: Turn around and take a step then turn to your right and face the vanity | STEP 2: Pick up the bar of soap that is in between the sinks | STEP 3: Turn around and take a step, turn left and take a step, the turn left and face the right sink | STEP 4: Place the soap in the right sink then turn on the sink. Turn off the sink and pick up the soap | STEP 5: Take a step to your left | STEP 6: Place the soap on the counter in between the two sinks to the right of the bottle of soap | END"]} +{"id": "trial_T20190907_074045_109439-2", "input": "Put the rinsed soap on the bathroom 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, 0.901, 2.5, 0, 180, 0, [SEP] 1, SprayBottle, -0.077, 0.954, 1.294, 0, 0, 0, 30 [SEP] 2, Candle, -0.079, 0.954, 2.913, 0, 0, 0, 22 [SEP] 3, SoapBottle, -0.388, 0.955, 2.878, 0, 0, 0, 22 [SEP] 4, HandTowel, -0.038, 1.619, 1.887, 0, 90, 0, 28 [SEP] 5, HandTowel, -0.038, 1.619, 3.799, 0, 90, 0, 29 [SEP] 6, Towel, -1.082, 1.326, 1.302, 0, 0, 0, 25 [SEP] 7, SoapBar, -0.326, 0.954, 2.807, 0, 0, 0, 22 [SEP] 8, ToiletPaper, -0.202, 0.951, 2.843, 0, 0, 0, 22 [SEP] 9, Plunger, -0.112, -0.000, 1.848, 0, 0, 0, [SEP] 10, Candle, -0.229, 0.075, 2.381, 0, 0, 0, 24 [SEP] 11, ToiletPaper, -0.179, 0.073, 2.609, 0, 0, 0, 19 [SEP] 12, SprayBottle, -0.381, 0.076, 2.202, 0, 0, 0, 24 [SEP] 13, Cloth, -0.230, 0.076, 3.417, 0, 0, 0, 23 [SEP] 14, ScrubBrush, -0.322, 3.109, 1.950, 0, 0, 0, [SEP] 15, SoapBottle, -0.381, 0.076, 3.055, 0, 0, 0, 18 [SEP] 16, Mirror, -0.030, 1.544, 2.864, 0, 0, 0, [SEP] 17, Sink, -0.302, 0.799, 3.263, 0, 270, 0, [SEP] 18, Cabinet, -0.491, 0.404, 2.863, 0, 0, 0, [SEP] 19, Cabinet, -0.495, 0.384, 2.842, 0, 0, 0, [SEP] 20, ShowerDoor, -1.647, 1.017, 1.180, 0, 0, 0, [SEP] 21, ShowerGlass, -0.909, 0.788, 0.485, 0, 0, 0, [SEP] 22, CounterTop, -0.261, 0.927, 2.843, 0, 0, 0, [SEP] 23, Cabinet, -0.495, 0.384, 3.650, 0, 0, 0, [SEP] 24, Cabinet, -0.491, 0.404, 2.055, 0, 0, 0, [SEP] 25, TowelHolder, -1.082, 1.312, 1.195, 0, 0, 0, [SEP] 26, LightSwitch, -2.424, 1.447, 3.338, 0, 90, 0, [SEP] 27, ToiletPaperHanger, -0.266, 0.786, 2.043, 0, 180, 0, [SEP] 28, HandTowelHolder, 0.000, 1.721, 1.887, 0, 180, 0, [SEP] 29, HandTowelHolder, 0.000, 1.721, 3.799, 0, 180, 0, [SEP] 30, Toilet, -0.542, 3.109, 1.493, 0, 270, 0, [SEP] 31, GarbageCan, -2.159, -0.000, 3.756, 0, 0, 0, [SEP] 32, SinkBasin, -0.308, 0.820, 3.266, 0, 0, 0, [SEP] 33, ShowerHead, -0.134, 1.888, 0.564, 0, 90, 0, [SEP] 34, Faucet, 0.0, 1.009, 3.265, 0, 0, 0, [SEP] 35, Faucet, 0.0, 1.009, 2.421, 0, 0, 0, [SEP] 36, SinkBasin, -0.308, 0.820, 2.422, 0, 0, 0, [SEP] 37, Sink, -0.302, 0.799, 2.419, 0, 270, 0, [SEP] 38, NorthWall, , , , , , , [SEP] 39, SouthWall, , , , , , , [SEP] 40, SouthWall, , , , , , , ", "output": ["STEP 1: Turn left and face toward the bathroom counter between the sinks | STEP 2: Pick up the soap bar from the bathroom counter | STEP 3: Move slightly right then turn left to face the sink | STEP 4: Rinse the soap under water in the sink then remove it | STEP 5: Move slightly left then turn right to face the counter | STEP 6: Put the soap bar on the counter just right of the pump bottle | END"]} +{"id": "trial_T20190907_074045_109439-3", "input": "Put a wet bar of soap back 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, 0.901, 2.5, 0, 180, 0, [SEP] 1, SprayBottle, -0.077, 0.954, 1.294, 0, 0, 0, 30 [SEP] 2, Candle, -0.079, 0.954, 2.913, 0, 0, 0, 22 [SEP] 3, SoapBottle, -0.388, 0.955, 2.878, 0, 0, 0, 22 [SEP] 4, HandTowel, -0.038, 1.619, 1.887, 0, 90, 0, 28 [SEP] 5, HandTowel, -0.038, 1.619, 3.799, 0, 90, 0, 29 [SEP] 6, Towel, -1.082, 1.326, 1.302, 0, 0, 0, 25 [SEP] 7, SoapBar, -0.326, 0.954, 2.807, 0, 0, 0, 22 [SEP] 8, ToiletPaper, -0.202, 0.951, 2.843, 0, 0, 0, 22 [SEP] 9, Plunger, -0.112, -0.000, 1.848, 0, 0, 0, [SEP] 10, Candle, -0.229, 0.075, 2.381, 0, 0, 0, 24 [SEP] 11, ToiletPaper, -0.179, 0.073, 2.609, 0, 0, 0, 19 [SEP] 12, SprayBottle, -0.381, 0.076, 2.202, 0, 0, 0, 24 [SEP] 13, Cloth, -0.230, 0.076, 3.417, 0, 0, 0, 23 [SEP] 14, ScrubBrush, -0.322, 3.109, 1.950, 0, 0, 0, [SEP] 15, SoapBottle, -0.381, 0.076, 3.055, 0, 0, 0, 18 [SEP] 16, Mirror, -0.030, 1.544, 2.864, 0, 0, 0, [SEP] 17, Sink, -0.302, 0.799, 3.263, 0, 270, 0, [SEP] 18, Cabinet, -0.491, 0.404, 2.863, 0, 0, 0, [SEP] 19, Cabinet, -0.495, 0.384, 2.842, 0, 0, 0, [SEP] 20, ShowerDoor, -1.647, 1.017, 1.180, 0, 0, 0, [SEP] 21, ShowerGlass, -0.909, 0.788, 0.485, 0, 0, 0, [SEP] 22, CounterTop, -0.261, 0.927, 2.843, 0, 0, 0, [SEP] 23, Cabinet, -0.495, 0.384, 3.650, 0, 0, 0, [SEP] 24, Cabinet, -0.491, 0.404, 2.055, 0, 0, 0, [SEP] 25, TowelHolder, -1.082, 1.312, 1.195, 0, 0, 0, [SEP] 26, LightSwitch, -2.424, 1.447, 3.338, 0, 90, 0, [SEP] 27, ToiletPaperHanger, -0.266, 0.786, 2.043, 0, 180, 0, [SEP] 28, HandTowelHolder, 0.000, 1.721, 1.887, 0, 180, 0, [SEP] 29, HandTowelHolder, 0.000, 1.721, 3.799, 0, 180, 0, [SEP] 30, Toilet, -0.542, 3.109, 1.493, 0, 270, 0, [SEP] 31, GarbageCan, -2.159, -0.000, 3.756, 0, 0, 0, [SEP] 32, SinkBasin, -0.308, 0.820, 3.266, 0, 0, 0, [SEP] 33, ShowerHead, -0.134, 1.888, 0.564, 0, 90, 0, [SEP] 34, Faucet, 0.0, 1.009, 3.265, 0, 0, 0, [SEP] 35, Faucet, 0.0, 1.009, 2.421, 0, 0, 0, [SEP] 36, SinkBasin, -0.308, 0.820, 2.422, 0, 0, 0, [SEP] 37, Sink, -0.302, 0.799, 2.419, 0, 270, 0, [SEP] 38, NorthWall, , , , , , , [SEP] 39, SouthWall, , , , , , , [SEP] 40, SouthWall, , , , , , , ", "output": ["STEP 1: Turn around and stand in front of the bathroom counter. | STEP 2: Pick up the bar of soap that is to the right of the lotion dispenser on the counter. | STEP 3: Move over to the sink basin on the far right of the bathroom counter. | STEP 4: Place the soap in the sink and rinse it off before pulling it back out. | STEP 5: Move back over to the lotion dispenser on the bathroom counter. | STEP 6: Place the bar of soap down on the counter to the right of the lotion dispenser. | END"]} +{"id": "trial_T20190907_074045_109439-4", "input": "Put a clean bar of soap 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, 0.901, 2.5, 0, 180, 0, [SEP] 1, SprayBottle, -0.077, 0.954, 1.294, 0, 0, 0, 30 [SEP] 2, Candle, -0.079, 0.954, 2.913, 0, 0, 0, 22 [SEP] 3, SoapBottle, -0.388, 0.955, 2.878, 0, 0, 0, 22 [SEP] 4, HandTowel, -0.038, 1.619, 1.887, 0, 90, 0, 28 [SEP] 5, HandTowel, -0.038, 1.619, 3.799, 0, 90, 0, 29 [SEP] 6, Towel, -1.082, 1.326, 1.302, 0, 0, 0, 25 [SEP] 7, SoapBar, -0.326, 0.954, 2.807, 0, 0, 0, 22 [SEP] 8, ToiletPaper, -0.202, 0.951, 2.843, 0, 0, 0, 22 [SEP] 9, Plunger, -0.112, -0.000, 1.848, 0, 0, 0, [SEP] 10, Candle, -0.229, 0.075, 2.381, 0, 0, 0, 24 [SEP] 11, ToiletPaper, -0.179, 0.073, 2.609, 0, 0, 0, 19 [SEP] 12, SprayBottle, -0.381, 0.076, 2.202, 0, 0, 0, 24 [SEP] 13, Cloth, -0.230, 0.076, 3.417, 0, 0, 0, 23 [SEP] 14, ScrubBrush, -0.322, 3.109, 1.950, 0, 0, 0, [SEP] 15, SoapBottle, -0.381, 0.076, 3.055, 0, 0, 0, 18 [SEP] 16, Mirror, -0.030, 1.544, 2.864, 0, 0, 0, [SEP] 17, Sink, -0.302, 0.799, 3.263, 0, 270, 0, [SEP] 18, Cabinet, -0.491, 0.404, 2.863, 0, 0, 0, [SEP] 19, Cabinet, -0.495, 0.384, 2.842, 0, 0, 0, [SEP] 20, ShowerDoor, -1.647, 1.017, 1.180, 0, 0, 0, [SEP] 21, ShowerGlass, -0.909, 0.788, 0.485, 0, 0, 0, [SEP] 22, CounterTop, -0.261, 0.927, 2.843, 0, 0, 0, [SEP] 23, Cabinet, -0.495, 0.384, 3.650, 0, 0, 0, [SEP] 24, Cabinet, -0.491, 0.404, 2.055, 0, 0, 0, [SEP] 25, TowelHolder, -1.082, 1.312, 1.195, 0, 0, 0, [SEP] 26, LightSwitch, -2.424, 1.447, 3.338, 0, 90, 0, [SEP] 27, ToiletPaperHanger, -0.266, 0.786, 2.043, 0, 180, 0, [SEP] 28, HandTowelHolder, 0.000, 1.721, 1.887, 0, 180, 0, [SEP] 29, HandTowelHolder, 0.000, 1.721, 3.799, 0, 180, 0, [SEP] 30, Toilet, -0.542, 3.109, 1.493, 0, 270, 0, [SEP] 31, GarbageCan, -2.159, -0.000, 3.756, 0, 0, 0, [SEP] 32, SinkBasin, -0.308, 0.820, 3.266, 0, 0, 0, [SEP] 33, ShowerHead, -0.134, 1.888, 0.564, 0, 90, 0, [SEP] 34, Faucet, 0.0, 1.009, 3.265, 0, 0, 0, [SEP] 35, Faucet, 0.0, 1.009, 2.421, 0, 0, 0, [SEP] 36, SinkBasin, -0.308, 0.820, 2.422, 0, 0, 0, [SEP] 37, Sink, -0.302, 0.799, 2.419, 0, 270, 0, [SEP] 38, NorthWall, , , , , , , [SEP] 39, SouthWall, , , , , , , [SEP] 40, SouthWall, , , , , , , ", "output": ["STEP 1: Turn around and take a step forward, then turn right to face the sink counter. | STEP 2: Pick up the bar of soap that is in front of the toilet paper on the counter. | STEP 3: Turn around and take a step forward, then turn left and take a step forward, then turn left again to face the rightmost sink. | STEP 4: Put the bar of soap into the sink basin and turn on the water, after a couple seconds turn the water off and remove the bar of soap from the sink basin. | STEP 5: Turn left and take a step forward, then turn right to face the counter. | STEP 6: Place the clean bar of soap on the front edge of the counter to the left of the rightmost sink. | END"]} +{"id": "trial_T20190907_074045_109439-5", "input": "Put wet soap 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, 0.901, 2.5, 0, 180, 0, [SEP] 1, SprayBottle, -0.077, 0.954, 1.294, 0, 0, 0, 30 [SEP] 2, Candle, -0.079, 0.954, 2.913, 0, 0, 0, 22 [SEP] 3, SoapBottle, -0.388, 0.955, 2.878, 0, 0, 0, 22 [SEP] 4, HandTowel, -0.038, 1.619, 1.887, 0, 90, 0, 28 [SEP] 5, HandTowel, -0.038, 1.619, 3.799, 0, 90, 0, 29 [SEP] 6, Towel, -1.082, 1.326, 1.302, 0, 0, 0, 25 [SEP] 7, SoapBar, -0.326, 0.954, 2.807, 0, 0, 0, 22 [SEP] 8, ToiletPaper, -0.202, 0.951, 2.843, 0, 0, 0, 22 [SEP] 9, Plunger, -0.112, -0.000, 1.848, 0, 0, 0, [SEP] 10, Candle, -0.229, 0.075, 2.381, 0, 0, 0, 24 [SEP] 11, ToiletPaper, -0.179, 0.073, 2.609, 0, 0, 0, 19 [SEP] 12, SprayBottle, -0.381, 0.076, 2.202, 0, 0, 0, 24 [SEP] 13, Cloth, -0.230, 0.076, 3.417, 0, 0, 0, 23 [SEP] 14, ScrubBrush, -0.322, 3.109, 1.950, 0, 0, 0, [SEP] 15, SoapBottle, -0.381, 0.076, 3.055, 0, 0, 0, 18 [SEP] 16, Mirror, -0.030, 1.544, 2.864, 0, 0, 0, [SEP] 17, Sink, -0.302, 0.799, 3.263, 0, 270, 0, [SEP] 18, Cabinet, -0.491, 0.404, 2.863, 0, 0, 0, [SEP] 19, Cabinet, -0.495, 0.384, 2.842, 0, 0, 0, [SEP] 20, ShowerDoor, -1.647, 1.017, 1.180, 0, 0, 0, [SEP] 21, ShowerGlass, -0.909, 0.788, 0.485, 0, 0, 0, [SEP] 22, CounterTop, -0.261, 0.927, 2.843, 0, 0, 0, [SEP] 23, Cabinet, -0.495, 0.384, 3.650, 0, 0, 0, [SEP] 24, Cabinet, -0.491, 0.404, 2.055, 0, 0, 0, [SEP] 25, TowelHolder, -1.082, 1.312, 1.195, 0, 0, 0, [SEP] 26, LightSwitch, -2.424, 1.447, 3.338, 0, 90, 0, [SEP] 27, ToiletPaperHanger, -0.266, 0.786, 2.043, 0, 180, 0, [SEP] 28, HandTowelHolder, 0.000, 1.721, 1.887, 0, 180, 0, [SEP] 29, HandTowelHolder, 0.000, 1.721, 3.799, 0, 180, 0, [SEP] 30, Toilet, -0.542, 3.109, 1.493, 0, 270, 0, [SEP] 31, GarbageCan, -2.159, -0.000, 3.756, 0, 0, 0, [SEP] 32, SinkBasin, -0.308, 0.820, 3.266, 0, 0, 0, [SEP] 33, ShowerHead, -0.134, 1.888, 0.564, 0, 90, 0, [SEP] 34, Faucet, 0.0, 1.009, 3.265, 0, 0, 0, [SEP] 35, Faucet, 0.0, 1.009, 2.421, 0, 0, 0, [SEP] 36, SinkBasin, -0.308, 0.820, 2.422, 0, 0, 0, [SEP] 37, Sink, -0.302, 0.799, 2.419, 0, 270, 0, [SEP] 38, NorthWall, , , , , , , [SEP] 39, SouthWall, , , , , , , [SEP] 40, SouthWall, , , , , , , ", "output": ["STEP 1: Turn around and move to the soap on the counter. | STEP 2: Pick up the soap on the counter. | STEP 3: Bring the soap to the sink on the right. | STEP 4: Wet the soap in the sink with water. | STEP 5: Bring the wet soap to the counter left of that sink. | STEP 6: Put the soap on that counter. | END"]} +{"id": "trial_T20190907_173149_648833-0", "input": "Put a chilled egg 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, 2.0, 0, 270, 0, [SEP] 1, Pan, 1.126, 2.205, -1.191, 0, 180, 0, 59 [SEP] 2, CreditCard, -1.881, 0.551, 2.770, 0, 0, 0, 78 [SEP] 3, CellPhone, -1.467, 0.550, 2.770, 0, 0, 0, 78 [SEP] 4, ButterKnife, 0.773, 0.911, 0.139, 0, 0, 0, 53 [SEP] 5, Glassbottle, 1.082, 2.208, -1.517, 0, 270, 0, 59 [SEP] 6, Fork, 0.833, 0.154, -0.769, 0, 0, 0, 55 [SEP] 7, Egg, -0.697, 0.818, -0.573, 0, 90, 0, 73 [SEP] 8, Cup, -0.772, 0.930, -1.154, 0, 0, 0, 52 [SEP] 9, Cup, 0.844, 1.132, 0.967, 0, 270, 0, 75 [SEP] 10, Tomato, -0.808, 0.821, -0.832, 0, 90, 0, 73 [SEP] 11, Tomato, -0.642, 0.817, -0.832, 0, 90, 0, 73 [SEP] 12, SoapBottle, 0.688, 0.911, -2.051, 0, 0, 0, 58 [SEP] 13, SoapBottle, -1.571, 0.882, 2.719, 0, 0, 0, 79 [SEP] 14, PepperShaker, 0.954, 0.150, -0.531, 0, 270, 0, 55 [SEP] 15, PepperShaker, -1.570, 0.550, 2.874, 0, 0, 0, 78 [SEP] 16, Bread, 0.773, 0.992, -0.381, 0, 0, 0, 53 [SEP] 17, Mug, 0.966, 0.858, 1.063, 0, 270, 0, 75 [SEP] 18, Statue, -1.229, 0.936, -0.643, 0, 0, 0, 52 [SEP] 19, Glassbottle, 1.194, 1.667, -0.273, 0, 270, 0, 61 [SEP] 20, Bread, -0.779, 0.996, 0.21, 0, 258.641, 0, 52 [SEP] 21, CreditCard, 0.944, 0.908, -0.381, 0, 0, 0, 53 [SEP] 22, CellPhone, -0.624, 0.930, -0.143, 0, 90, 0, 52 [SEP] 23, Potato, 1.087, 1.165, 0.967, 0, 270, 0, 75 [SEP] 24, Knife, -0.772, 0.957, -1.231, 0, 0, 0, 52 [SEP] 25, Fork, 1.199, 0.911, -0.381, 0, 90, 0, 53 [SEP] 26, Pan, 0.905, 1.399, 1.444, 0, 0, 0, 75 [SEP] 27, Lettuce, -1.355, 1.010, -0.905, 0, 0, 0, 52 [SEP] 28, Plate, -1.104, 0.936, -0.380, 0, 0, 0, 52 [SEP] 29, Apple, -1.007, 0.229, 0.641, 0, 180, 0, 72 [SEP] 30, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 48 [SEP] 31, Spatula, 0.915, 0.717, -0.524, 0, 0, 0, 50 [SEP] 32, PaperTowelRoll, -0.818, 0.281, 0.575, 0, 270, 0, 72 [SEP] 33, Tomato, -0.587, 0.821, -0.659, 0, 90, 0, 73 [SEP] 34, Egg, -1.007, 0.216, 0.543, 0, 180, 0, 72 [SEP] 35, SaltShaker, 0.834, 0.490, -0.565, 0, 270, 0, 56 [SEP] 36, PepperShaker, 1.199, 0.907, -1.879, 0, 0, 0, 58 [SEP] 37, Vase, -0.772, 0.933, -1.540, 0, 0, 0, 52 [SEP] 38, ButterKnife, 1.114, 0.911, -0.208, 0, 0, 0, 53 [SEP] 39, SoapBottle, -1.229, 0.933, 0.144, 0, 0, 0, 52 [SEP] 40, Vase, 1.101, 1.667, 0.216, 0, 270, 0, 60 [SEP] 41, Bowl, 1.194, 1.669, -2.234, 0, 270, 0, 51 [SEP] 42, DishSponge, -1.363, 0.553, 2.615, 0, 0, 0, 78 [SEP] 43, Spoon, 1.114, 0.912, -0.729, 0, 270, 0, 53 [SEP] 44, Cup, 1.256, 2.205, -1.517, 0, 270, 0, 59 [SEP] 45, Mug, 0.783, 0.858, 1.158, 0, 270, 0, 75 [SEP] 46, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 47, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 48, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 49, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 50, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 51, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 52, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 53, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 54, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 55, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 56, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 57, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 58, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 59, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 60, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 61, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 62, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 63, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 64, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 65, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 66, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 67, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 68, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 69, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 70, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 71, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 72, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 73, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 74, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 75, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 76, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 77, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 78, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 79, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 80, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 81, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 82, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 83, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 84, NorthWall, , , , , , , [SEP] 85, EastWall, , , , , , , [SEP] 86, SouthWall, , , , , , , [SEP] 87, WestWall, , , , , , , ", "output": ["STEP 1: Turn around, go toward the fridge, then turn right, then go straight, then turn right to face the sink. | STEP 2: Take the egg from in the sink. | STEP 3: Go to the fridge behind you. | STEP 4: Chill the egg inside of the fridge. | STEP 5: Return to the sink behind you. | STEP 6: Place the egg in the sink next to the right most tomato. | END"]} +{"id": "trial_T20190907_173149_648833-1", "input": "Chill and egg and then 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, -1.5, 0.900, 2.0, 0, 270, 0, [SEP] 1, Pan, 1.126, 2.205, -1.191, 0, 180, 0, 59 [SEP] 2, CreditCard, -1.881, 0.551, 2.770, 0, 0, 0, 78 [SEP] 3, CellPhone, -1.467, 0.550, 2.770, 0, 0, 0, 78 [SEP] 4, ButterKnife, 0.773, 0.911, 0.139, 0, 0, 0, 53 [SEP] 5, Glassbottle, 1.082, 2.208, -1.517, 0, 270, 0, 59 [SEP] 6, Fork, 0.833, 0.154, -0.769, 0, 0, 0, 55 [SEP] 7, Egg, -0.697, 0.818, -0.573, 0, 90, 0, 73 [SEP] 8, Cup, -0.772, 0.930, -1.154, 0, 0, 0, 52 [SEP] 9, Cup, 0.844, 1.132, 0.967, 0, 270, 0, 75 [SEP] 10, Tomato, -0.808, 0.821, -0.832, 0, 90, 0, 73 [SEP] 11, Tomato, -0.642, 0.817, -0.832, 0, 90, 0, 73 [SEP] 12, SoapBottle, 0.688, 0.911, -2.051, 0, 0, 0, 58 [SEP] 13, SoapBottle, -1.571, 0.882, 2.719, 0, 0, 0, 79 [SEP] 14, PepperShaker, 0.954, 0.150, -0.531, 0, 270, 0, 55 [SEP] 15, PepperShaker, -1.570, 0.550, 2.874, 0, 0, 0, 78 [SEP] 16, Bread, 0.773, 0.992, -0.381, 0, 0, 0, 53 [SEP] 17, Mug, 0.966, 0.858, 1.063, 0, 270, 0, 75 [SEP] 18, Statue, -1.229, 0.936, -0.643, 0, 0, 0, 52 [SEP] 19, Glassbottle, 1.194, 1.667, -0.273, 0, 270, 0, 61 [SEP] 20, Bread, -0.779, 0.996, 0.21, 0, 258.641, 0, 52 [SEP] 21, CreditCard, 0.944, 0.908, -0.381, 0, 0, 0, 53 [SEP] 22, CellPhone, -0.624, 0.930, -0.143, 0, 90, 0, 52 [SEP] 23, Potato, 1.087, 1.165, 0.967, 0, 270, 0, 75 [SEP] 24, Knife, -0.772, 0.957, -1.231, 0, 0, 0, 52 [SEP] 25, Fork, 1.199, 0.911, -0.381, 0, 90, 0, 53 [SEP] 26, Pan, 0.905, 1.399, 1.444, 0, 0, 0, 75 [SEP] 27, Lettuce, -1.355, 1.010, -0.905, 0, 0, 0, 52 [SEP] 28, Plate, -1.104, 0.936, -0.380, 0, 0, 0, 52 [SEP] 29, Apple, -1.007, 0.229, 0.641, 0, 180, 0, 72 [SEP] 30, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 48 [SEP] 31, Spatula, 0.915, 0.717, -0.524, 0, 0, 0, 50 [SEP] 32, PaperTowelRoll, -0.818, 0.281, 0.575, 0, 270, 0, 72 [SEP] 33, Tomato, -0.587, 0.821, -0.659, 0, 90, 0, 73 [SEP] 34, Egg, -1.007, 0.216, 0.543, 0, 180, 0, 72 [SEP] 35, SaltShaker, 0.834, 0.490, -0.565, 0, 270, 0, 56 [SEP] 36, PepperShaker, 1.199, 0.907, -1.879, 0, 0, 0, 58 [SEP] 37, Vase, -0.772, 0.933, -1.540, 0, 0, 0, 52 [SEP] 38, ButterKnife, 1.114, 0.911, -0.208, 0, 0, 0, 53 [SEP] 39, SoapBottle, -1.229, 0.933, 0.144, 0, 0, 0, 52 [SEP] 40, Vase, 1.101, 1.667, 0.216, 0, 270, 0, 60 [SEP] 41, Bowl, 1.194, 1.669, -2.234, 0, 270, 0, 51 [SEP] 42, DishSponge, -1.363, 0.553, 2.615, 0, 0, 0, 78 [SEP] 43, Spoon, 1.114, 0.912, -0.729, 0, 270, 0, 53 [SEP] 44, Cup, 1.256, 2.205, -1.517, 0, 270, 0, 59 [SEP] 45, Mug, 0.783, 0.858, 1.158, 0, 270, 0, 75 [SEP] 46, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 47, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 48, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 49, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 50, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 51, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 52, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 53, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 54, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 55, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 56, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 57, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 58, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 59, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 60, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 61, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 62, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 63, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 64, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 65, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 66, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 67, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 68, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 69, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 70, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 71, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 72, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 73, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 74, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 75, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 76, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 77, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 78, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 79, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 80, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 81, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 82, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 83, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 84, NorthWall, , , , , , , [SEP] 85, EastWall, , , , , , , [SEP] 86, SouthWall, , , , , , , [SEP] 87, WestWall, , , , , , , ", "output": ["STEP 1: Go to the right, and then turn right to find the sink in the island. | STEP 2: Pick up the egg from the sink. | STEP 3: Take the egg and turn right to find the fridge. | STEP 4: Place the egg inside the fridge and shut the door. Open the door, take the egg out and shut the door. | STEP 5: Take the egg and turn right to go back to the sink. | STEP 6: Place the egg in the sink. | END"]} +{"id": "trial_T20190907_173149_648833-2", "input": "Put a cold egg 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, 2.0, 0, 270, 0, [SEP] 1, Pan, 1.126, 2.205, -1.191, 0, 180, 0, 59 [SEP] 2, CreditCard, -1.881, 0.551, 2.770, 0, 0, 0, 78 [SEP] 3, CellPhone, -1.467, 0.550, 2.770, 0, 0, 0, 78 [SEP] 4, ButterKnife, 0.773, 0.911, 0.139, 0, 0, 0, 53 [SEP] 5, Glassbottle, 1.082, 2.208, -1.517, 0, 270, 0, 59 [SEP] 6, Fork, 0.833, 0.154, -0.769, 0, 0, 0, 55 [SEP] 7, Egg, -0.697, 0.818, -0.573, 0, 90, 0, 73 [SEP] 8, Cup, -0.772, 0.930, -1.154, 0, 0, 0, 52 [SEP] 9, Cup, 0.844, 1.132, 0.967, 0, 270, 0, 75 [SEP] 10, Tomato, -0.808, 0.821, -0.832, 0, 90, 0, 73 [SEP] 11, Tomato, -0.642, 0.817, -0.832, 0, 90, 0, 73 [SEP] 12, SoapBottle, 0.688, 0.911, -2.051, 0, 0, 0, 58 [SEP] 13, SoapBottle, -1.571, 0.882, 2.719, 0, 0, 0, 79 [SEP] 14, PepperShaker, 0.954, 0.150, -0.531, 0, 270, 0, 55 [SEP] 15, PepperShaker, -1.570, 0.550, 2.874, 0, 0, 0, 78 [SEP] 16, Bread, 0.773, 0.992, -0.381, 0, 0, 0, 53 [SEP] 17, Mug, 0.966, 0.858, 1.063, 0, 270, 0, 75 [SEP] 18, Statue, -1.229, 0.936, -0.643, 0, 0, 0, 52 [SEP] 19, Glassbottle, 1.194, 1.667, -0.273, 0, 270, 0, 61 [SEP] 20, Bread, -0.779, 0.996, 0.21, 0, 258.641, 0, 52 [SEP] 21, CreditCard, 0.944, 0.908, -0.381, 0, 0, 0, 53 [SEP] 22, CellPhone, -0.624, 0.930, -0.143, 0, 90, 0, 52 [SEP] 23, Potato, 1.087, 1.165, 0.967, 0, 270, 0, 75 [SEP] 24, Knife, -0.772, 0.957, -1.231, 0, 0, 0, 52 [SEP] 25, Fork, 1.199, 0.911, -0.381, 0, 90, 0, 53 [SEP] 26, Pan, 0.905, 1.399, 1.444, 0, 0, 0, 75 [SEP] 27, Lettuce, -1.355, 1.010, -0.905, 0, 0, 0, 52 [SEP] 28, Plate, -1.104, 0.936, -0.380, 0, 0, 0, 52 [SEP] 29, Apple, -1.007, 0.229, 0.641, 0, 180, 0, 72 [SEP] 30, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 48 [SEP] 31, Spatula, 0.915, 0.717, -0.524, 0, 0, 0, 50 [SEP] 32, PaperTowelRoll, -0.818, 0.281, 0.575, 0, 270, 0, 72 [SEP] 33, Tomato, -0.587, 0.821, -0.659, 0, 90, 0, 73 [SEP] 34, Egg, -1.007, 0.216, 0.543, 0, 180, 0, 72 [SEP] 35, SaltShaker, 0.834, 0.490, -0.565, 0, 270, 0, 56 [SEP] 36, PepperShaker, 1.199, 0.907, -1.879, 0, 0, 0, 58 [SEP] 37, Vase, -0.772, 0.933, -1.540, 0, 0, 0, 52 [SEP] 38, ButterKnife, 1.114, 0.911, -0.208, 0, 0, 0, 53 [SEP] 39, SoapBottle, -1.229, 0.933, 0.144, 0, 0, 0, 52 [SEP] 40, Vase, 1.101, 1.667, 0.216, 0, 270, 0, 60 [SEP] 41, Bowl, 1.194, 1.669, -2.234, 0, 270, 0, 51 [SEP] 42, DishSponge, -1.363, 0.553, 2.615, 0, 0, 0, 78 [SEP] 43, Spoon, 1.114, 0.912, -0.729, 0, 270, 0, 53 [SEP] 44, Cup, 1.256, 2.205, -1.517, 0, 270, 0, 59 [SEP] 45, Mug, 0.783, 0.858, 1.158, 0, 270, 0, 75 [SEP] 46, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 47, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 48, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 49, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 50, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 51, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 52, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 53, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 54, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 55, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 56, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 57, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 58, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 59, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 60, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 61, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 62, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 63, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 64, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 65, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 66, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 67, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 68, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 69, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 70, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 71, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 72, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 73, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 74, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 75, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 76, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 77, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 78, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 79, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 80, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 81, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 82, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 83, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 84, NorthWall, , , , , , , [SEP] 85, EastWall, , , , , , , [SEP] 86, SouthWall, , , , , , , [SEP] 87, WestWall, , , , , , , ", "output": ["STEP 1: Cross the kitchen, go between the counter and the stove, then turn to the right and face the sink. | STEP 2: Pick up the egg from in the sink. | STEP 3: Bring the egg with you to go face the white fridge. | STEP 4: Open the fridge and put the egg inside, close the door and let it get cool, then take the egg back out of the fridge. | STEP 5: Bring the egg with you and go back over to face the sink. | STEP 6: Put the egg back in the sink. | END"]} +{"id": "trial_T20190908_203614_840353-0", "input": "Pick up a brass candy dish 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, -4.25, 0.901, 3.0, 0, 270, 0, [SEP] 1, Newspaper, -1.369, 1.107, 0.265, 0, 0, 0, 43 [SEP] 2, CellPhone, -4.563, 0.861, 0.323, 0, 0, 0, 38 [SEP] 3, CellPhone, -1.459, 0.593, 0.221, 0, 0, 0, 47 [SEP] 4, Statue, -0.273, 1.597, 1.006, 0, 270, 0, 45 [SEP] 5, Statue, -3.863, 1.117, 4.490, 0, 90, 0, 57 [SEP] 6, Vase, -4.016, 0.203, 4.404, 0, 90, 0, 55 [SEP] 7, Watch, -2.298, 0.034, 0.421, 0, 90, 0, 40 [SEP] 8, Watch, -2.191, 0.034, 0.317, 0, 90, 0, 40 [SEP] 9, RemoteControl, -0.787, 0.611, 2.224, 0, 0, 0, 61 [SEP] 10, Box, -4.184, 1.332, 4.687, 0, 90, 0, 57 [SEP] 11, Box, -3.570, 0.425, 4.587, 0, 0, 0, 55 [SEP] 12, Laptop, -1.584, 0.588, 4.297, 0, 0, 0, 51 [SEP] 13, Box, -4.741, 0.425, 4.587, 0, 0, 0, 60 [SEP] 14, Watch, -2.297, 0.034, 0.265, 0, 90, 0, 40 [SEP] 15, Pillow, -2.031, 0.668, 4.421, 0, 0, 0, 51 [SEP] 16, TissueBox, -5.194, 1.040, 0.438, 0, 0, 0, 39 [SEP] 17, Newspaper, -0.213, 0.079, 1.194, 0, 90, 0, 42 [SEP] 18, CreditCard, -3.105, 0.995, 4.313, 0, 90, 0, 59 [SEP] 19, KeyChain, -2.990, 0.997, 4.267, 0, 90, 0, 59 [SEP] 20, CellPhone, -1.584, 0.590, 4.644, 0, 0, 0, 51 [SEP] 21, Statue, -3.864, 1.113, 4.786, 0, 90, 0, 57 [SEP] 22, Laptop, -3.393, 1.104, 4.492, 0, 191.867, 0, 57 [SEP] 23, RemoteControl, -5.534, 1.041, 0.306, 0, 0, 0, 39 [SEP] 24, Vase, -4.673, 0.207, 4.331, 0, 90, 0, 60 [SEP] 25, DeskLamp, -4.649, 1.051, 0.268, 0, 0, 0, [SEP] 26, DeskLamp, -2.992, 1.107, 4.522, 0, 0, 0, [SEP] 27, FloorLamp, -0.650, 0.007, 4.431, 0, 0, 0, [SEP] 28, FloorLamp, -5.607, 0.007, 4.641, 0, 0, 0, [SEP] 29, Shelf, -5.237, 1.776, 0.070, 0, 0, 0, [SEP] 30, Shelf, -5.238, 1.968, 0.085, 0, 0, 0, [SEP] 31, Shelf, -5.242, 1.391, 0.086, 0, 0, 0, [SEP] 32, Shelf, -5.241, 1.582, 0.065, 0, 0, 0, [SEP] 33, LightSwitch, -6.002, 1.353, 3.404, 0, 90, 0, [SEP] 34, GarbageCan, -5.794, -0.033, 4.073, 0, 90, 0, [SEP] 35, Painting, -6.017, 1.802, 4.177, 90, 270, 0, [SEP] 36, HousePlant, -3.966, 1.625, 0.135, 0, 315, 0, [SEP] 37, Television, -3.355, 0.833, 0.027, 0, 0, 0, [SEP] 38, Drawer, -5.024, 0.903, 0.370, 0, 0, 0, [SEP] 39, SideTable, -5.024, 0.008, 0.267, 0, 0, 0, [SEP] 40, Safe, -2.298, 5.778, 0.268, 0, 90, 0, [SEP] 41, Shelf, -0.253, 0.781, 1.058, 0, 270, 0, [SEP] 42, Shelf, -0.283, 0.274, 1.066, 0, 270, 0, [SEP] 43, Shelf, -1.224, 1.288, 0.270, 0, 0, 0, [SEP] 44, Shelf, -1.218, 1.810, 0.275, 0, 0, 0, [SEP] 45, Shelf, -0.280, 1.810, 1.057, 0, 270, 0, [SEP] 46, Shelf, -1.218, 0.274, 0.262, 0, 0, 0, [SEP] 47, Shelf, -1.223, 0.782, 0.237, 0, 0, 0, [SEP] 48, Shelf, -0.280, 1.288, 1.055, 0, 270, 0, [SEP] 49, ShelvingUnit, -0.268, 0.004, 1.067, 0, 270, 0, [SEP] 50, ShelvingUnit, -1.218, 0.004, 0.244, 0, 0, 0, [SEP] 51, ArmChair, -2.027, 0.001, 4.422, 0, 178.692, 0, [SEP] 52, Drawer, -4.329, 1.014, 4.311, 0, 180, 0, [SEP] 53, Drawer, -3.750, 1.014, 4.311, 0, 180, 0, [SEP] 54, Cabinet, -4.049, 0.561, 4.212, 0, 180, 0, [SEP] 55, Cabinet, -4.032, 0.561, 4.212, 0, 180, 0, [SEP] 56, Cabinet, -2.884, 0.561, 4.212, 0, 180, 0, [SEP] 57, Dresser, -4.041, -0.000, 4.589, 0, 180, 0, [SEP] 58, Drawer, -4.916, 1.014, 4.311, 0, 180, 0, [SEP] 59, Drawer, -3.166, 1.014, 4.311, 0, 180, 0, [SEP] 60, Cabinet, -5.196, 0.561, 4.212, 0, 180, 0, [SEP] 61, Sofa, -0.705, -0.002, 2.753, 0, 270, 0, [SEP] 62, NorthWall, , , , , , , [SEP] 63, SouthWall, , , , , , , [SEP] 64, SouthWall, , , , , , , ", "output": ["STEP 1: Turn right, then head towards the desk. | STEP 2: Open the left door in the desk. | STEP 3: Pick up the brass candy dish inside then close the door. | STEP 4: Turn left then turn on the lamp against the wall. | END"]} +{"id": "trial_T20190908_203614_840353-1", "input": "Examine a golden vase in 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, -4.25, 0.901, 3.0, 0, 270, 0, [SEP] 1, Newspaper, -1.369, 1.107, 0.265, 0, 0, 0, 43 [SEP] 2, CellPhone, -4.563, 0.861, 0.323, 0, 0, 0, 38 [SEP] 3, CellPhone, -1.459, 0.593, 0.221, 0, 0, 0, 47 [SEP] 4, Statue, -0.273, 1.597, 1.006, 0, 270, 0, 45 [SEP] 5, Statue, -3.863, 1.117, 4.490, 0, 90, 0, 57 [SEP] 6, Vase, -4.016, 0.203, 4.404, 0, 90, 0, 55 [SEP] 7, Watch, -2.298, 0.034, 0.421, 0, 90, 0, 40 [SEP] 8, Watch, -2.191, 0.034, 0.317, 0, 90, 0, 40 [SEP] 9, RemoteControl, -0.787, 0.611, 2.224, 0, 0, 0, 61 [SEP] 10, Box, -4.184, 1.332, 4.687, 0, 90, 0, 57 [SEP] 11, Box, -3.570, 0.425, 4.587, 0, 0, 0, 55 [SEP] 12, Laptop, -1.584, 0.588, 4.297, 0, 0, 0, 51 [SEP] 13, Box, -4.741, 0.425, 4.587, 0, 0, 0, 60 [SEP] 14, Watch, -2.297, 0.034, 0.265, 0, 90, 0, 40 [SEP] 15, Pillow, -2.031, 0.668, 4.421, 0, 0, 0, 51 [SEP] 16, TissueBox, -5.194, 1.040, 0.438, 0, 0, 0, 39 [SEP] 17, Newspaper, -0.213, 0.079, 1.194, 0, 90, 0, 42 [SEP] 18, CreditCard, -3.105, 0.995, 4.313, 0, 90, 0, 59 [SEP] 19, KeyChain, -2.990, 0.997, 4.267, 0, 90, 0, 59 [SEP] 20, CellPhone, -1.584, 0.590, 4.644, 0, 0, 0, 51 [SEP] 21, Statue, -3.864, 1.113, 4.786, 0, 90, 0, 57 [SEP] 22, Laptop, -3.393, 1.104, 4.492, 0, 191.867, 0, 57 [SEP] 23, RemoteControl, -5.534, 1.041, 0.306, 0, 0, 0, 39 [SEP] 24, Vase, -4.673, 0.207, 4.331, 0, 90, 0, 60 [SEP] 25, DeskLamp, -4.649, 1.051, 0.268, 0, 0, 0, [SEP] 26, DeskLamp, -2.992, 1.107, 4.522, 0, 0, 0, [SEP] 27, FloorLamp, -0.650, 0.007, 4.431, 0, 0, 0, [SEP] 28, FloorLamp, -5.607, 0.007, 4.641, 0, 0, 0, [SEP] 29, Shelf, -5.237, 1.776, 0.070, 0, 0, 0, [SEP] 30, Shelf, -5.238, 1.968, 0.085, 0, 0, 0, [SEP] 31, Shelf, -5.242, 1.391, 0.086, 0, 0, 0, [SEP] 32, Shelf, -5.241, 1.582, 0.065, 0, 0, 0, [SEP] 33, LightSwitch, -6.002, 1.353, 3.404, 0, 90, 0, [SEP] 34, GarbageCan, -5.794, -0.033, 4.073, 0, 90, 0, [SEP] 35, Painting, -6.017, 1.802, 4.177, 90, 270, 0, [SEP] 36, HousePlant, -3.966, 1.625, 0.135, 0, 315, 0, [SEP] 37, Television, -3.355, 0.833, 0.027, 0, 0, 0, [SEP] 38, Drawer, -5.024, 0.903, 0.370, 0, 0, 0, [SEP] 39, SideTable, -5.024, 0.008, 0.267, 0, 0, 0, [SEP] 40, Safe, -2.298, 5.778, 0.268, 0, 90, 0, [SEP] 41, Shelf, -0.253, 0.781, 1.058, 0, 270, 0, [SEP] 42, Shelf, -0.283, 0.274, 1.066, 0, 270, 0, [SEP] 43, Shelf, -1.224, 1.288, 0.270, 0, 0, 0, [SEP] 44, Shelf, -1.218, 1.810, 0.275, 0, 0, 0, [SEP] 45, Shelf, -0.280, 1.810, 1.057, 0, 270, 0, [SEP] 46, Shelf, -1.218, 0.274, 0.262, 0, 0, 0, [SEP] 47, Shelf, -1.223, 0.782, 0.237, 0, 0, 0, [SEP] 48, Shelf, -0.280, 1.288, 1.055, 0, 270, 0, [SEP] 49, ShelvingUnit, -0.268, 0.004, 1.067, 0, 270, 0, [SEP] 50, ShelvingUnit, -1.218, 0.004, 0.244, 0, 0, 0, [SEP] 51, ArmChair, -2.027, 0.001, 4.422, 0, 178.692, 0, [SEP] 52, Drawer, -4.329, 1.014, 4.311, 0, 180, 0, [SEP] 53, Drawer, -3.750, 1.014, 4.311, 0, 180, 0, [SEP] 54, Cabinet, -4.049, 0.561, 4.212, 0, 180, 0, [SEP] 55, Cabinet, -4.032, 0.561, 4.212, 0, 180, 0, [SEP] 56, Cabinet, -2.884, 0.561, 4.212, 0, 180, 0, [SEP] 57, Dresser, -4.041, -0.000, 4.589, 0, 180, 0, [SEP] 58, Drawer, -4.916, 1.014, 4.311, 0, 180, 0, [SEP] 59, Drawer, -3.166, 1.014, 4.311, 0, 180, 0, [SEP] 60, Cabinet, -5.196, 0.561, 4.212, 0, 180, 0, [SEP] 61, Sofa, -0.705, -0.002, 2.753, 0, 270, 0, [SEP] 62, NorthWall, , , , , , , [SEP] 63, SouthWall, , , , , , , [SEP] 64, SouthWall, , , , , , , ", "output": ["STEP 1: Walk towards the door, then hang a right and walk over to the wooden dresser. | STEP 2: Open the leftmost cabinet door below the dresser and take out the golden vase, then close the door. | STEP 3: Turn left and walk over to the wall, then turn right and walk up to the tall lamp to the left of the dresser. | STEP 4: Turn on the light of the tall lamp. | END"]} +{"id": "trial_T20190908_203614_840353-2", "input": "Carry a vase 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, -4.25, 0.901, 3.0, 0, 270, 0, [SEP] 1, Newspaper, -1.369, 1.107, 0.265, 0, 0, 0, 43 [SEP] 2, CellPhone, -4.563, 0.861, 0.323, 0, 0, 0, 38 [SEP] 3, CellPhone, -1.459, 0.593, 0.221, 0, 0, 0, 47 [SEP] 4, Statue, -0.273, 1.597, 1.006, 0, 270, 0, 45 [SEP] 5, Statue, -3.863, 1.117, 4.490, 0, 90, 0, 57 [SEP] 6, Vase, -4.016, 0.203, 4.404, 0, 90, 0, 55 [SEP] 7, Watch, -2.298, 0.034, 0.421, 0, 90, 0, 40 [SEP] 8, Watch, -2.191, 0.034, 0.317, 0, 90, 0, 40 [SEP] 9, RemoteControl, -0.787, 0.611, 2.224, 0, 0, 0, 61 [SEP] 10, Box, -4.184, 1.332, 4.687, 0, 90, 0, 57 [SEP] 11, Box, -3.570, 0.425, 4.587, 0, 0, 0, 55 [SEP] 12, Laptop, -1.584, 0.588, 4.297, 0, 0, 0, 51 [SEP] 13, Box, -4.741, 0.425, 4.587, 0, 0, 0, 60 [SEP] 14, Watch, -2.297, 0.034, 0.265, 0, 90, 0, 40 [SEP] 15, Pillow, -2.031, 0.668, 4.421, 0, 0, 0, 51 [SEP] 16, TissueBox, -5.194, 1.040, 0.438, 0, 0, 0, 39 [SEP] 17, Newspaper, -0.213, 0.079, 1.194, 0, 90, 0, 42 [SEP] 18, CreditCard, -3.105, 0.995, 4.313, 0, 90, 0, 59 [SEP] 19, KeyChain, -2.990, 0.997, 4.267, 0, 90, 0, 59 [SEP] 20, CellPhone, -1.584, 0.590, 4.644, 0, 0, 0, 51 [SEP] 21, Statue, -3.864, 1.113, 4.786, 0, 90, 0, 57 [SEP] 22, Laptop, -3.393, 1.104, 4.492, 0, 191.867, 0, 57 [SEP] 23, RemoteControl, -5.534, 1.041, 0.306, 0, 0, 0, 39 [SEP] 24, Vase, -4.673, 0.207, 4.331, 0, 90, 0, 60 [SEP] 25, DeskLamp, -4.649, 1.051, 0.268, 0, 0, 0, [SEP] 26, DeskLamp, -2.992, 1.107, 4.522, 0, 0, 0, [SEP] 27, FloorLamp, -0.650, 0.007, 4.431, 0, 0, 0, [SEP] 28, FloorLamp, -5.607, 0.007, 4.641, 0, 0, 0, [SEP] 29, Shelf, -5.237, 1.776, 0.070, 0, 0, 0, [SEP] 30, Shelf, -5.238, 1.968, 0.085, 0, 0, 0, [SEP] 31, Shelf, -5.242, 1.391, 0.086, 0, 0, 0, [SEP] 32, Shelf, -5.241, 1.582, 0.065, 0, 0, 0, [SEP] 33, LightSwitch, -6.002, 1.353, 3.404, 0, 90, 0, [SEP] 34, GarbageCan, -5.794, -0.033, 4.073, 0, 90, 0, [SEP] 35, Painting, -6.017, 1.802, 4.177, 90, 270, 0, [SEP] 36, HousePlant, -3.966, 1.625, 0.135, 0, 315, 0, [SEP] 37, Television, -3.355, 0.833, 0.027, 0, 0, 0, [SEP] 38, Drawer, -5.024, 0.903, 0.370, 0, 0, 0, [SEP] 39, SideTable, -5.024, 0.008, 0.267, 0, 0, 0, [SEP] 40, Safe, -2.298, 5.778, 0.268, 0, 90, 0, [SEP] 41, Shelf, -0.253, 0.781, 1.058, 0, 270, 0, [SEP] 42, Shelf, -0.283, 0.274, 1.066, 0, 270, 0, [SEP] 43, Shelf, -1.224, 1.288, 0.270, 0, 0, 0, [SEP] 44, Shelf, -1.218, 1.810, 0.275, 0, 0, 0, [SEP] 45, Shelf, -0.280, 1.810, 1.057, 0, 270, 0, [SEP] 46, Shelf, -1.218, 0.274, 0.262, 0, 0, 0, [SEP] 47, Shelf, -1.223, 0.782, 0.237, 0, 0, 0, [SEP] 48, Shelf, -0.280, 1.288, 1.055, 0, 270, 0, [SEP] 49, ShelvingUnit, -0.268, 0.004, 1.067, 0, 270, 0, [SEP] 50, ShelvingUnit, -1.218, 0.004, 0.244, 0, 0, 0, [SEP] 51, ArmChair, -2.027, 0.001, 4.422, 0, 178.692, 0, [SEP] 52, Drawer, -4.329, 1.014, 4.311, 0, 180, 0, [SEP] 53, Drawer, -3.750, 1.014, 4.311, 0, 180, 0, [SEP] 54, Cabinet, -4.049, 0.561, 4.212, 0, 180, 0, [SEP] 55, Cabinet, -4.032, 0.561, 4.212, 0, 180, 0, [SEP] 56, Cabinet, -2.884, 0.561, 4.212, 0, 180, 0, [SEP] 57, Dresser, -4.041, -0.000, 4.589, 0, 180, 0, [SEP] 58, Drawer, -4.916, 1.014, 4.311, 0, 180, 0, [SEP] 59, Drawer, -3.166, 1.014, 4.311, 0, 180, 0, [SEP] 60, Cabinet, -5.196, 0.561, 4.212, 0, 180, 0, [SEP] 61, Sofa, -0.705, -0.002, 2.753, 0, 270, 0, [SEP] 62, NorthWall, , , , , , , [SEP] 63, SouthWall, , , , , , , [SEP] 64, SouthWall, , , , , , , ", "output": ["STEP 1: Move to the bottom left side of the cabinet | STEP 2: Pick up the gold vase in the cabinet | STEP 3: Carry the gold vase to the floor lamp on the right | STEP 4: Turn on the lamp | END"]} +{"id": "trial_T20190907_133919_856963-0", "input": "turn on a lamp while holding a bowl 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, 180, 0, [SEP] 1, Mug, -1.918, 0.876, 0.749, 0, 0, 0, 49 [SEP] 2, CD, -0.483, 0.857, -1.183, 0, 0, 0, 39 [SEP] 3, CD, -0.586, 0.648, -0.932, 0, 0, 0, 37 [SEP] 4, CellPhone, -1.834, 1.724, 0.448, 0, 0, 0, 43 [SEP] 5, CellPhone, -1.914, 0.105, 0.721, 0, 0, 0, 52 [SEP] 6, Pen, -0.511, 0.654, -0.692, 0, 0, 0, 37 [SEP] 7, Pen, -1.918, 0.884, 0.414, 0, 0, 0, 42 [SEP] 8, Pencil, -1.728, 0.886, 0.448, 0, 0, 0, 42 [SEP] 9, Pencil, -1.179, 1.727, 0.448, 0, 0, 0, 43 [SEP] 10, CreditCard, -1.939, 1.723, 0.530, 0, 0, 0, 41 [SEP] 11, KeyChain, -2.292, 0.039, 2.576, 0, 180, 0, 54 [SEP] 12, KeyChain, -2.240, 0.039, 2.682, 0, 180, 0, 54 [SEP] 13, Book, -0.511, 0.364, -0.933, 0, 0, 0, 38 [SEP] 14, Pillow, 1.612, 0.918, 1.655, 0, 0, 0, 30 [SEP] 15, Laptop, 1.409, 0.781, 1.076, 0, 0, 0, 30 [SEP] 16, Book, 1.206, 0.783, 0.787, 0, 0, 0, 30 [SEP] 17, AlarmClock, -0.819, 0.858, -1.356, 0, 0, 0, 39 [SEP] 18, BasketBall, 1.976, 0.120, 0.211, 0, 331.076, 0, [SEP] 19, Pen, -1.571, 0.884, 0.832, 0, 0, 0, 49 [SEP] 20, Laptop, 1.206, 0.781, 1.655, 0, 0, 0, 30 [SEP] 21, BaseballBat, 1.953, 0.659, -1.81, 346.388, 0, 0, [SEP] 22, Bowl, -0.819, 0.861, -1.010, 0, 0, 0, 39 [SEP] 23, Pillow, 1.003, 0.918, 1.076, 0, 0, 0, 30 [SEP] 24, KeyChain, -1.571, 0.879, 0.665, 0, 0, 0, 49 [SEP] 25, CreditCard, -2.315, 0.668, 0.758, 0, 0, 0, 50 [SEP] 26, CellPhone, 1.003, 0.784, 0.787, 0, 0, 0, 30 [SEP] 27, CD, -0.672, 0.202, -0.338, 0, 0, 0, 32 [SEP] 28, Pencil, -2.155, 0.390, 0.683, 0, 0, 0, 51 [SEP] 29, Mug, -2.045, 1.347, 0.489, 0, 0, 0, 49 [SEP] 30, Bed, 1.227, -0.002, 1.664, 0, 0, 0, [SEP] 31, LightSwitch, 2.151, 1.233, -0.518, 0, 270, 0, [SEP] 32, GarbageCan, -0.747, 0.014, -0.327, 0, 0, 0, [SEP] 33, Mirror, -1.358, 1.427, 2.855, 0, 0, 0, [SEP] 34, DeskLamp, -2.296, 0.858, 0.750, 0, 0, 0, [SEP] 35, Window, -0.421, 1.534, -1.947, 90, 0, 0, [SEP] 36, Window, 0.579, 1.534, -1.947, 90, 0, 0, [SEP] 37, Drawer, -0.491, 0.739, -0.855, 0, 90, 0, [SEP] 38, Drawer, -0.491, 0.204, -0.855, 0, 90, 0, [SEP] 39, Desk, -0.639, 0.009, -1.187, 0, 90, 0, [SEP] 40, Drawer, -0.491, 0.487, -0.855, 0, 90, 0, [SEP] 41, Shelf, -1.965, 1.514, 0.416, 0, 0, 0, [SEP] 42, Shelf, -1.965, 1.092, 0.416, 0, 0, 0, [SEP] 43, Shelf, -1.312, 1.888, 0.416, 0, 0, 0, [SEP] 44, Shelf, -1.965, 1.888, 0.416, 0, 0, 0, [SEP] 45, Shelf, -1.312, 1.092, 0.416, 0, 0, 0, [SEP] 46, Shelf, -1.312, 1.514, 0.416, 0, 0, 0, [SEP] 47, Blinds, 0.601, 2.161, -1.916, 0, 0, 0, [SEP] 48, Blinds, -0.402, 2.161, -1.916, 0, 0, 0, [SEP] 49, Desk, -1.726, 0.001, 0.575, 0, 0, 0, [SEP] 50, Drawer, -2.058, 0.733, 0.734, 0, 0, 0, [SEP] 51, Drawer, -2.058, 0.482, 0.734, 0, 0, 0, [SEP] 52, Drawer, -2.058, 0.198, 0.735, 0, 0, 0, [SEP] 53, Chair, -0.137, 0.000, -1.587, 0, 315, 0, [SEP] 54, Safe, -2.183, -7.748, 2.576, 0, 180, 0, [SEP] 55, Chair, -1.433, 0.009, 0.780, 357.672, 206.726, 0, [SEP] 56, LaundryHamper, 0.163, 0.003, 2.635, 0, 86.390, 0, [SEP] 57, NorthWall, , , , , , , [SEP] 58, EastWall, , , , , , , [SEP] 59, SouthWall, , , , , , , [SEP] 60, WestWall, , , , , , , ", "output": ["STEP 1: walk to the end of the room ahead, and then turn right to face the desk | STEP 2: grab the clear bowl off of the table | STEP 3: turn right and walk to the near end of the room, then turn left to walk over to the right side of the desk on the left | STEP 4: turn the lamp on on the right side of the desk | END"]} +{"id": "trial_T20190907_133919_856963-1", "input": "Inspect a bowl near a lit 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, 2.0, 0, 180, 0, [SEP] 1, Mug, -1.918, 0.876, 0.749, 0, 0, 0, 49 [SEP] 2, CD, -0.483, 0.857, -1.183, 0, 0, 0, 39 [SEP] 3, CD, -0.586, 0.648, -0.932, 0, 0, 0, 37 [SEP] 4, CellPhone, -1.834, 1.724, 0.448, 0, 0, 0, 43 [SEP] 5, CellPhone, -1.914, 0.105, 0.721, 0, 0, 0, 52 [SEP] 6, Pen, -0.511, 0.654, -0.692, 0, 0, 0, 37 [SEP] 7, Pen, -1.918, 0.884, 0.414, 0, 0, 0, 42 [SEP] 8, Pencil, -1.728, 0.886, 0.448, 0, 0, 0, 42 [SEP] 9, Pencil, -1.179, 1.727, 0.448, 0, 0, 0, 43 [SEP] 10, CreditCard, -1.939, 1.723, 0.530, 0, 0, 0, 41 [SEP] 11, KeyChain, -2.292, 0.039, 2.576, 0, 180, 0, 54 [SEP] 12, KeyChain, -2.240, 0.039, 2.682, 0, 180, 0, 54 [SEP] 13, Book, -0.511, 0.364, -0.933, 0, 0, 0, 38 [SEP] 14, Pillow, 1.612, 0.918, 1.655, 0, 0, 0, 30 [SEP] 15, Laptop, 1.409, 0.781, 1.076, 0, 0, 0, 30 [SEP] 16, Book, 1.206, 0.783, 0.787, 0, 0, 0, 30 [SEP] 17, AlarmClock, -0.819, 0.858, -1.356, 0, 0, 0, 39 [SEP] 18, BasketBall, 1.976, 0.120, 0.211, 0, 331.076, 0, [SEP] 19, Pen, -1.571, 0.884, 0.832, 0, 0, 0, 49 [SEP] 20, Laptop, 1.206, 0.781, 1.655, 0, 0, 0, 30 [SEP] 21, BaseballBat, 1.953, 0.659, -1.81, 346.388, 0, 0, [SEP] 22, Bowl, -0.819, 0.861, -1.010, 0, 0, 0, 39 [SEP] 23, Pillow, 1.003, 0.918, 1.076, 0, 0, 0, 30 [SEP] 24, KeyChain, -1.571, 0.879, 0.665, 0, 0, 0, 49 [SEP] 25, CreditCard, -2.315, 0.668, 0.758, 0, 0, 0, 50 [SEP] 26, CellPhone, 1.003, 0.784, 0.787, 0, 0, 0, 30 [SEP] 27, CD, -0.672, 0.202, -0.338, 0, 0, 0, 32 [SEP] 28, Pencil, -2.155, 0.390, 0.683, 0, 0, 0, 51 [SEP] 29, Mug, -2.045, 1.347, 0.489, 0, 0, 0, 49 [SEP] 30, Bed, 1.227, -0.002, 1.664, 0, 0, 0, [SEP] 31, LightSwitch, 2.151, 1.233, -0.518, 0, 270, 0, [SEP] 32, GarbageCan, -0.747, 0.014, -0.327, 0, 0, 0, [SEP] 33, Mirror, -1.358, 1.427, 2.855, 0, 0, 0, [SEP] 34, DeskLamp, -2.296, 0.858, 0.750, 0, 0, 0, [SEP] 35, Window, -0.421, 1.534, -1.947, 90, 0, 0, [SEP] 36, Window, 0.579, 1.534, -1.947, 90, 0, 0, [SEP] 37, Drawer, -0.491, 0.739, -0.855, 0, 90, 0, [SEP] 38, Drawer, -0.491, 0.204, -0.855, 0, 90, 0, [SEP] 39, Desk, -0.639, 0.009, -1.187, 0, 90, 0, [SEP] 40, Drawer, -0.491, 0.487, -0.855, 0, 90, 0, [SEP] 41, Shelf, -1.965, 1.514, 0.416, 0, 0, 0, [SEP] 42, Shelf, -1.965, 1.092, 0.416, 0, 0, 0, [SEP] 43, Shelf, -1.312, 1.888, 0.416, 0, 0, 0, [SEP] 44, Shelf, -1.965, 1.888, 0.416, 0, 0, 0, [SEP] 45, Shelf, -1.312, 1.092, 0.416, 0, 0, 0, [SEP] 46, Shelf, -1.312, 1.514, 0.416, 0, 0, 0, [SEP] 47, Blinds, 0.601, 2.161, -1.916, 0, 0, 0, [SEP] 48, Blinds, -0.402, 2.161, -1.916, 0, 0, 0, [SEP] 49, Desk, -1.726, 0.001, 0.575, 0, 0, 0, [SEP] 50, Drawer, -2.058, 0.733, 0.734, 0, 0, 0, [SEP] 51, Drawer, -2.058, 0.482, 0.734, 0, 0, 0, [SEP] 52, Drawer, -2.058, 0.198, 0.735, 0, 0, 0, [SEP] 53, Chair, -0.137, 0.000, -1.587, 0, 315, 0, [SEP] 54, Safe, -2.183, -7.748, 2.576, 0, 180, 0, [SEP] 55, Chair, -1.433, 0.009, 0.780, 357.672, 206.726, 0, [SEP] 56, LaundryHamper, 0.163, 0.003, 2.635, 0, 86.390, 0, [SEP] 57, NorthWall, , , , , , , [SEP] 58, EastWall, , , , , , , [SEP] 59, SouthWall, , , , , , , [SEP] 60, WestWall, , , , , , , ", "output": ["STEP 1: Go straight to the desk chair, then turn right to face the desk. | STEP 2: Take the bowl from the desk. | STEP 3: Turn right, go straight, when you reach the middle of the bed turn left, go straight to the wall, turn left to face the desk. | STEP 4: Turn the lamp on the desk on. | END"]} +{"id": "trial_T20190907_133919_856963-2", "input": "Look at the bowl by 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, 2.0, 0, 180, 0, [SEP] 1, Mug, -1.918, 0.876, 0.749, 0, 0, 0, 49 [SEP] 2, CD, -0.483, 0.857, -1.183, 0, 0, 0, 39 [SEP] 3, CD, -0.586, 0.648, -0.932, 0, 0, 0, 37 [SEP] 4, CellPhone, -1.834, 1.724, 0.448, 0, 0, 0, 43 [SEP] 5, CellPhone, -1.914, 0.105, 0.721, 0, 0, 0, 52 [SEP] 6, Pen, -0.511, 0.654, -0.692, 0, 0, 0, 37 [SEP] 7, Pen, -1.918, 0.884, 0.414, 0, 0, 0, 42 [SEP] 8, Pencil, -1.728, 0.886, 0.448, 0, 0, 0, 42 [SEP] 9, Pencil, -1.179, 1.727, 0.448, 0, 0, 0, 43 [SEP] 10, CreditCard, -1.939, 1.723, 0.530, 0, 0, 0, 41 [SEP] 11, KeyChain, -2.292, 0.039, 2.576, 0, 180, 0, 54 [SEP] 12, KeyChain, -2.240, 0.039, 2.682, 0, 180, 0, 54 [SEP] 13, Book, -0.511, 0.364, -0.933, 0, 0, 0, 38 [SEP] 14, Pillow, 1.612, 0.918, 1.655, 0, 0, 0, 30 [SEP] 15, Laptop, 1.409, 0.781, 1.076, 0, 0, 0, 30 [SEP] 16, Book, 1.206, 0.783, 0.787, 0, 0, 0, 30 [SEP] 17, AlarmClock, -0.819, 0.858, -1.356, 0, 0, 0, 39 [SEP] 18, BasketBall, 1.976, 0.120, 0.211, 0, 331.076, 0, [SEP] 19, Pen, -1.571, 0.884, 0.832, 0, 0, 0, 49 [SEP] 20, Laptop, 1.206, 0.781, 1.655, 0, 0, 0, 30 [SEP] 21, BaseballBat, 1.953, 0.659, -1.81, 346.388, 0, 0, [SEP] 22, Bowl, -0.819, 0.861, -1.010, 0, 0, 0, 39 [SEP] 23, Pillow, 1.003, 0.918, 1.076, 0, 0, 0, 30 [SEP] 24, KeyChain, -1.571, 0.879, 0.665, 0, 0, 0, 49 [SEP] 25, CreditCard, -2.315, 0.668, 0.758, 0, 0, 0, 50 [SEP] 26, CellPhone, 1.003, 0.784, 0.787, 0, 0, 0, 30 [SEP] 27, CD, -0.672, 0.202, -0.338, 0, 0, 0, 32 [SEP] 28, Pencil, -2.155, 0.390, 0.683, 0, 0, 0, 51 [SEP] 29, Mug, -2.045, 1.347, 0.489, 0, 0, 0, 49 [SEP] 30, Bed, 1.227, -0.002, 1.664, 0, 0, 0, [SEP] 31, LightSwitch, 2.151, 1.233, -0.518, 0, 270, 0, [SEP] 32, GarbageCan, -0.747, 0.014, -0.327, 0, 0, 0, [SEP] 33, Mirror, -1.358, 1.427, 2.855, 0, 0, 0, [SEP] 34, DeskLamp, -2.296, 0.858, 0.750, 0, 0, 0, [SEP] 35, Window, -0.421, 1.534, -1.947, 90, 0, 0, [SEP] 36, Window, 0.579, 1.534, -1.947, 90, 0, 0, [SEP] 37, Drawer, -0.491, 0.739, -0.855, 0, 90, 0, [SEP] 38, Drawer, -0.491, 0.204, -0.855, 0, 90, 0, [SEP] 39, Desk, -0.639, 0.009, -1.187, 0, 90, 0, [SEP] 40, Drawer, -0.491, 0.487, -0.855, 0, 90, 0, [SEP] 41, Shelf, -1.965, 1.514, 0.416, 0, 0, 0, [SEP] 42, Shelf, -1.965, 1.092, 0.416, 0, 0, 0, [SEP] 43, Shelf, -1.312, 1.888, 0.416, 0, 0, 0, [SEP] 44, Shelf, -1.965, 1.888, 0.416, 0, 0, 0, [SEP] 45, Shelf, -1.312, 1.092, 0.416, 0, 0, 0, [SEP] 46, Shelf, -1.312, 1.514, 0.416, 0, 0, 0, [SEP] 47, Blinds, 0.601, 2.161, -1.916, 0, 0, 0, [SEP] 48, Blinds, -0.402, 2.161, -1.916, 0, 0, 0, [SEP] 49, Desk, -1.726, 0.001, 0.575, 0, 0, 0, [SEP] 50, Drawer, -2.058, 0.733, 0.734, 0, 0, 0, [SEP] 51, Drawer, -2.058, 0.482, 0.734, 0, 0, 0, [SEP] 52, Drawer, -2.058, 0.198, 0.735, 0, 0, 0, [SEP] 53, Chair, -0.137, 0.000, -1.587, 0, 315, 0, [SEP] 54, Safe, -2.183, -7.748, 2.576, 0, 180, 0, [SEP] 55, Chair, -1.433, 0.009, 0.780, 357.672, 206.726, 0, [SEP] 56, LaundryHamper, 0.163, 0.003, 2.635, 0, 86.390, 0, [SEP] 57, NorthWall, , , , , , , [SEP] 58, EastWall, , , , , , , [SEP] 59, SouthWall, , , , , , , [SEP] 60, WestWall, , , , , , , ", "output": ["STEP 1: Walk forward and turn right to face the desk closest to the window. | STEP 2: Pick up the bowl from the desk. | STEP 3: Turn right and walk to the other desk. | STEP 4: Turn on the desk lamp. | END"]} +{"id": "trial_T20190908_220545_153480-0", "input": "Examine a pencil under 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, 180, 0, [SEP] 1, Bowl, -1.834, 1.727, 0.366, 0, 0, 0, 45 [SEP] 2, Bowl, -1.834, 0.886, 0.366, 0, 0, 0, 45 [SEP] 3, Mug, -2.091, 0.876, 0.665, 0, 0, 0, 45 [SEP] 4, CellPhone, -2.292, 0.040, 2.629, 0, 180, 0, 50 [SEP] 5, Pen, -2.151, 1.355, 0.366, 0, 90, 0, 37 [SEP] 6, Pencil, -0.567, 0.861, -1.010, 0, 0, 0, 35 [SEP] 7, CreditCard, -0.586, 0.649, -0.932, 0, 0, 0, 33 [SEP] 8, CreditCard, -1.224, 0.878, 0.832, 0, 0, 0, 45 [SEP] 9, KeyChain, -2.083, 0.039, 2.522, 0, 180, 0, 50 [SEP] 10, Book, -1.914, 0.386, 0.721, 0, 0, 0, 47 [SEP] 11, Pillow, 1.003, 0.918, 1.076, 0, 0, 0, 26 [SEP] 12, Book, -2.074, 0.104, 0.721, 0, 0, 0, 48 [SEP] 13, AlarmClock, -0.819, 0.858, -1.356, 0, 0, 0, 35 [SEP] 14, BasketBall, 1.976, 0.120, 0.211, 0, 331.076, 0, [SEP] 15, Pen, -2.091, 0.884, 0.581, 0, 0, 0, 45 [SEP] 16, Laptop, -1.783, 0.871, 0.732, 0, 0, 0, 45 [SEP] 17, BaseballBat, 1.953, 0.659, -1.81, 346.388, 0, 0, [SEP] 18, Bowl, -0.827, 0.850, -1.641, 0, 0, 0, 35 [SEP] 19, Pillow, 1.409, 0.918, 0.787, 0, 0, 0, 26 [SEP] 20, KeyChain, -2.045, 1.349, 0.448, 0, 0, 0, 37 [SEP] 21, CreditCard, -2.155, 0.668, 0.683, 0, 0, 0, 46 [SEP] 22, CellPhone, -2.235, 0.387, 0.721, 0, 0, 0, 47 [SEP] 23, CD, -1.995, 0.667, 0.796, 0, 0, 0, 46 [SEP] 24, Pencil, -0.511, 0.368, -1.013, 0, 0, 0, 36 [SEP] 25, Mug, -1.179, 1.721, 0.407, 0, 0, 0, 39 [SEP] 26, Bed, 1.227, -0.002, 1.664, 0, 0, 0, [SEP] 27, LightSwitch, 2.151, 1.233, -0.518, 0, 270, 0, [SEP] 28, GarbageCan, -0.747, 0.014, -0.327, 0, 0, 0, [SEP] 29, Mirror, -1.358, 1.427, 2.855, 0, 0, 0, [SEP] 30, DeskLamp, -2.296, 0.858, 0.750, 0, 0, 0, [SEP] 31, Window, -0.421, 1.534, -1.947, 90, 0, 0, [SEP] 32, Window, 0.579, 1.534, -1.947, 90, 0, 0, [SEP] 33, Drawer, -0.491, 0.739, -0.855, 0, 90, 0, [SEP] 34, Drawer, -0.491, 0.204, -0.855, 0, 90, 0, [SEP] 35, Desk, -0.639, 0.009, -1.187, 0, 90, 0, [SEP] 36, Drawer, -0.491, 0.487, -0.855, 0, 90, 0, [SEP] 37, Shelf, -1.965, 1.514, 0.416, 0, 0, 0, [SEP] 38, Shelf, -1.965, 1.092, 0.416, 0, 0, 0, [SEP] 39, Shelf, -1.312, 1.888, 0.416, 0, 0, 0, [SEP] 40, Shelf, -1.965, 1.888, 0.416, 0, 0, 0, [SEP] 41, Shelf, -1.312, 1.092, 0.416, 0, 0, 0, [SEP] 42, Shelf, -1.312, 1.514, 0.416, 0, 0, 0, [SEP] 43, Blinds, 0.601, 2.161, -1.916, 0, 0, 0, [SEP] 44, Blinds, -0.402, 2.161, -1.916, 0, 0, 0, [SEP] 45, Desk, -1.726, 0.001, 0.575, 0, 0, 0, [SEP] 46, Drawer, -2.058, 0.733, 0.734, 0, 0, 0, [SEP] 47, Drawer, -2.058, 0.482, 0.734, 0, 0, 0, [SEP] 48, Drawer, -2.058, 0.198, 0.735, 0, 0, 0, [SEP] 49, Chair, -0.137, 0.000, -1.587, 0, 315, 0, [SEP] 50, Safe, -2.183, -7.748, 2.576, 0, 180, 0, [SEP] 51, Chair, -1.433, 0.009, 0.780, 357.672, 206.726, 0, [SEP] 52, LaundryHamper, 0.163, 0.003, 2.635, 0, 86.390, 0, [SEP] 53, NorthWall, , , , , , , [SEP] 54, EastWall, , , , , , , [SEP] 55, SouthWall, , , , , , , [SEP] 56, WestWall, , , , , , , ", "output": ["STEP 1: Go to the desk on your right. | STEP 2: Grab a pencil from the desk. | STEP 3: Walk to the computer desk behind you and to your left. | STEP 4: Turn the lamp on. | END"]} +{"id": "trial_T20190908_220545_153480-1", "input": "Hold a pencil 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, 0.0, 0.900, 0.0, 0, 180, 0, [SEP] 1, Bowl, -1.834, 1.727, 0.366, 0, 0, 0, 45 [SEP] 2, Bowl, -1.834, 0.886, 0.366, 0, 0, 0, 45 [SEP] 3, Mug, -2.091, 0.876, 0.665, 0, 0, 0, 45 [SEP] 4, CellPhone, -2.292, 0.040, 2.629, 0, 180, 0, 50 [SEP] 5, Pen, -2.151, 1.355, 0.366, 0, 90, 0, 37 [SEP] 6, Pencil, -0.567, 0.861, -1.010, 0, 0, 0, 35 [SEP] 7, CreditCard, -0.586, 0.649, -0.932, 0, 0, 0, 33 [SEP] 8, CreditCard, -1.224, 0.878, 0.832, 0, 0, 0, 45 [SEP] 9, KeyChain, -2.083, 0.039, 2.522, 0, 180, 0, 50 [SEP] 10, Book, -1.914, 0.386, 0.721, 0, 0, 0, 47 [SEP] 11, Pillow, 1.003, 0.918, 1.076, 0, 0, 0, 26 [SEP] 12, Book, -2.074, 0.104, 0.721, 0, 0, 0, 48 [SEP] 13, AlarmClock, -0.819, 0.858, -1.356, 0, 0, 0, 35 [SEP] 14, BasketBall, 1.976, 0.120, 0.211, 0, 331.076, 0, [SEP] 15, Pen, -2.091, 0.884, 0.581, 0, 0, 0, 45 [SEP] 16, Laptop, -1.783, 0.871, 0.732, 0, 0, 0, 45 [SEP] 17, BaseballBat, 1.953, 0.659, -1.81, 346.388, 0, 0, [SEP] 18, Bowl, -0.827, 0.850, -1.641, 0, 0, 0, 35 [SEP] 19, Pillow, 1.409, 0.918, 0.787, 0, 0, 0, 26 [SEP] 20, KeyChain, -2.045, 1.349, 0.448, 0, 0, 0, 37 [SEP] 21, CreditCard, -2.155, 0.668, 0.683, 0, 0, 0, 46 [SEP] 22, CellPhone, -2.235, 0.387, 0.721, 0, 0, 0, 47 [SEP] 23, CD, -1.995, 0.667, 0.796, 0, 0, 0, 46 [SEP] 24, Pencil, -0.511, 0.368, -1.013, 0, 0, 0, 36 [SEP] 25, Mug, -1.179, 1.721, 0.407, 0, 0, 0, 39 [SEP] 26, Bed, 1.227, -0.002, 1.664, 0, 0, 0, [SEP] 27, LightSwitch, 2.151, 1.233, -0.518, 0, 270, 0, [SEP] 28, GarbageCan, -0.747, 0.014, -0.327, 0, 0, 0, [SEP] 29, Mirror, -1.358, 1.427, 2.855, 0, 0, 0, [SEP] 30, DeskLamp, -2.296, 0.858, 0.750, 0, 0, 0, [SEP] 31, Window, -0.421, 1.534, -1.947, 90, 0, 0, [SEP] 32, Window, 0.579, 1.534, -1.947, 90, 0, 0, [SEP] 33, Drawer, -0.491, 0.739, -0.855, 0, 90, 0, [SEP] 34, Drawer, -0.491, 0.204, -0.855, 0, 90, 0, [SEP] 35, Desk, -0.639, 0.009, -1.187, 0, 90, 0, [SEP] 36, Drawer, -0.491, 0.487, -0.855, 0, 90, 0, [SEP] 37, Shelf, -1.965, 1.514, 0.416, 0, 0, 0, [SEP] 38, Shelf, -1.965, 1.092, 0.416, 0, 0, 0, [SEP] 39, Shelf, -1.312, 1.888, 0.416, 0, 0, 0, [SEP] 40, Shelf, -1.965, 1.888, 0.416, 0, 0, 0, [SEP] 41, Shelf, -1.312, 1.092, 0.416, 0, 0, 0, [SEP] 42, Shelf, -1.312, 1.514, 0.416, 0, 0, 0, [SEP] 43, Blinds, 0.601, 2.161, -1.916, 0, 0, 0, [SEP] 44, Blinds, -0.402, 2.161, -1.916, 0, 0, 0, [SEP] 45, Desk, -1.726, 0.001, 0.575, 0, 0, 0, [SEP] 46, Drawer, -2.058, 0.733, 0.734, 0, 0, 0, [SEP] 47, Drawer, -2.058, 0.482, 0.734, 0, 0, 0, [SEP] 48, Drawer, -2.058, 0.198, 0.735, 0, 0, 0, [SEP] 49, Chair, -0.137, 0.000, -1.587, 0, 315, 0, [SEP] 50, Safe, -2.183, -7.748, 2.576, 0, 180, 0, [SEP] 51, Chair, -1.433, 0.009, 0.780, 357.672, 206.726, 0, [SEP] 52, LaundryHamper, 0.163, 0.003, 2.635, 0, 86.390, 0, [SEP] 53, NorthWall, , , , , , , [SEP] 54, EastWall, , , , , , , [SEP] 55, SouthWall, , , , , , , [SEP] 56, WestWall, , , , , , , ", "output": ["STEP 1: Move a step forward, and face to the desk on the right. | STEP 2: Pick up the pencil from the center of the desk. | STEP 3: Carry the pencil and turn to the right. Move forward and then turn left and face the desk on the left. | STEP 4: Hold the pencil and turn on the lamp on the right side of the desk. | END"]} +{"id": "trial_T20190908_220545_153480-2", "input": "Pick a pencil up 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, 0.0, 0.900, 0.0, 0, 180, 0, [SEP] 1, Bowl, -1.834, 1.727, 0.366, 0, 0, 0, 45 [SEP] 2, Bowl, -1.834, 0.886, 0.366, 0, 0, 0, 45 [SEP] 3, Mug, -2.091, 0.876, 0.665, 0, 0, 0, 45 [SEP] 4, CellPhone, -2.292, 0.040, 2.629, 0, 180, 0, 50 [SEP] 5, Pen, -2.151, 1.355, 0.366, 0, 90, 0, 37 [SEP] 6, Pencil, -0.567, 0.861, -1.010, 0, 0, 0, 35 [SEP] 7, CreditCard, -0.586, 0.649, -0.932, 0, 0, 0, 33 [SEP] 8, CreditCard, -1.224, 0.878, 0.832, 0, 0, 0, 45 [SEP] 9, KeyChain, -2.083, 0.039, 2.522, 0, 180, 0, 50 [SEP] 10, Book, -1.914, 0.386, 0.721, 0, 0, 0, 47 [SEP] 11, Pillow, 1.003, 0.918, 1.076, 0, 0, 0, 26 [SEP] 12, Book, -2.074, 0.104, 0.721, 0, 0, 0, 48 [SEP] 13, AlarmClock, -0.819, 0.858, -1.356, 0, 0, 0, 35 [SEP] 14, BasketBall, 1.976, 0.120, 0.211, 0, 331.076, 0, [SEP] 15, Pen, -2.091, 0.884, 0.581, 0, 0, 0, 45 [SEP] 16, Laptop, -1.783, 0.871, 0.732, 0, 0, 0, 45 [SEP] 17, BaseballBat, 1.953, 0.659, -1.81, 346.388, 0, 0, [SEP] 18, Bowl, -0.827, 0.850, -1.641, 0, 0, 0, 35 [SEP] 19, Pillow, 1.409, 0.918, 0.787, 0, 0, 0, 26 [SEP] 20, KeyChain, -2.045, 1.349, 0.448, 0, 0, 0, 37 [SEP] 21, CreditCard, -2.155, 0.668, 0.683, 0, 0, 0, 46 [SEP] 22, CellPhone, -2.235, 0.387, 0.721, 0, 0, 0, 47 [SEP] 23, CD, -1.995, 0.667, 0.796, 0, 0, 0, 46 [SEP] 24, Pencil, -0.511, 0.368, -1.013, 0, 0, 0, 36 [SEP] 25, Mug, -1.179, 1.721, 0.407, 0, 0, 0, 39 [SEP] 26, Bed, 1.227, -0.002, 1.664, 0, 0, 0, [SEP] 27, LightSwitch, 2.151, 1.233, -0.518, 0, 270, 0, [SEP] 28, GarbageCan, -0.747, 0.014, -0.327, 0, 0, 0, [SEP] 29, Mirror, -1.358, 1.427, 2.855, 0, 0, 0, [SEP] 30, DeskLamp, -2.296, 0.858, 0.750, 0, 0, 0, [SEP] 31, Window, -0.421, 1.534, -1.947, 90, 0, 0, [SEP] 32, Window, 0.579, 1.534, -1.947, 90, 0, 0, [SEP] 33, Drawer, -0.491, 0.739, -0.855, 0, 90, 0, [SEP] 34, Drawer, -0.491, 0.204, -0.855, 0, 90, 0, [SEP] 35, Desk, -0.639, 0.009, -1.187, 0, 90, 0, [SEP] 36, Drawer, -0.491, 0.487, -0.855, 0, 90, 0, [SEP] 37, Shelf, -1.965, 1.514, 0.416, 0, 0, 0, [SEP] 38, Shelf, -1.965, 1.092, 0.416, 0, 0, 0, [SEP] 39, Shelf, -1.312, 1.888, 0.416, 0, 0, 0, [SEP] 40, Shelf, -1.965, 1.888, 0.416, 0, 0, 0, [SEP] 41, Shelf, -1.312, 1.092, 0.416, 0, 0, 0, [SEP] 42, Shelf, -1.312, 1.514, 0.416, 0, 0, 0, [SEP] 43, Blinds, 0.601, 2.161, -1.916, 0, 0, 0, [SEP] 44, Blinds, -0.402, 2.161, -1.916, 0, 0, 0, [SEP] 45, Desk, -1.726, 0.001, 0.575, 0, 0, 0, [SEP] 46, Drawer, -2.058, 0.733, 0.734, 0, 0, 0, [SEP] 47, Drawer, -2.058, 0.482, 0.734, 0, 0, 0, [SEP] 48, Drawer, -2.058, 0.198, 0.735, 0, 0, 0, [SEP] 49, Chair, -0.137, 0.000, -1.587, 0, 315, 0, [SEP] 50, Safe, -2.183, -7.748, 2.576, 0, 180, 0, [SEP] 51, Chair, -1.433, 0.009, 0.780, 357.672, 206.726, 0, [SEP] 52, LaundryHamper, 0.163, 0.003, 2.635, 0, 86.390, 0, [SEP] 53, NorthWall, , , , , , , [SEP] 54, EastWall, , , , , , , [SEP] 55, SouthWall, , , , , , , [SEP] 56, WestWall, , , , , , , ", "output": ["STEP 1: Turn to the right and face the desk. | STEP 2: Pick the pencil up from the desk. | STEP 3: Turn to the right and then left and turn left again to face the lamp on the desk. | STEP 4: Turn the lamp on the desk on. | END"]} +{"id": "trial_T20190908_213356_017769-0", "input": "wash the dirty bowl before putting the bowl 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, 1.25, 0, 90, 0, [SEP] 1, Vase, 1.148, 1.667, -2.029, 0, 270, 0, 54 [SEP] 2, Potato, 1.026, 1.165, 1.540, 0, 270, 0, 78 [SEP] 3, Potato, 0.783, 1.165, 0.967, 0, 270, 0, 78 [SEP] 4, CreditCard, 0.773, 0.908, -0.555, 0, 0, 0, 56 [SEP] 5, CellPhone, -1.881, 0.550, 2.822, 0, 0, 0, 81 [SEP] 6, DishSponge, 0.834, 0.494, -0.648, 0, 270, 0, 59 [SEP] 7, DishSponge, 0.859, 0.910, -1.879, 0, 0, 0, 61 [SEP] 8, ButterKnife, -0.772, 0.933, 0.009, 0, 90, 0, 55 [SEP] 9, Glassbottle, 1.147, 1.667, 0.089, 0, 270, 0, 63 [SEP] 10, Fork, -0.772, 0.934, -1.308, 0, 0, 0, 55 [SEP] 11, Spatula, 0.944, 0.926, -0.555, 0, 180, 0, 56 [SEP] 12, Egg, -0.865, 0.214, 0.608, 0, 180, 0, 75 [SEP] 13, Egg, 1.029, 0.949, -1.793, 0, 0, 0, 61 [SEP] 14, Plate, 0.773, 0.914, -0.729, 0, 0, 0, 56 [SEP] 15, Plate, -1.363, 0.557, 2.718, 0, 0, 0, 81 [SEP] 16, Plate, 1.169, 2.211, -1.191, 0, 270, 0, 62 [SEP] 17, SoapBottle, -0.920, 0.933, 0.162, 0, 0, 0, 55 [SEP] 18, Bowl, -1.167, 0.936, -0.118, 0, 0, 0, 55 [SEP] 19, Bowl, 1.026, 1.405, 1.158, 0, 270, 0, 78 [SEP] 20, Apple, 0.966, 0.913, 1.063, 0, 270, 0, 78 [SEP] 21, Statue, -0.698, 0.936, -1.463, 0, 0, 0, 55 [SEP] 22, Glassbottle, 0.688, 0.912, -1.793, 0, 0, 0, 61 [SEP] 23, Bread, 1.029, 0.992, -0.208, 0, 0, 0, 56 [SEP] 24, CreditCard, 0.688, 0.908, -0.208, 0, 0, 0, 56 [SEP] 25, CellPhone, 1.199, 0.908, 0.139, 0, 0, 0, 56 [SEP] 26, Potato, 0.783, 1.673, 0.967, 0, 270, 0, 78 [SEP] 27, Knife, 0.868, 0.700, -0.600, 90, 315, 0, 53 [SEP] 28, Fork, 0.793, 0.154, -0.690, 0, 180, 0, 58 [SEP] 29, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 49 [SEP] 30, Lettuce, 0.944, 0.988, 0.139, 0, 0, 0, 56 [SEP] 31, Plate, 1.102, 1.669, -0.465, 0, 270, 0, 64 [SEP] 32, Apple, 1.093, 1.845, -1.132, 0, 270, 0, 77 [SEP] 33, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 51 [SEP] 34, Spatula, -0.698, 0.948, -0.143, 0, 0, 0, 55 [SEP] 35, PaperTowelRoll, -0.960, 0.281, 0.510, 0, 180, 0, 75 [SEP] 36, Tomato, 0.859, 0.952, -0.208, 0, 0, 0, 56 [SEP] 37, Egg, 1.060, 1.821, -1.288, 0, 270, 0, 77 [SEP] 38, SaltShaker, 0.956, 0.698, -0.648, 0, 270, 0, 53 [SEP] 39, PepperShaker, 0.914, 0.150, -0.571, 0, 270, 0, 58 [SEP] 40, Vase, -1.469, 0.881, 2.746, 0, 0, 0, 82 [SEP] 41, ButterKnife, -0.624, 0.933, 0.009, 0, 0, 0, 55 [SEP] 42, SoapBottle, 1.193, 1.666, 0.216, 0, 270, 0, 63 [SEP] 43, Vase, 0.861, 0.109, -2.052, 0, 0, 0, 60 [SEP] 44, Bowl, 1.212, 2.211, -1.626, 0, 270, 0, 62 [SEP] 45, DishSponge, -1.054, 0.176, 0.608, 0, 180, 0, 75 [SEP] 46, Spoon, -1.355, 0.934, -0.905, 0, 0, 0, 55 [SEP] 47, Cup, 1.087, 1.640, 0.967, 0, 270, 0, 78 [SEP] 48, Mug, 0.773, 0.906, 0.139, 0, 0, 0, 56 [SEP] 49, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 50, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 51, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 52, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 53, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 54, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 55, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 56, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 57, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 58, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 59, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 60, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 61, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 62, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 63, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 64, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 65, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 66, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 67, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 68, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 69, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 70, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 71, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 72, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 73, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 74, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 75, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 76, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 77, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 78, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 79, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 80, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 81, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 82, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 83, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 84, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 85, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 86, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 87, NorthWall, , , , , , , [SEP] 88, EastWall, , , , , , , [SEP] 89, SouthWall, , , , , , , [SEP] 90, WestWall, , , , , , , ", "output": ["STEP 1: go to the counter near the stove | STEP 2: pick up the square Bowl | STEP 3: take the bowl to the sink | STEP 4: wash the bowl in the sink | STEP 5: take the bowel to the counter | STEP 6: put the bowl on the counter top | END"]} +{"id": "trial_T20190908_213356_017769-1", "input": "Put a clean plate 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, 1.25, 0, 90, 0, [SEP] 1, Vase, 1.148, 1.667, -2.029, 0, 270, 0, 54 [SEP] 2, Potato, 1.026, 1.165, 1.540, 0, 270, 0, 78 [SEP] 3, Potato, 0.783, 1.165, 0.967, 0, 270, 0, 78 [SEP] 4, CreditCard, 0.773, 0.908, -0.555, 0, 0, 0, 56 [SEP] 5, CellPhone, -1.881, 0.550, 2.822, 0, 0, 0, 81 [SEP] 6, DishSponge, 0.834, 0.494, -0.648, 0, 270, 0, 59 [SEP] 7, DishSponge, 0.859, 0.910, -1.879, 0, 0, 0, 61 [SEP] 8, ButterKnife, -0.772, 0.933, 0.009, 0, 90, 0, 55 [SEP] 9, Glassbottle, 1.147, 1.667, 0.089, 0, 270, 0, 63 [SEP] 10, Fork, -0.772, 0.934, -1.308, 0, 0, 0, 55 [SEP] 11, Spatula, 0.944, 0.926, -0.555, 0, 180, 0, 56 [SEP] 12, Egg, -0.865, 0.214, 0.608, 0, 180, 0, 75 [SEP] 13, Egg, 1.029, 0.949, -1.793, 0, 0, 0, 61 [SEP] 14, Plate, 0.773, 0.914, -0.729, 0, 0, 0, 56 [SEP] 15, Plate, -1.363, 0.557, 2.718, 0, 0, 0, 81 [SEP] 16, Plate, 1.169, 2.211, -1.191, 0, 270, 0, 62 [SEP] 17, SoapBottle, -0.920, 0.933, 0.162, 0, 0, 0, 55 [SEP] 18, Bowl, -1.167, 0.936, -0.118, 0, 0, 0, 55 [SEP] 19, Bowl, 1.026, 1.405, 1.158, 0, 270, 0, 78 [SEP] 20, Apple, 0.966, 0.913, 1.063, 0, 270, 0, 78 [SEP] 21, Statue, -0.698, 0.936, -1.463, 0, 0, 0, 55 [SEP] 22, Glassbottle, 0.688, 0.912, -1.793, 0, 0, 0, 61 [SEP] 23, Bread, 1.029, 0.992, -0.208, 0, 0, 0, 56 [SEP] 24, CreditCard, 0.688, 0.908, -0.208, 0, 0, 0, 56 [SEP] 25, CellPhone, 1.199, 0.908, 0.139, 0, 0, 0, 56 [SEP] 26, Potato, 0.783, 1.673, 0.967, 0, 270, 0, 78 [SEP] 27, Knife, 0.868, 0.700, -0.600, 90, 315, 0, 53 [SEP] 28, Fork, 0.793, 0.154, -0.690, 0, 180, 0, 58 [SEP] 29, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 49 [SEP] 30, Lettuce, 0.944, 0.988, 0.139, 0, 0, 0, 56 [SEP] 31, Plate, 1.102, 1.669, -0.465, 0, 270, 0, 64 [SEP] 32, Apple, 1.093, 1.845, -1.132, 0, 270, 0, 77 [SEP] 33, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 51 [SEP] 34, Spatula, -0.698, 0.948, -0.143, 0, 0, 0, 55 [SEP] 35, PaperTowelRoll, -0.960, 0.281, 0.510, 0, 180, 0, 75 [SEP] 36, Tomato, 0.859, 0.952, -0.208, 0, 0, 0, 56 [SEP] 37, Egg, 1.060, 1.821, -1.288, 0, 270, 0, 77 [SEP] 38, SaltShaker, 0.956, 0.698, -0.648, 0, 270, 0, 53 [SEP] 39, PepperShaker, 0.914, 0.150, -0.571, 0, 270, 0, 58 [SEP] 40, Vase, -1.469, 0.881, 2.746, 0, 0, 0, 82 [SEP] 41, ButterKnife, -0.624, 0.933, 0.009, 0, 0, 0, 55 [SEP] 42, SoapBottle, 1.193, 1.666, 0.216, 0, 270, 0, 63 [SEP] 43, Vase, 0.861, 0.109, -2.052, 0, 0, 0, 60 [SEP] 44, Bowl, 1.212, 2.211, -1.626, 0, 270, 0, 62 [SEP] 45, DishSponge, -1.054, 0.176, 0.608, 0, 180, 0, 75 [SEP] 46, Spoon, -1.355, 0.934, -0.905, 0, 0, 0, 55 [SEP] 47, Cup, 1.087, 1.640, 0.967, 0, 270, 0, 78 [SEP] 48, Mug, 0.773, 0.906, 0.139, 0, 0, 0, 56 [SEP] 49, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 50, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 51, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 52, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 53, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 54, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 55, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 56, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 57, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 58, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 59, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 60, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 61, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 62, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 63, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 64, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 65, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 66, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 67, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 68, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 69, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 70, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 71, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 72, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 73, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 74, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 75, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 76, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 77, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 78, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 79, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 80, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 81, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 82, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 83, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 84, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 85, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 86, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 87, NorthWall, , , , , , , [SEP] 88, EastWall, , , , , , , [SEP] 89, SouthWall, , , , , , , [SEP] 90, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and go to the counter, to the left of the stove. | STEP 2: Pick up the plate on the counter. | STEP 3: Turn around and go to the sink. | STEP 4: Clean the plate in the sink. | STEP 5: Turn around and go to the counter above the dishwasher. | STEP 6: Put the plate on the counter. | END"]} +{"id": "trial_T20190908_213356_017769-2", "input": "Place a clean plate 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, 1.25, 0, 90, 0, [SEP] 1, Vase, 1.148, 1.667, -2.029, 0, 270, 0, 54 [SEP] 2, Potato, 1.026, 1.165, 1.540, 0, 270, 0, 78 [SEP] 3, Potato, 0.783, 1.165, 0.967, 0, 270, 0, 78 [SEP] 4, CreditCard, 0.773, 0.908, -0.555, 0, 0, 0, 56 [SEP] 5, CellPhone, -1.881, 0.550, 2.822, 0, 0, 0, 81 [SEP] 6, DishSponge, 0.834, 0.494, -0.648, 0, 270, 0, 59 [SEP] 7, DishSponge, 0.859, 0.910, -1.879, 0, 0, 0, 61 [SEP] 8, ButterKnife, -0.772, 0.933, 0.009, 0, 90, 0, 55 [SEP] 9, Glassbottle, 1.147, 1.667, 0.089, 0, 270, 0, 63 [SEP] 10, Fork, -0.772, 0.934, -1.308, 0, 0, 0, 55 [SEP] 11, Spatula, 0.944, 0.926, -0.555, 0, 180, 0, 56 [SEP] 12, Egg, -0.865, 0.214, 0.608, 0, 180, 0, 75 [SEP] 13, Egg, 1.029, 0.949, -1.793, 0, 0, 0, 61 [SEP] 14, Plate, 0.773, 0.914, -0.729, 0, 0, 0, 56 [SEP] 15, Plate, -1.363, 0.557, 2.718, 0, 0, 0, 81 [SEP] 16, Plate, 1.169, 2.211, -1.191, 0, 270, 0, 62 [SEP] 17, SoapBottle, -0.920, 0.933, 0.162, 0, 0, 0, 55 [SEP] 18, Bowl, -1.167, 0.936, -0.118, 0, 0, 0, 55 [SEP] 19, Bowl, 1.026, 1.405, 1.158, 0, 270, 0, 78 [SEP] 20, Apple, 0.966, 0.913, 1.063, 0, 270, 0, 78 [SEP] 21, Statue, -0.698, 0.936, -1.463, 0, 0, 0, 55 [SEP] 22, Glassbottle, 0.688, 0.912, -1.793, 0, 0, 0, 61 [SEP] 23, Bread, 1.029, 0.992, -0.208, 0, 0, 0, 56 [SEP] 24, CreditCard, 0.688, 0.908, -0.208, 0, 0, 0, 56 [SEP] 25, CellPhone, 1.199, 0.908, 0.139, 0, 0, 0, 56 [SEP] 26, Potato, 0.783, 1.673, 0.967, 0, 270, 0, 78 [SEP] 27, Knife, 0.868, 0.700, -0.600, 90, 315, 0, 53 [SEP] 28, Fork, 0.793, 0.154, -0.690, 0, 180, 0, 58 [SEP] 29, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 49 [SEP] 30, Lettuce, 0.944, 0.988, 0.139, 0, 0, 0, 56 [SEP] 31, Plate, 1.102, 1.669, -0.465, 0, 270, 0, 64 [SEP] 32, Apple, 1.093, 1.845, -1.132, 0, 270, 0, 77 [SEP] 33, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 51 [SEP] 34, Spatula, -0.698, 0.948, -0.143, 0, 0, 0, 55 [SEP] 35, PaperTowelRoll, -0.960, 0.281, 0.510, 0, 180, 0, 75 [SEP] 36, Tomato, 0.859, 0.952, -0.208, 0, 0, 0, 56 [SEP] 37, Egg, 1.060, 1.821, -1.288, 0, 270, 0, 77 [SEP] 38, SaltShaker, 0.956, 0.698, -0.648, 0, 270, 0, 53 [SEP] 39, PepperShaker, 0.914, 0.150, -0.571, 0, 270, 0, 58 [SEP] 40, Vase, -1.469, 0.881, 2.746, 0, 0, 0, 82 [SEP] 41, ButterKnife, -0.624, 0.933, 0.009, 0, 0, 0, 55 [SEP] 42, SoapBottle, 1.193, 1.666, 0.216, 0, 270, 0, 63 [SEP] 43, Vase, 0.861, 0.109, -2.052, 0, 0, 0, 60 [SEP] 44, Bowl, 1.212, 2.211, -1.626, 0, 270, 0, 62 [SEP] 45, DishSponge, -1.054, 0.176, 0.608, 0, 180, 0, 75 [SEP] 46, Spoon, -1.355, 0.934, -0.905, 0, 0, 0, 55 [SEP] 47, Cup, 1.087, 1.640, 0.967, 0, 270, 0, 78 [SEP] 48, Mug, 0.773, 0.906, 0.139, 0, 0, 0, 56 [SEP] 49, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 50, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 51, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 52, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 53, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 54, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 55, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 56, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 57, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 58, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 59, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 60, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 61, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 62, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 63, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 64, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 65, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 66, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 67, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 68, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 69, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 70, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 71, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 72, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 73, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 74, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 75, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 76, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 77, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 78, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 79, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 80, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 81, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 82, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 83, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 84, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 85, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 86, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 87, NorthWall, , , , , , , [SEP] 88, EastWall, , , , , , , [SEP] 89, SouthWall, , , , , , , [SEP] 90, WestWall, , , , , , , ", "output": ["STEP 1: Walk to the counter to your right. | STEP 2: Grab the gold plate on the counter that's next to the stove. | STEP 3: Turn around and walk straight to the sink. | STEP 4: Place the plate in the sink, wash it and remove it. | STEP 5: Take the plate, turn right and walk to the counter to your right. | STEP 6: Place the plate between the credit cards on the counter. | END"]} +{"id": "trial_T20190906_185459_653538-0", "input": "place a bat 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, 0.0, 0.900, 0.75, 0, 90, 0, [SEP] 1, Bowl, -0.735, 0.861, -0.663, 0, 0, 0, 34 [SEP] 2, Mug, -1.744, 0.876, 0.581, 0, 0, 0, 44 [SEP] 3, Mug, -1.339, 1.721, 0.448, 0, 0, 0, 38 [SEP] 4, Pen, -1.728, 1.355, 0.448, 0, 0, 0, 36 [SEP] 5, Pen, -0.567, 0.863, -1.356, 0, 0, 0, 34 [SEP] 6, CreditCard, -1.397, 0.878, 0.832, 0, 0, 0, 44 [SEP] 7, CreditCard, -1.994, 0.386, 0.646, 0, 0, 0, 46 [SEP] 8, Book, -2.155, 0.667, 0.721, 0, 0, 0, 45 [SEP] 9, Laptop, 1.612, 0.781, 1.655, 0, 0, 0, 25 [SEP] 10, Laptop, 1.003, 0.781, 1.366, 0, 0, 0, 25 [SEP] 11, Book, -0.735, 0.857, -1.010, 0, 0, 0, 34 [SEP] 12, AlarmClock, -1.571, 0.879, 0.832, 0, 0, 0, 44 [SEP] 13, BasketBall, 1.976, 0.120, 0.211, 0, 331.076, 0, [SEP] 14, Pen, -0.567, 0.863, -0.836, 0, 0, 0, 34 [SEP] 15, Laptop, 1.612, 0.781, 0.787, 0, 0, 0, 25 [SEP] 16, BaseballBat, 1.953, 0.659, -1.81, 346.388, 0, 0, [SEP] 17, Bowl, -0.827, 0.850, -1.641, 0, 0, 0, 34 [SEP] 18, Pillow, 1.409, 0.918, 2.234, 0, 0, 0, 25 [SEP] 19, KeyChain, -2.240, 0.039, 2.522, 0, 180, 0, 49 [SEP] 20, CreditCard, -1.339, 0.882, 0.530, 0, 0, 0, 44 [SEP] 21, CellPhone, 1.815, 0.784, 1.076, 0, 0, 0, 25 [SEP] 22, CD, -0.903, 0.857, -1.183, 0, 0, 0, 34 [SEP] 23, Pencil, -1.233, 1.727, 0.489, 0, 0, 0, 38 [SEP] 24, Mug, -1.834, 1.721, 0.325, 0, 0, 0, 38 [SEP] 25, Bed, 1.227, -0.002, 1.664, 0, 0, 0, [SEP] 26, LightSwitch, 2.151, 1.233, -0.518, 0, 270, 0, [SEP] 27, GarbageCan, -0.747, 0.014, -0.327, 0, 0, 0, [SEP] 28, Mirror, -1.358, 1.427, 2.855, 0, 0, 0, [SEP] 29, DeskLamp, -2.296, 0.858, 0.750, 0, 0, 0, [SEP] 30, Window, -0.421, 1.534, -1.947, 90, 0, 0, [SEP] 31, Window, 0.579, 1.534, -1.947, 90, 0, 0, [SEP] 32, Drawer, -0.491, 0.739, -0.855, 0, 90, 0, [SEP] 33, Drawer, -0.491, 0.204, -0.855, 0, 90, 0, [SEP] 34, Desk, -0.639, 0.009, -1.187, 0, 90, 0, [SEP] 35, Drawer, -0.491, 0.487, -0.855, 0, 90, 0, [SEP] 36, Shelf, -1.965, 1.514, 0.416, 0, 0, 0, [SEP] 37, Shelf, -1.965, 1.092, 0.416, 0, 0, 0, [SEP] 38, Shelf, -1.312, 1.888, 0.416, 0, 0, 0, [SEP] 39, Shelf, -1.965, 1.888, 0.416, 0, 0, 0, [SEP] 40, Shelf, -1.312, 1.092, 0.416, 0, 0, 0, [SEP] 41, Shelf, -1.312, 1.514, 0.416, 0, 0, 0, [SEP] 42, Blinds, 0.601, 2.161, -1.916, 0, 0, 0, [SEP] 43, Blinds, -0.402, 2.161, -1.916, 0, 0, 0, [SEP] 44, Desk, -1.726, 0.001, 0.575, 0, 0, 0, [SEP] 45, Drawer, -2.058, 0.733, 0.734, 0, 0, 0, [SEP] 46, Drawer, -2.058, 0.482, 0.734, 0, 0, 0, [SEP] 47, Drawer, -2.058, 0.198, 0.735, 0, 0, 0, [SEP] 48, Chair, -0.137, 0.000, -1.587, 0, 315, 0, [SEP] 49, Safe, -2.183, -7.748, 2.576, 0, 180, 0, [SEP] 50, Chair, -1.433, 0.009, 0.780, 357.672, 206.726, 0, [SEP] 51, LaundryHamper, 0.163, 0.003, 2.635, 0, 86.390, 0, [SEP] 52, NorthWall, , , , , , , [SEP] 53, EastWall, , , , , , , [SEP] 54, SouthWall, , , , , , , [SEP] 55, WestWall, , , , , , , ", "output": ["STEP 1: turn right, move towards the chair and turn left and move towards the door. | STEP 2: pick up the bat | STEP 3: turn around, move towards the chair, and then turn right and move towards the bed | STEP 4: drop the bat on the bed | END"]} +{"id": "trial_T20190906_185459_653538-1", "input": "Place a bat standing up 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, 0.0, 0.900, 0.75, 0, 90, 0, [SEP] 1, Bowl, -0.735, 0.861, -0.663, 0, 0, 0, 34 [SEP] 2, Mug, -1.744, 0.876, 0.581, 0, 0, 0, 44 [SEP] 3, Mug, -1.339, 1.721, 0.448, 0, 0, 0, 38 [SEP] 4, Pen, -1.728, 1.355, 0.448, 0, 0, 0, 36 [SEP] 5, Pen, -0.567, 0.863, -1.356, 0, 0, 0, 34 [SEP] 6, CreditCard, -1.397, 0.878, 0.832, 0, 0, 0, 44 [SEP] 7, CreditCard, -1.994, 0.386, 0.646, 0, 0, 0, 46 [SEP] 8, Book, -2.155, 0.667, 0.721, 0, 0, 0, 45 [SEP] 9, Laptop, 1.612, 0.781, 1.655, 0, 0, 0, 25 [SEP] 10, Laptop, 1.003, 0.781, 1.366, 0, 0, 0, 25 [SEP] 11, Book, -0.735, 0.857, -1.010, 0, 0, 0, 34 [SEP] 12, AlarmClock, -1.571, 0.879, 0.832, 0, 0, 0, 44 [SEP] 13, BasketBall, 1.976, 0.120, 0.211, 0, 331.076, 0, [SEP] 14, Pen, -0.567, 0.863, -0.836, 0, 0, 0, 34 [SEP] 15, Laptop, 1.612, 0.781, 0.787, 0, 0, 0, 25 [SEP] 16, BaseballBat, 1.953, 0.659, -1.81, 346.388, 0, 0, [SEP] 17, Bowl, -0.827, 0.850, -1.641, 0, 0, 0, 34 [SEP] 18, Pillow, 1.409, 0.918, 2.234, 0, 0, 0, 25 [SEP] 19, KeyChain, -2.240, 0.039, 2.522, 0, 180, 0, 49 [SEP] 20, CreditCard, -1.339, 0.882, 0.530, 0, 0, 0, 44 [SEP] 21, CellPhone, 1.815, 0.784, 1.076, 0, 0, 0, 25 [SEP] 22, CD, -0.903, 0.857, -1.183, 0, 0, 0, 34 [SEP] 23, Pencil, -1.233, 1.727, 0.489, 0, 0, 0, 38 [SEP] 24, Mug, -1.834, 1.721, 0.325, 0, 0, 0, 38 [SEP] 25, Bed, 1.227, -0.002, 1.664, 0, 0, 0, [SEP] 26, LightSwitch, 2.151, 1.233, -0.518, 0, 270, 0, [SEP] 27, GarbageCan, -0.747, 0.014, -0.327, 0, 0, 0, [SEP] 28, Mirror, -1.358, 1.427, 2.855, 0, 0, 0, [SEP] 29, DeskLamp, -2.296, 0.858, 0.750, 0, 0, 0, [SEP] 30, Window, -0.421, 1.534, -1.947, 90, 0, 0, [SEP] 31, Window, 0.579, 1.534, -1.947, 90, 0, 0, [SEP] 32, Drawer, -0.491, 0.739, -0.855, 0, 90, 0, [SEP] 33, Drawer, -0.491, 0.204, -0.855, 0, 90, 0, [SEP] 34, Desk, -0.639, 0.009, -1.187, 0, 90, 0, [SEP] 35, Drawer, -0.491, 0.487, -0.855, 0, 90, 0, [SEP] 36, Shelf, -1.965, 1.514, 0.416, 0, 0, 0, [SEP] 37, Shelf, -1.965, 1.092, 0.416, 0, 0, 0, [SEP] 38, Shelf, -1.312, 1.888, 0.416, 0, 0, 0, [SEP] 39, Shelf, -1.965, 1.888, 0.416, 0, 0, 0, [SEP] 40, Shelf, -1.312, 1.092, 0.416, 0, 0, 0, [SEP] 41, Shelf, -1.312, 1.514, 0.416, 0, 0, 0, [SEP] 42, Blinds, 0.601, 2.161, -1.916, 0, 0, 0, [SEP] 43, Blinds, -0.402, 2.161, -1.916, 0, 0, 0, [SEP] 44, Desk, -1.726, 0.001, 0.575, 0, 0, 0, [SEP] 45, Drawer, -2.058, 0.733, 0.734, 0, 0, 0, [SEP] 46, Drawer, -2.058, 0.482, 0.734, 0, 0, 0, [SEP] 47, Drawer, -2.058, 0.198, 0.735, 0, 0, 0, [SEP] 48, Chair, -0.137, 0.000, -1.587, 0, 315, 0, [SEP] 49, Safe, -2.183, -7.748, 2.576, 0, 180, 0, [SEP] 50, Chair, -1.433, 0.009, 0.780, 357.672, 206.726, 0, [SEP] 51, LaundryHamper, 0.163, 0.003, 2.635, 0, 86.390, 0, [SEP] 52, NorthWall, , , , , , , [SEP] 53, EastWall, , , , , , , [SEP] 54, SouthWall, , , , , , , [SEP] 55, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and begin walking across the room, then hang a left once past the table and walk over to the wall, then turn right and walk up to the bat in the corner of the room. | STEP 2: Pick up the black bat lying in the corner of the room. | STEP 3: Turn right and begin walk towards the wooden desk, then walk over to the side of the bed that is not against the wall. | STEP 4: Place the bat standing up on the bed in front and to the right of the closest laptop to you. | END"]} +{"id": "trial_T20190906_185459_653538-2", "input": "put a baseball bat on top 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, 0.0, 0.900, 0.75, 0, 90, 0, [SEP] 1, Bowl, -0.735, 0.861, -0.663, 0, 0, 0, 34 [SEP] 2, Mug, -1.744, 0.876, 0.581, 0, 0, 0, 44 [SEP] 3, Mug, -1.339, 1.721, 0.448, 0, 0, 0, 38 [SEP] 4, Pen, -1.728, 1.355, 0.448, 0, 0, 0, 36 [SEP] 5, Pen, -0.567, 0.863, -1.356, 0, 0, 0, 34 [SEP] 6, CreditCard, -1.397, 0.878, 0.832, 0, 0, 0, 44 [SEP] 7, CreditCard, -1.994, 0.386, 0.646, 0, 0, 0, 46 [SEP] 8, Book, -2.155, 0.667, 0.721, 0, 0, 0, 45 [SEP] 9, Laptop, 1.612, 0.781, 1.655, 0, 0, 0, 25 [SEP] 10, Laptop, 1.003, 0.781, 1.366, 0, 0, 0, 25 [SEP] 11, Book, -0.735, 0.857, -1.010, 0, 0, 0, 34 [SEP] 12, AlarmClock, -1.571, 0.879, 0.832, 0, 0, 0, 44 [SEP] 13, BasketBall, 1.976, 0.120, 0.211, 0, 331.076, 0, [SEP] 14, Pen, -0.567, 0.863, -0.836, 0, 0, 0, 34 [SEP] 15, Laptop, 1.612, 0.781, 0.787, 0, 0, 0, 25 [SEP] 16, BaseballBat, 1.953, 0.659, -1.81, 346.388, 0, 0, [SEP] 17, Bowl, -0.827, 0.850, -1.641, 0, 0, 0, 34 [SEP] 18, Pillow, 1.409, 0.918, 2.234, 0, 0, 0, 25 [SEP] 19, KeyChain, -2.240, 0.039, 2.522, 0, 180, 0, 49 [SEP] 20, CreditCard, -1.339, 0.882, 0.530, 0, 0, 0, 44 [SEP] 21, CellPhone, 1.815, 0.784, 1.076, 0, 0, 0, 25 [SEP] 22, CD, -0.903, 0.857, -1.183, 0, 0, 0, 34 [SEP] 23, Pencil, -1.233, 1.727, 0.489, 0, 0, 0, 38 [SEP] 24, Mug, -1.834, 1.721, 0.325, 0, 0, 0, 38 [SEP] 25, Bed, 1.227, -0.002, 1.664, 0, 0, 0, [SEP] 26, LightSwitch, 2.151, 1.233, -0.518, 0, 270, 0, [SEP] 27, GarbageCan, -0.747, 0.014, -0.327, 0, 0, 0, [SEP] 28, Mirror, -1.358, 1.427, 2.855, 0, 0, 0, [SEP] 29, DeskLamp, -2.296, 0.858, 0.750, 0, 0, 0, [SEP] 30, Window, -0.421, 1.534, -1.947, 90, 0, 0, [SEP] 31, Window, 0.579, 1.534, -1.947, 90, 0, 0, [SEP] 32, Drawer, -0.491, 0.739, -0.855, 0, 90, 0, [SEP] 33, Drawer, -0.491, 0.204, -0.855, 0, 90, 0, [SEP] 34, Desk, -0.639, 0.009, -1.187, 0, 90, 0, [SEP] 35, Drawer, -0.491, 0.487, -0.855, 0, 90, 0, [SEP] 36, Shelf, -1.965, 1.514, 0.416, 0, 0, 0, [SEP] 37, Shelf, -1.965, 1.092, 0.416, 0, 0, 0, [SEP] 38, Shelf, -1.312, 1.888, 0.416, 0, 0, 0, [SEP] 39, Shelf, -1.965, 1.888, 0.416, 0, 0, 0, [SEP] 40, Shelf, -1.312, 1.092, 0.416, 0, 0, 0, [SEP] 41, Shelf, -1.312, 1.514, 0.416, 0, 0, 0, [SEP] 42, Blinds, 0.601, 2.161, -1.916, 0, 0, 0, [SEP] 43, Blinds, -0.402, 2.161, -1.916, 0, 0, 0, [SEP] 44, Desk, -1.726, 0.001, 0.575, 0, 0, 0, [SEP] 45, Drawer, -2.058, 0.733, 0.734, 0, 0, 0, [SEP] 46, Drawer, -2.058, 0.482, 0.734, 0, 0, 0, [SEP] 47, Drawer, -2.058, 0.198, 0.735, 0, 0, 0, [SEP] 48, Chair, -0.137, 0.000, -1.587, 0, 315, 0, [SEP] 49, Safe, -2.183, -7.748, 2.576, 0, 180, 0, [SEP] 50, Chair, -1.433, 0.009, 0.780, 357.672, 206.726, 0, [SEP] 51, LaundryHamper, 0.163, 0.003, 2.635, 0, 86.390, 0, [SEP] 52, NorthWall, , , , , , , [SEP] 53, EastWall, , , , , , , [SEP] 54, SouthWall, , , , , , , [SEP] 55, WestWall, , , , , , , ", "output": ["STEP 1: head to the corner of the room with the baseball bat | STEP 2: pick up the baseball bat against the wall | STEP 3: bring the bat over to the bed | STEP 4: put the bat on top of the bed | END"]} +{"id": "trial_T20190908_010306_215435-0", "input": "Put two shakers 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, -3.25, 0.900, -0.5, 0, 270, 0, [SEP] 1, Potato, 1.087, 1.673, 0.967, 0, 270, 0, 84 [SEP] 2, CellPhone, -1.418, 0.930, -0.643, 0, 0, 0, 61 [SEP] 3, CellPhone, 0.875, 0.699, -0.648, 0, 270, 0, 59 [SEP] 4, DishSponge, 0.910, 0.107, -2.212, 0, 0, 0, 66 [SEP] 5, Glassbottle, -0.846, 0.934, -1.154, 0, 0, 0, 61 [SEP] 6, Fork, 0.688, 0.911, -2.051, 0, 270, 0, 67 [SEP] 7, Fork, 0.834, 0.702, -0.772, 0, 0, 0, 59 [SEP] 8, Spoon, 1.199, 0.912, -1.879, 0, 90, 0, 67 [SEP] 9, Spoon, -1.104, 0.934, -0.905, 0, 0, 0, 61 [SEP] 10, Spatula, 0.833, 0.168, -0.729, 0, 90, 0, 64 [SEP] 11, Spatula, 0.859, 0.926, -1.879, 0, 0, 0, 67 [SEP] 12, Pot, -1.229, 0.936, 0.144, 0, 0, 0, 61 [SEP] 13, Knife, -0.697, 0.803, -0.745, 0, 90, 0, 82 [SEP] 14, Egg, 0.966, 0.900, 1.158, 0, 270, 0, 84 [SEP] 15, Egg, 1.093, 1.833, -1.339, 0, 270, 0, 83 [SEP] 16, Plate, -0.624, 0.936, -1.308, 0, 0, 0, 61 [SEP] 17, Tomato, 0.944, 0.952, 0.139, 0, 0, 0, 62 [SEP] 18, SoapBottle, 1.148, 1.666, -0.529, 0, 270, 0, 70 [SEP] 19, SoapBottle, 0.688, 0.911, -1.879, 0, 0, 0, 67 [SEP] 20, SaltShaker, -1.881, 0.550, 2.822, 0, 0, 0, 87 [SEP] 21, PepperShaker, 0.996, 2.204, -1.626, 0, 270, 0, 68 [SEP] 22, PepperShaker, 0.859, 0.907, -0.555, 0, 0, 0, 62 [SEP] 23, Lettuce, -0.697, 0.857, -0.832, 0, 90, 0, 82 [SEP] 24, Mug, 1.199, 0.906, 0.139, 0, 0, 0, 62 [SEP] 25, Mug, 1.082, 2.203, -1.191, 0, 270, 0, 68 [SEP] 26, Apple, 0.965, 1.185, 1.540, 0, 270, 0, 84 [SEP] 27, Statue, -0.846, 0.936, -1.386, 0, 0, 0, 61 [SEP] 28, Glassbottle, 1.194, 1.667, -0.657, 0, 270, 0, 70 [SEP] 29, Bread, -0.779, 0.996, 0.21, 0, 258.641, 0, 61 [SEP] 30, CreditCard, -1.229, 0.930, -1.430, 0, 0, 0, 61 [SEP] 31, CellPhone, -0.846, 0.930, 0.009, 0, 0, 0, 61 [SEP] 32, Potato, -0.587, 0.807, -0.659, 0, 180, 0, 82 [SEP] 33, Knife, 0.859, 0.934, -0.207, 0, 180, 0, 62 [SEP] 34, Fork, -0.642, 0.781, -0.918, 0, 0, 0, 82 [SEP] 35, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 55 [SEP] 36, Lettuce, -0.912, 0.254, 0.576, 0, 90, 0, 81 [SEP] 37, Plate, 0.844, 1.405, 1.158, 0, 270, 0, 84 [SEP] 38, Apple, -0.624, 0.983, -0.143, 0, 0, 0, 61 [SEP] 39, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 57 [SEP] 40, Spatula, -0.624, 0.948, -1.618, 0, 0, 0, 61 [SEP] 41, PaperTowelRoll, -1.101, 0.281, 0.641, 0, 180, 0, 81 [SEP] 42, Tomato, -0.587, 0.821, -0.486, 0, 90, 0, 82 [SEP] 43, Egg, -0.808, 0.818, -0.659, 0, 90, 0, 82 [SEP] 44, SaltShaker, 0.760, 0.117, 0.374, 0, 270, 0, 62 [SEP] 45, PepperShaker, 1.148, 1.662, -1.961, 0, 270, 0, 60 [SEP] 46, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 87 [SEP] 47, ButterKnife, 0.773, 0.911, 0.139, 0, 0, 0, 62 [SEP] 48, SoapBottle, 1.114, 0.911, -1.879, 0, 0, 0, 67 [SEP] 49, Vase, 1.147, 1.667, 0.216, 0, 270, 0, 69 [SEP] 50, Bowl, -1.985, 0.557, 2.667, 0, 0, 0, 87 [SEP] 51, DishSponge, -0.587, 0.780, -0.745, 0, 90, 0, 82 [SEP] 52, Spoon, -1.355, 0.934, -1.167, 0, 0, 0, 61 [SEP] 53, Cup, 0.944, 0.908, -1.793, 0, 0, 0, 67 [SEP] 54, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 80 [SEP] 55, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 56, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 57, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 58, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 59, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 60, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 61, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 62, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 63, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 64, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 65, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 66, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 67, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 68, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 69, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 70, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 71, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 72, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 73, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 74, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 75, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 76, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 77, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 78, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 79, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 80, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 81, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 82, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 83, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 84, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 85, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 86, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 87, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 88, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 89, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 90, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 91, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 92, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 93, NorthWall, , , , , , , [SEP] 94, EastWall, , , , , , , [SEP] 95, SouthWall, , , , , , , [SEP] 96, WestWall, , , , , , , ", "output": ["STEP 1: move to the counter to the right of the stove | STEP 2: pick up a shaker from the cabinet | STEP 3: move to the counter to the left of the stove | STEP 4: put the shaker in the drawer to the left of the stove | STEP 5: move to the counter to the right of the stove | STEP 6: pick up a shaker from the cabinet | STEP 7: move to the counter to the left of the stove | STEP 8: put the shaker in the drawer to the left of the stove | END"]} +{"id": "trial_T20190908_010306_215435-1", "input": "gather the salt shakers and put them 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, -3.25, 0.900, -0.5, 0, 270, 0, [SEP] 1, Potato, 1.087, 1.673, 0.967, 0, 270, 0, 84 [SEP] 2, CellPhone, -1.418, 0.930, -0.643, 0, 0, 0, 61 [SEP] 3, CellPhone, 0.875, 0.699, -0.648, 0, 270, 0, 59 [SEP] 4, DishSponge, 0.910, 0.107, -2.212, 0, 0, 0, 66 [SEP] 5, Glassbottle, -0.846, 0.934, -1.154, 0, 0, 0, 61 [SEP] 6, Fork, 0.688, 0.911, -2.051, 0, 270, 0, 67 [SEP] 7, Fork, 0.834, 0.702, -0.772, 0, 0, 0, 59 [SEP] 8, Spoon, 1.199, 0.912, -1.879, 0, 90, 0, 67 [SEP] 9, Spoon, -1.104, 0.934, -0.905, 0, 0, 0, 61 [SEP] 10, Spatula, 0.833, 0.168, -0.729, 0, 90, 0, 64 [SEP] 11, Spatula, 0.859, 0.926, -1.879, 0, 0, 0, 67 [SEP] 12, Pot, -1.229, 0.936, 0.144, 0, 0, 0, 61 [SEP] 13, Knife, -0.697, 0.803, -0.745, 0, 90, 0, 82 [SEP] 14, Egg, 0.966, 0.900, 1.158, 0, 270, 0, 84 [SEP] 15, Egg, 1.093, 1.833, -1.339, 0, 270, 0, 83 [SEP] 16, Plate, -0.624, 0.936, -1.308, 0, 0, 0, 61 [SEP] 17, Tomato, 0.944, 0.952, 0.139, 0, 0, 0, 62 [SEP] 18, SoapBottle, 1.148, 1.666, -0.529, 0, 270, 0, 70 [SEP] 19, SoapBottle, 0.688, 0.911, -1.879, 0, 0, 0, 67 [SEP] 20, SaltShaker, -1.881, 0.550, 2.822, 0, 0, 0, 87 [SEP] 21, PepperShaker, 0.996, 2.204, -1.626, 0, 270, 0, 68 [SEP] 22, PepperShaker, 0.859, 0.907, -0.555, 0, 0, 0, 62 [SEP] 23, Lettuce, -0.697, 0.857, -0.832, 0, 90, 0, 82 [SEP] 24, Mug, 1.199, 0.906, 0.139, 0, 0, 0, 62 [SEP] 25, Mug, 1.082, 2.203, -1.191, 0, 270, 0, 68 [SEP] 26, Apple, 0.965, 1.185, 1.540, 0, 270, 0, 84 [SEP] 27, Statue, -0.846, 0.936, -1.386, 0, 0, 0, 61 [SEP] 28, Glassbottle, 1.194, 1.667, -0.657, 0, 270, 0, 70 [SEP] 29, Bread, -0.779, 0.996, 0.21, 0, 258.641, 0, 61 [SEP] 30, CreditCard, -1.229, 0.930, -1.430, 0, 0, 0, 61 [SEP] 31, CellPhone, -0.846, 0.930, 0.009, 0, 0, 0, 61 [SEP] 32, Potato, -0.587, 0.807, -0.659, 0, 180, 0, 82 [SEP] 33, Knife, 0.859, 0.934, -0.207, 0, 180, 0, 62 [SEP] 34, Fork, -0.642, 0.781, -0.918, 0, 0, 0, 82 [SEP] 35, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 55 [SEP] 36, Lettuce, -0.912, 0.254, 0.576, 0, 90, 0, 81 [SEP] 37, Plate, 0.844, 1.405, 1.158, 0, 270, 0, 84 [SEP] 38, Apple, -0.624, 0.983, -0.143, 0, 0, 0, 61 [SEP] 39, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 57 [SEP] 40, Spatula, -0.624, 0.948, -1.618, 0, 0, 0, 61 [SEP] 41, PaperTowelRoll, -1.101, 0.281, 0.641, 0, 180, 0, 81 [SEP] 42, Tomato, -0.587, 0.821, -0.486, 0, 90, 0, 82 [SEP] 43, Egg, -0.808, 0.818, -0.659, 0, 90, 0, 82 [SEP] 44, SaltShaker, 0.760, 0.117, 0.374, 0, 270, 0, 62 [SEP] 45, PepperShaker, 1.148, 1.662, -1.961, 0, 270, 0, 60 [SEP] 46, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 87 [SEP] 47, ButterKnife, 0.773, 0.911, 0.139, 0, 0, 0, 62 [SEP] 48, SoapBottle, 1.114, 0.911, -1.879, 0, 0, 0, 67 [SEP] 49, Vase, 1.147, 1.667, 0.216, 0, 270, 0, 69 [SEP] 50, Bowl, -1.985, 0.557, 2.667, 0, 0, 0, 87 [SEP] 51, DishSponge, -0.587, 0.780, -0.745, 0, 90, 0, 82 [SEP] 52, Spoon, -1.355, 0.934, -1.167, 0, 0, 0, 61 [SEP] 53, Cup, 0.944, 0.908, -1.793, 0, 0, 0, 67 [SEP] 54, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 80 [SEP] 55, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 56, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 57, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 58, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 59, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 60, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 61, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 62, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 63, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 64, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 65, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 66, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 67, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 68, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 69, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 70, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 71, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 72, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 73, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 74, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 75, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 76, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 77, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 78, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 79, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 80, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 81, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 82, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 83, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 84, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 85, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 86, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 87, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 88, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 89, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 90, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 91, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 92, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 93, NorthWall, , , , , , , [SEP] 94, EastWall, , , , , , , [SEP] 95, SouthWall, , , , , , , [SEP] 96, WestWall, , , , , , , ", "output": ["STEP 1: Go around the island to get to the front of the stove and the cabinet above. | STEP 2: Open the cabinet and get the salt shaker from the cabinet | STEP 3: Turn left to go to the counter on the left of the stove. | STEP 4: Place the salt shaker in the drawer under the counter. | STEP 5: Turn around and go to the cabinet above the counter on the right side of the stove. | STEP 6: Open the cabinet and get the salt shaker from the cabinet | STEP 7: Turn left and go to the counter on the left of the stove. | STEP 8: Place the salt shaker in the drawer next to the salt shaker. | END"]} +{"id": "trial_T20190908_010306_215435-2", "input": "Put two containers of salt in the kitchen drawer. 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, 270, 0, [SEP] 1, Potato, 1.087, 1.673, 0.967, 0, 270, 0, 84 [SEP] 2, CellPhone, -1.418, 0.930, -0.643, 0, 0, 0, 61 [SEP] 3, CellPhone, 0.875, 0.699, -0.648, 0, 270, 0, 59 [SEP] 4, DishSponge, 0.910, 0.107, -2.212, 0, 0, 0, 66 [SEP] 5, Glassbottle, -0.846, 0.934, -1.154, 0, 0, 0, 61 [SEP] 6, Fork, 0.688, 0.911, -2.051, 0, 270, 0, 67 [SEP] 7, Fork, 0.834, 0.702, -0.772, 0, 0, 0, 59 [SEP] 8, Spoon, 1.199, 0.912, -1.879, 0, 90, 0, 67 [SEP] 9, Spoon, -1.104, 0.934, -0.905, 0, 0, 0, 61 [SEP] 10, Spatula, 0.833, 0.168, -0.729, 0, 90, 0, 64 [SEP] 11, Spatula, 0.859, 0.926, -1.879, 0, 0, 0, 67 [SEP] 12, Pot, -1.229, 0.936, 0.144, 0, 0, 0, 61 [SEP] 13, Knife, -0.697, 0.803, -0.745, 0, 90, 0, 82 [SEP] 14, Egg, 0.966, 0.900, 1.158, 0, 270, 0, 84 [SEP] 15, Egg, 1.093, 1.833, -1.339, 0, 270, 0, 83 [SEP] 16, Plate, -0.624, 0.936, -1.308, 0, 0, 0, 61 [SEP] 17, Tomato, 0.944, 0.952, 0.139, 0, 0, 0, 62 [SEP] 18, SoapBottle, 1.148, 1.666, -0.529, 0, 270, 0, 70 [SEP] 19, SoapBottle, 0.688, 0.911, -1.879, 0, 0, 0, 67 [SEP] 20, SaltShaker, -1.881, 0.550, 2.822, 0, 0, 0, 87 [SEP] 21, PepperShaker, 0.996, 2.204, -1.626, 0, 270, 0, 68 [SEP] 22, PepperShaker, 0.859, 0.907, -0.555, 0, 0, 0, 62 [SEP] 23, Lettuce, -0.697, 0.857, -0.832, 0, 90, 0, 82 [SEP] 24, Mug, 1.199, 0.906, 0.139, 0, 0, 0, 62 [SEP] 25, Mug, 1.082, 2.203, -1.191, 0, 270, 0, 68 [SEP] 26, Apple, 0.965, 1.185, 1.540, 0, 270, 0, 84 [SEP] 27, Statue, -0.846, 0.936, -1.386, 0, 0, 0, 61 [SEP] 28, Glassbottle, 1.194, 1.667, -0.657, 0, 270, 0, 70 [SEP] 29, Bread, -0.779, 0.996, 0.21, 0, 258.641, 0, 61 [SEP] 30, CreditCard, -1.229, 0.930, -1.430, 0, 0, 0, 61 [SEP] 31, CellPhone, -0.846, 0.930, 0.009, 0, 0, 0, 61 [SEP] 32, Potato, -0.587, 0.807, -0.659, 0, 180, 0, 82 [SEP] 33, Knife, 0.859, 0.934, -0.207, 0, 180, 0, 62 [SEP] 34, Fork, -0.642, 0.781, -0.918, 0, 0, 0, 82 [SEP] 35, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 55 [SEP] 36, Lettuce, -0.912, 0.254, 0.576, 0, 90, 0, 81 [SEP] 37, Plate, 0.844, 1.405, 1.158, 0, 270, 0, 84 [SEP] 38, Apple, -0.624, 0.983, -0.143, 0, 0, 0, 61 [SEP] 39, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 57 [SEP] 40, Spatula, -0.624, 0.948, -1.618, 0, 0, 0, 61 [SEP] 41, PaperTowelRoll, -1.101, 0.281, 0.641, 0, 180, 0, 81 [SEP] 42, Tomato, -0.587, 0.821, -0.486, 0, 90, 0, 82 [SEP] 43, Egg, -0.808, 0.818, -0.659, 0, 90, 0, 82 [SEP] 44, SaltShaker, 0.760, 0.117, 0.374, 0, 270, 0, 62 [SEP] 45, PepperShaker, 1.148, 1.662, -1.961, 0, 270, 0, 60 [SEP] 46, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 87 [SEP] 47, ButterKnife, 0.773, 0.911, 0.139, 0, 0, 0, 62 [SEP] 48, SoapBottle, 1.114, 0.911, -1.879, 0, 0, 0, 67 [SEP] 49, Vase, 1.147, 1.667, 0.216, 0, 270, 0, 69 [SEP] 50, Bowl, -1.985, 0.557, 2.667, 0, 0, 0, 87 [SEP] 51, DishSponge, -0.587, 0.780, -0.745, 0, 90, 0, 82 [SEP] 52, Spoon, -1.355, 0.934, -1.167, 0, 0, 0, 61 [SEP] 53, Cup, 0.944, 0.908, -1.793, 0, 0, 0, 67 [SEP] 54, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 80 [SEP] 55, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 56, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 57, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 58, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 59, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 60, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 61, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 62, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 63, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 64, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 65, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 66, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 67, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 68, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 69, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 70, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 71, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 72, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 73, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 74, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 75, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 76, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 77, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 78, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 79, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 80, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 81, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 82, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 83, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 84, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 85, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 86, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 87, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 88, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 89, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 90, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 91, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 92, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 93, NorthWall, , , , , , , [SEP] 94, EastWall, , , , , , , [SEP] 95, SouthWall, , , , , , , [SEP] 96, WestWall, , , , , , , ", "output": ["STEP 1: Turn to your left and walk towards the windows, then make a right and walk to the microwave. | STEP 2: Pick up the salt from the top, right cabinet, above the microwave. | STEP 3: Turn to your left and go to the drawers on your left, between the oven and dishwasher. | STEP 4: Place the salt in the middle drawer. | STEP 5: Turn to your right and go to the cabinets above the coffee maker. | STEP 6: Pick up the salt from the top, left cabinet. | STEP 7: Turn to your left and go back to the drawers, on your left, between the stove and the dishwasher. | STEP 8: Place the salt in the middle drawer, to the right of the other salt. | END"]} +{"id": "trial_T20190908_025303_695053-0", "input": "Slice bread, heat bread, move knife and bread to 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, 180, 0, [SEP] 1, Potato, 1.199, 0.941, -0.729, 0, 0, 0, 58 [SEP] 2, Potato, 1.199, 0.941, -1.965, 0, 0, 0, 63 [SEP] 3, CreditCard, 0.794, 0.491, -0.648, 0, 270, 0, 61 [SEP] 4, DishSponge, -0.912, 0.176, 0.543, 0, 180, 0, 77 [SEP] 5, DishSponge, 1.194, 1.665, -1.961, 0, 270, 0, 56 [SEP] 6, Glassbottle, -1.467, 0.554, 2.667, 0, 0, 0, 83 [SEP] 7, Glassbottle, 1.102, 1.667, -0.337, 0, 270, 0, 66 [SEP] 8, Fork, 0.794, 0.495, -0.731, 0, 180, 0, 61 [SEP] 9, Spoon, -0.846, 0.934, -1.540, 0, 0, 0, 57 [SEP] 10, Spoon, 0.859, 0.912, -0.555, 0, 0, 0, 58 [SEP] 11, Knife, 0.944, 0.934, -0.208, 0, 90, 0, 58 [SEP] 12, Knife, -0.550, 0.957, -0.143, 0, 0, 0, 57 [SEP] 13, Plate, 1.114, 0.914, -0.381, 0, 0, 0, 58 [SEP] 14, SoapBottle, -1.054, 0.179, 0.576, 0, 180, 0, 77 [SEP] 15, SoapBottle, 1.126, 2.208, -1.299, 0, 270, 0, 64 [SEP] 16, Bowl, 1.147, 1.669, 0.216, 0, 270, 0, 65 [SEP] 17, Bowl, -0.642, 0.783, -0.832, 0, 90, 0, 78 [SEP] 18, SaltShaker, 1.009, 1.662, -0.038, 0, 270, 0, 65 [SEP] 19, Lettuce, -1.167, 1.010, -0.905, 0, 0, 0, 57 [SEP] 20, Lettuce, 1.114, 0.988, -0.034, 0, 0, 0, 58 [SEP] 21, Mug, 0.965, 1.396, 1.444, 0, 270, 0, 80 [SEP] 22, Apple, 0.966, 1.185, 1.254, 0, 270, 0, 80 [SEP] 23, Statue, -1.292, 0.936, -1.167, 0, 0, 0, 57 [SEP] 24, Glassbottle, 1.194, 1.667, -0.593, 0, 270, 0, 66 [SEP] 25, Bread, -0.778, 0.996, 0.210, 0, 258.660, 0, 57 [SEP] 26, CreditCard, 0.915, 0.492, -0.648, 0, 270, 0, 61 [SEP] 27, CellPhone, -1.229, 0.930, 0.144, 0, 0, 0, 57 [SEP] 28, Potato, 0.844, 1.432, 0.967, 0, 270, 0, 80 [SEP] 29, Knife, 0.868, 0.700, -0.600, 90, 315, 0, 55 [SEP] 30, Fork, -0.550, 0.921, 0.239, 0, 0, 0, 57 [SEP] 31, Pan, 0.842, 0.950, -1.504, 0, 0, 0, 54 [SEP] 32, Lettuce, -1.355, 1.010, 0.144, 0, 0, 0, 57 [SEP] 33, Plate, -0.772, 0.936, -1.308, 0, 0, 0, 57 [SEP] 34, Apple, -0.912, 0.227, 0.641, 0, 180, 0, 77 [SEP] 35, Pot, -1.221, 0.92, -0.49, 0, 0, 0, 57 [SEP] 36, Spatula, -0.753, 0.795, -0.573, 0, 180, 0, 78 [SEP] 37, PaperTowelRoll, -0.818, 0.283, 0.608, 0, 270, 0, 77 [SEP] 38, Tomato, 0.688, 0.952, -2.051, 0, 0, 0, 63 [SEP] 39, Egg, 1.028, 1.821, -1.236, 0, 270, 0, 79 [SEP] 40, SaltShaker, -1.363, 0.550, 2.563, 0, 0, 0, 83 [SEP] 41, PepperShaker, 0.688, 0.907, -0.381, 0, 0, 0, 58 [SEP] 42, Vase, -1.878, 0.881, 2.719, 0, 0, 0, 84 [SEP] 43, ButterKnife, -0.697, 0.776, -0.745, 0, 90, 0, 78 [SEP] 44, SoapBottle, 0.859, 0.911, -0.034, 0, 0, 0, 58 [SEP] 45, Vase, 0.861, 0.109, -2.052, 0, 0, 0, 62 [SEP] 46, Bowl, 1.148, 1.669, -2.166, 0, 270, 0, 56 [SEP] 47, DishSponge, -1.571, 0.881, 2.692, 0, 0, 0, 83 [SEP] 48, Spoon, -0.642, 0.781, -0.745, 0, 90, 0, 78 [SEP] 49, Cup, -0.772, 0.930, -1.154, 0, 0, 0, 57 [SEP] 50, Mug, 0.773, 0.906, -0.729, 0, 0, 0, 58 [SEP] 51, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 52, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 53, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 54, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 55, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 56, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 57, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 58, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 59, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 60, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 61, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 62, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 63, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 64, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 65, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 66, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 67, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 68, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 69, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 70, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 71, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 72, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 73, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 74, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 75, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 76, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 77, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 78, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 79, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 80, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 81, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 82, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 83, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 84, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 85, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 86, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 87, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 88, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 89, NorthWall, , , , , , , [SEP] 90, EastWall, , , , , , , [SEP] 91, SouthWall, , , , , , , [SEP] 92, WestWall, , , , , , , ", "output": ["STEP 1: Proceed ahead to sink. | STEP 2: Turn to sink, pick up knife between sink and bread. | STEP 3: Turn right, proceed to end of counter. Turn left, turn to face counter. | STEP 4: Slice bread on counter with knife. | STEP 5: Go around counter, proceed to left to wall, turn left to face counter with tomato on it. | STEP 6: Place knife on counter behind tomato and in front of coffee maker. | STEP 7: Turn left, proceed to end of counter on left. Turn left to face garbage can. | STEP 8: Turn left to face garbage can. Pick up left end of sliced bread. | STEP 9: Proceed around counter, turn left at stove. Turn left to face stove. | STEP 10: Open microwave, place bread in microwave in front of egg, close microwave. Wait five seconds, remove bread from microwave. | STEP 11: Turn right, proceed to counter, turn left to face counter. | STEP 12: Place bread on counter in front of knife and to the left of tomato. | END"]} +{"id": "trial_T20190908_025303_695053-1", "input": "To heat a slice of bread and place it on the counter 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, -0.75, 0.900, 2.5, 0, 180, 0, [SEP] 1, Potato, 1.199, 0.941, -0.729, 0, 0, 0, 58 [SEP] 2, Potato, 1.199, 0.941, -1.965, 0, 0, 0, 63 [SEP] 3, CreditCard, 0.794, 0.491, -0.648, 0, 270, 0, 61 [SEP] 4, DishSponge, -0.912, 0.176, 0.543, 0, 180, 0, 77 [SEP] 5, DishSponge, 1.194, 1.665, -1.961, 0, 270, 0, 56 [SEP] 6, Glassbottle, -1.467, 0.554, 2.667, 0, 0, 0, 83 [SEP] 7, Glassbottle, 1.102, 1.667, -0.337, 0, 270, 0, 66 [SEP] 8, Fork, 0.794, 0.495, -0.731, 0, 180, 0, 61 [SEP] 9, Spoon, -0.846, 0.934, -1.540, 0, 0, 0, 57 [SEP] 10, Spoon, 0.859, 0.912, -0.555, 0, 0, 0, 58 [SEP] 11, Knife, 0.944, 0.934, -0.208, 0, 90, 0, 58 [SEP] 12, Knife, -0.550, 0.957, -0.143, 0, 0, 0, 57 [SEP] 13, Plate, 1.114, 0.914, -0.381, 0, 0, 0, 58 [SEP] 14, SoapBottle, -1.054, 0.179, 0.576, 0, 180, 0, 77 [SEP] 15, SoapBottle, 1.126, 2.208, -1.299, 0, 270, 0, 64 [SEP] 16, Bowl, 1.147, 1.669, 0.216, 0, 270, 0, 65 [SEP] 17, Bowl, -0.642, 0.783, -0.832, 0, 90, 0, 78 [SEP] 18, SaltShaker, 1.009, 1.662, -0.038, 0, 270, 0, 65 [SEP] 19, Lettuce, -1.167, 1.010, -0.905, 0, 0, 0, 57 [SEP] 20, Lettuce, 1.114, 0.988, -0.034, 0, 0, 0, 58 [SEP] 21, Mug, 0.965, 1.396, 1.444, 0, 270, 0, 80 [SEP] 22, Apple, 0.966, 1.185, 1.254, 0, 270, 0, 80 [SEP] 23, Statue, -1.292, 0.936, -1.167, 0, 0, 0, 57 [SEP] 24, Glassbottle, 1.194, 1.667, -0.593, 0, 270, 0, 66 [SEP] 25, Bread, -0.778, 0.996, 0.210, 0, 258.660, 0, 57 [SEP] 26, CreditCard, 0.915, 0.492, -0.648, 0, 270, 0, 61 [SEP] 27, CellPhone, -1.229, 0.930, 0.144, 0, 0, 0, 57 [SEP] 28, Potato, 0.844, 1.432, 0.967, 0, 270, 0, 80 [SEP] 29, Knife, 0.868, 0.700, -0.600, 90, 315, 0, 55 [SEP] 30, Fork, -0.550, 0.921, 0.239, 0, 0, 0, 57 [SEP] 31, Pan, 0.842, 0.950, -1.504, 0, 0, 0, 54 [SEP] 32, Lettuce, -1.355, 1.010, 0.144, 0, 0, 0, 57 [SEP] 33, Plate, -0.772, 0.936, -1.308, 0, 0, 0, 57 [SEP] 34, Apple, -0.912, 0.227, 0.641, 0, 180, 0, 77 [SEP] 35, Pot, -1.221, 0.92, -0.49, 0, 0, 0, 57 [SEP] 36, Spatula, -0.753, 0.795, -0.573, 0, 180, 0, 78 [SEP] 37, PaperTowelRoll, -0.818, 0.283, 0.608, 0, 270, 0, 77 [SEP] 38, Tomato, 0.688, 0.952, -2.051, 0, 0, 0, 63 [SEP] 39, Egg, 1.028, 1.821, -1.236, 0, 270, 0, 79 [SEP] 40, SaltShaker, -1.363, 0.550, 2.563, 0, 0, 0, 83 [SEP] 41, PepperShaker, 0.688, 0.907, -0.381, 0, 0, 0, 58 [SEP] 42, Vase, -1.878, 0.881, 2.719, 0, 0, 0, 84 [SEP] 43, ButterKnife, -0.697, 0.776, -0.745, 0, 90, 0, 78 [SEP] 44, SoapBottle, 0.859, 0.911, -0.034, 0, 0, 0, 58 [SEP] 45, Vase, 0.861, 0.109, -2.052, 0, 0, 0, 62 [SEP] 46, Bowl, 1.148, 1.669, -2.166, 0, 270, 0, 56 [SEP] 47, DishSponge, -1.571, 0.881, 2.692, 0, 0, 0, 83 [SEP] 48, Spoon, -0.642, 0.781, -0.745, 0, 90, 0, 78 [SEP] 49, Cup, -0.772, 0.930, -1.154, 0, 0, 0, 57 [SEP] 50, Mug, 0.773, 0.906, -0.729, 0, 0, 0, 58 [SEP] 51, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 52, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 53, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 54, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 55, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 56, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 57, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 58, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 59, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 60, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 61, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 62, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 63, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 64, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 65, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 66, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 67, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 68, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 69, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 70, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 71, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 72, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 73, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 74, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 75, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 76, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 77, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 78, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 79, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 80, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 81, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 82, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 83, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 84, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 85, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 86, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 87, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 88, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 89, NorthWall, , , , , , , [SEP] 90, EastWall, , , , , , , [SEP] 91, SouthWall, , , , , , , [SEP] 92, WestWall, , , , , , , ", "output": ["STEP 1: Walk forward and to the left of center table and turn right to face the sink. | STEP 2: Pick up the knife on the table. | STEP 3: Turn right and step forward, then turn around and face the bread on the center table. | STEP 4: Cut the bread on the center table into slices. | STEP 5: Walk to the end of the counter on the left and turn left to face the end of the counter. | STEP 6: Place the knife on the counter by the coffee maker. | STEP 7: Turn left and walk across the room, then turn left and take a step forward and turn to the left to face the bread on the center table. | STEP 8: Pick up a slice of bread on the table. | STEP 9: Follow the counter on the left to the stove and then turn left and face the microwave above the stove. | STEP 10: Head the slice of bread in the microwave and then remove it. | STEP 11: Take a step to the right and face the end of the counter. | STEP 12: Place the bread slice on the counter to the left of the tomato. | END"]} +{"id": "trial_T20190908_025303_695053-2", "input": "drop a hot bread slice by 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, 2.5, 0, 180, 0, [SEP] 1, Potato, 1.199, 0.941, -0.729, 0, 0, 0, 58 [SEP] 2, Potato, 1.199, 0.941, -1.965, 0, 0, 0, 63 [SEP] 3, CreditCard, 0.794, 0.491, -0.648, 0, 270, 0, 61 [SEP] 4, DishSponge, -0.912, 0.176, 0.543, 0, 180, 0, 77 [SEP] 5, DishSponge, 1.194, 1.665, -1.961, 0, 270, 0, 56 [SEP] 6, Glassbottle, -1.467, 0.554, 2.667, 0, 0, 0, 83 [SEP] 7, Glassbottle, 1.102, 1.667, -0.337, 0, 270, 0, 66 [SEP] 8, Fork, 0.794, 0.495, -0.731, 0, 180, 0, 61 [SEP] 9, Spoon, -0.846, 0.934, -1.540, 0, 0, 0, 57 [SEP] 10, Spoon, 0.859, 0.912, -0.555, 0, 0, 0, 58 [SEP] 11, Knife, 0.944, 0.934, -0.208, 0, 90, 0, 58 [SEP] 12, Knife, -0.550, 0.957, -0.143, 0, 0, 0, 57 [SEP] 13, Plate, 1.114, 0.914, -0.381, 0, 0, 0, 58 [SEP] 14, SoapBottle, -1.054, 0.179, 0.576, 0, 180, 0, 77 [SEP] 15, SoapBottle, 1.126, 2.208, -1.299, 0, 270, 0, 64 [SEP] 16, Bowl, 1.147, 1.669, 0.216, 0, 270, 0, 65 [SEP] 17, Bowl, -0.642, 0.783, -0.832, 0, 90, 0, 78 [SEP] 18, SaltShaker, 1.009, 1.662, -0.038, 0, 270, 0, 65 [SEP] 19, Lettuce, -1.167, 1.010, -0.905, 0, 0, 0, 57 [SEP] 20, Lettuce, 1.114, 0.988, -0.034, 0, 0, 0, 58 [SEP] 21, Mug, 0.965, 1.396, 1.444, 0, 270, 0, 80 [SEP] 22, Apple, 0.966, 1.185, 1.254, 0, 270, 0, 80 [SEP] 23, Statue, -1.292, 0.936, -1.167, 0, 0, 0, 57 [SEP] 24, Glassbottle, 1.194, 1.667, -0.593, 0, 270, 0, 66 [SEP] 25, Bread, -0.778, 0.996, 0.210, 0, 258.660, 0, 57 [SEP] 26, CreditCard, 0.915, 0.492, -0.648, 0, 270, 0, 61 [SEP] 27, CellPhone, -1.229, 0.930, 0.144, 0, 0, 0, 57 [SEP] 28, Potato, 0.844, 1.432, 0.967, 0, 270, 0, 80 [SEP] 29, Knife, 0.868, 0.700, -0.600, 90, 315, 0, 55 [SEP] 30, Fork, -0.550, 0.921, 0.239, 0, 0, 0, 57 [SEP] 31, Pan, 0.842, 0.950, -1.504, 0, 0, 0, 54 [SEP] 32, Lettuce, -1.355, 1.010, 0.144, 0, 0, 0, 57 [SEP] 33, Plate, -0.772, 0.936, -1.308, 0, 0, 0, 57 [SEP] 34, Apple, -0.912, 0.227, 0.641, 0, 180, 0, 77 [SEP] 35, Pot, -1.221, 0.92, -0.49, 0, 0, 0, 57 [SEP] 36, Spatula, -0.753, 0.795, -0.573, 0, 180, 0, 78 [SEP] 37, PaperTowelRoll, -0.818, 0.283, 0.608, 0, 270, 0, 77 [SEP] 38, Tomato, 0.688, 0.952, -2.051, 0, 0, 0, 63 [SEP] 39, Egg, 1.028, 1.821, -1.236, 0, 270, 0, 79 [SEP] 40, SaltShaker, -1.363, 0.550, 2.563, 0, 0, 0, 83 [SEP] 41, PepperShaker, 0.688, 0.907, -0.381, 0, 0, 0, 58 [SEP] 42, Vase, -1.878, 0.881, 2.719, 0, 0, 0, 84 [SEP] 43, ButterKnife, -0.697, 0.776, -0.745, 0, 90, 0, 78 [SEP] 44, SoapBottle, 0.859, 0.911, -0.034, 0, 0, 0, 58 [SEP] 45, Vase, 0.861, 0.109, -2.052, 0, 0, 0, 62 [SEP] 46, Bowl, 1.148, 1.669, -2.166, 0, 270, 0, 56 [SEP] 47, DishSponge, -1.571, 0.881, 2.692, 0, 0, 0, 83 [SEP] 48, Spoon, -0.642, 0.781, -0.745, 0, 90, 0, 78 [SEP] 49, Cup, -0.772, 0.930, -1.154, 0, 0, 0, 57 [SEP] 50, Mug, 0.773, 0.906, -0.729, 0, 0, 0, 58 [SEP] 51, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 52, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 53, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 54, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 55, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 56, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 57, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 58, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 59, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 60, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 61, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 62, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 63, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 64, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 65, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 66, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 67, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 68, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 69, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 70, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 71, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 72, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 73, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 74, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 75, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 76, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 77, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 78, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 79, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 80, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 81, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 82, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 83, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 84, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 85, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 86, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 87, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 88, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 89, NorthWall, , , , , , , [SEP] 90, EastWall, , , , , , , [SEP] 91, SouthWall, , , , , , , [SEP] 92, WestWall, , , , , , , ", "output": ["STEP 1: move forward to the table | STEP 2: pick up the knife | STEP 3: move right to the table | STEP 4: slice the bread on the table | STEP 5: move left to the coffee maker | STEP 6: drop the knife on the table | STEP 7: move right towards the coffee maker | STEP 8: pick up the bread slice | STEP 9: turn around and head for the oven | STEP 10: place the bread to cook in the oven | STEP 11: turn around and head for the coffee maker | STEP 12: drop the bread slice by the coffee maker | END"]} +{"id": "trial_T20190906_181009_893506-0", "input": "Examine a notebook computer 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, -3.75, 0.901, 1.25, 0, 180, 0, [SEP] 1, TissueBox, -4.854, 1.040, 0.306, 0, 0, 0, 42 [SEP] 2, TissueBox, -4.673, 0.205, 4.523, 0, 90, 0, 63 [SEP] 3, Newspaper, -0.362, 0.079, 1.102, 0, 270, 0, 45 [SEP] 4, Newspaper, -0.221, 1.597, 1.097, 0, 270, 0, 51 [SEP] 5, CellPhone, -0.705, 0.609, 3.281, 0, 0, 0, 64 [SEP] 6, CellPhone, -0.870, 0.609, 3.281, 0, 0, 0, 64 [SEP] 7, Vase, -2.901, 1.111, 4.786, 0, 90, 0, 60 [SEP] 8, Vase, -3.052, 0.203, 4.589, 0, 90, 0, 59 [SEP] 9, KeyChain, -2.351, 0.034, 0.108, 0, 90, 0, 43 [SEP] 10, KeyChain, -2.244, 0.034, 0.317, 0, 90, 0, 43 [SEP] 11, RemoteControl, -1.459, 0.592, 4.384, 0, 0, 0, 54 [SEP] 12, RemoteControl, -5.534, 1.041, 0.173, 0, 0, 0, 42 [SEP] 13, Box, -3.503, 0.425, 4.459, 0, 90, 0, 58 [SEP] 14, Laptop, -0.952, 0.620, 2.753, 0, 0, 0, 64 [SEP] 15, Laptop, -3.864, 1.109, 4.687, 0, 90, 0, 60 [SEP] 16, Box, -4.505, 1.329, 4.490, 0, 270, 0, 60 [SEP] 17, Watch, -4.826, 1.108, 4.292, 0, 90, 0, 61 [SEP] 18, Pillow, -2.031, 0.668, 4.421, 0, 0, 0, 54 [SEP] 19, TissueBox, -4.826, 1.112, 4.490, 0, 90, 0, 60 [SEP] 20, Newspaper, -0.952, 0.615, 1.960, 0, 0, 0, 64 [SEP] 21, CreditCard, -4.563, 0.861, 0.405, 0, 0, 0, 41 [SEP] 22, KeyChain, -2.244, 0.034, 0.212, 0, 90, 0, 43 [SEP] 23, CellPhone, -3.222, 1.108, 4.885, 0, 90, 0, 60 [SEP] 24, Statue, -5.194, 1.044, 0.173, 0, 0, 0, 42 [SEP] 25, Laptop, -3.393, 1.104, 4.492, 0, 191.867, 0, 60 [SEP] 26, RemoteControl, -0.787, 0.611, 2.224, 0, 0, 0, 64 [SEP] 27, Vase, -4.184, 1.111, 4.687, 0, 90, 0, 60 [SEP] 28, DeskLamp, -4.649, 1.051, 0.268, 0, 0, 0, [SEP] 29, DeskLamp, -2.992, 1.107, 4.522, 0, 0, 0, [SEP] 30, FloorLamp, -0.650, 0.007, 4.431, 0, 0, 0, [SEP] 31, FloorLamp, -5.607, 0.007, 4.641, 0, 0, 0, [SEP] 32, Shelf, -5.237, 1.776, 0.070, 0, 0, 0, [SEP] 33, Shelf, -5.238, 1.968, 0.085, 0, 0, 0, [SEP] 34, Shelf, -5.242, 1.391, 0.086, 0, 0, 0, [SEP] 35, Shelf, -5.241, 1.582, 0.065, 0, 0, 0, [SEP] 36, LightSwitch, -6.002, 1.353, 3.404, 0, 90, 0, [SEP] 37, GarbageCan, -5.794, -0.033, 4.073, 0, 90, 0, [SEP] 38, Painting, -6.017, 1.802, 4.177, 90, 270, 0, [SEP] 39, HousePlant, -3.966, 1.625, 0.135, 0, 315, 0, [SEP] 40, Television, -3.355, 0.833, 0.027, 0, 0, 0, [SEP] 41, Drawer, -5.024, 0.903, 0.370, 0, 0, 0, [SEP] 42, SideTable, -5.024, 0.008, 0.267, 0, 0, 0, [SEP] 43, Safe, -2.298, 5.778, 0.268, 0, 90, 0, [SEP] 44, Shelf, -0.253, 0.781, 1.058, 0, 270, 0, [SEP] 45, Shelf, -0.283, 0.274, 1.066, 0, 270, 0, [SEP] 46, Shelf, -1.224, 1.288, 0.270, 0, 0, 0, [SEP] 47, Shelf, -1.218, 1.810, 0.275, 0, 0, 0, [SEP] 48, Shelf, -0.280, 1.810, 1.057, 0, 270, 0, [SEP] 49, Shelf, -1.218, 0.274, 0.262, 0, 0, 0, [SEP] 50, Shelf, -1.223, 0.782, 0.237, 0, 0, 0, [SEP] 51, Shelf, -0.280, 1.288, 1.055, 0, 270, 0, [SEP] 52, ShelvingUnit, -0.268, 0.004, 1.067, 0, 270, 0, [SEP] 53, ShelvingUnit, -1.218, 0.004, 0.244, 0, 0, 0, [SEP] 54, ArmChair, -2.027, 0.001, 4.422, 0, 178.692, 0, [SEP] 55, Drawer, -4.329, 1.014, 4.311, 0, 180, 0, [SEP] 56, Drawer, -3.750, 1.014, 4.311, 0, 180, 0, [SEP] 57, Cabinet, -4.049, 0.561, 4.212, 0, 180, 0, [SEP] 58, Cabinet, -4.032, 0.561, 4.212, 0, 180, 0, [SEP] 59, Cabinet, -2.884, 0.561, 4.212, 0, 180, 0, [SEP] 60, Dresser, -4.041, -0.000, 4.589, 0, 180, 0, [SEP] 61, Drawer, -4.916, 1.014, 4.311, 0, 180, 0, [SEP] 62, Drawer, -3.166, 1.014, 4.311, 0, 180, 0, [SEP] 63, Cabinet, -5.196, 0.561, 4.212, 0, 180, 0, [SEP] 64, Sofa, -0.705, -0.002, 2.753, 0, 270, 0, [SEP] 65, NorthWall, , , , , , , [SEP] 66, SouthWall, , , , , , , [SEP] 67, SouthWall, , , , , , , ", "output": ["STEP 1: turn to the left and take a few steps and turn to the left and go to the dresser | STEP 2: close the notebook computer and pick up from the dresser | STEP 3: turn to the right and go to the white sofa | STEP 4: turn on the lamp left of the white sofa | END"]} +{"id": "trial_T20190906_181009_893506-1", "input": "Examine a laptop 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, -3.75, 0.901, 1.25, 0, 180, 0, [SEP] 1, TissueBox, -4.854, 1.040, 0.306, 0, 0, 0, 42 [SEP] 2, TissueBox, -4.673, 0.205, 4.523, 0, 90, 0, 63 [SEP] 3, Newspaper, -0.362, 0.079, 1.102, 0, 270, 0, 45 [SEP] 4, Newspaper, -0.221, 1.597, 1.097, 0, 270, 0, 51 [SEP] 5, CellPhone, -0.705, 0.609, 3.281, 0, 0, 0, 64 [SEP] 6, CellPhone, -0.870, 0.609, 3.281, 0, 0, 0, 64 [SEP] 7, Vase, -2.901, 1.111, 4.786, 0, 90, 0, 60 [SEP] 8, Vase, -3.052, 0.203, 4.589, 0, 90, 0, 59 [SEP] 9, KeyChain, -2.351, 0.034, 0.108, 0, 90, 0, 43 [SEP] 10, KeyChain, -2.244, 0.034, 0.317, 0, 90, 0, 43 [SEP] 11, RemoteControl, -1.459, 0.592, 4.384, 0, 0, 0, 54 [SEP] 12, RemoteControl, -5.534, 1.041, 0.173, 0, 0, 0, 42 [SEP] 13, Box, -3.503, 0.425, 4.459, 0, 90, 0, 58 [SEP] 14, Laptop, -0.952, 0.620, 2.753, 0, 0, 0, 64 [SEP] 15, Laptop, -3.864, 1.109, 4.687, 0, 90, 0, 60 [SEP] 16, Box, -4.505, 1.329, 4.490, 0, 270, 0, 60 [SEP] 17, Watch, -4.826, 1.108, 4.292, 0, 90, 0, 61 [SEP] 18, Pillow, -2.031, 0.668, 4.421, 0, 0, 0, 54 [SEP] 19, TissueBox, -4.826, 1.112, 4.490, 0, 90, 0, 60 [SEP] 20, Newspaper, -0.952, 0.615, 1.960, 0, 0, 0, 64 [SEP] 21, CreditCard, -4.563, 0.861, 0.405, 0, 0, 0, 41 [SEP] 22, KeyChain, -2.244, 0.034, 0.212, 0, 90, 0, 43 [SEP] 23, CellPhone, -3.222, 1.108, 4.885, 0, 90, 0, 60 [SEP] 24, Statue, -5.194, 1.044, 0.173, 0, 0, 0, 42 [SEP] 25, Laptop, -3.393, 1.104, 4.492, 0, 191.867, 0, 60 [SEP] 26, RemoteControl, -0.787, 0.611, 2.224, 0, 0, 0, 64 [SEP] 27, Vase, -4.184, 1.111, 4.687, 0, 90, 0, 60 [SEP] 28, DeskLamp, -4.649, 1.051, 0.268, 0, 0, 0, [SEP] 29, DeskLamp, -2.992, 1.107, 4.522, 0, 0, 0, [SEP] 30, FloorLamp, -0.650, 0.007, 4.431, 0, 0, 0, [SEP] 31, FloorLamp, -5.607, 0.007, 4.641, 0, 0, 0, [SEP] 32, Shelf, -5.237, 1.776, 0.070, 0, 0, 0, [SEP] 33, Shelf, -5.238, 1.968, 0.085, 0, 0, 0, [SEP] 34, Shelf, -5.242, 1.391, 0.086, 0, 0, 0, [SEP] 35, Shelf, -5.241, 1.582, 0.065, 0, 0, 0, [SEP] 36, LightSwitch, -6.002, 1.353, 3.404, 0, 90, 0, [SEP] 37, GarbageCan, -5.794, -0.033, 4.073, 0, 90, 0, [SEP] 38, Painting, -6.017, 1.802, 4.177, 90, 270, 0, [SEP] 39, HousePlant, -3.966, 1.625, 0.135, 0, 315, 0, [SEP] 40, Television, -3.355, 0.833, 0.027, 0, 0, 0, [SEP] 41, Drawer, -5.024, 0.903, 0.370, 0, 0, 0, [SEP] 42, SideTable, -5.024, 0.008, 0.267, 0, 0, 0, [SEP] 43, Safe, -2.298, 5.778, 0.268, 0, 90, 0, [SEP] 44, Shelf, -0.253, 0.781, 1.058, 0, 270, 0, [SEP] 45, Shelf, -0.283, 0.274, 1.066, 0, 270, 0, [SEP] 46, Shelf, -1.224, 1.288, 0.270, 0, 0, 0, [SEP] 47, Shelf, -1.218, 1.810, 0.275, 0, 0, 0, [SEP] 48, Shelf, -0.280, 1.810, 1.057, 0, 270, 0, [SEP] 49, Shelf, -1.218, 0.274, 0.262, 0, 0, 0, [SEP] 50, Shelf, -1.223, 0.782, 0.237, 0, 0, 0, [SEP] 51, Shelf, -0.280, 1.288, 1.055, 0, 270, 0, [SEP] 52, ShelvingUnit, -0.268, 0.004, 1.067, 0, 270, 0, [SEP] 53, ShelvingUnit, -1.218, 0.004, 0.244, 0, 0, 0, [SEP] 54, ArmChair, -2.027, 0.001, 4.422, 0, 178.692, 0, [SEP] 55, Drawer, -4.329, 1.014, 4.311, 0, 180, 0, [SEP] 56, Drawer, -3.750, 1.014, 4.311, 0, 180, 0, [SEP] 57, Cabinet, -4.049, 0.561, 4.212, 0, 180, 0, [SEP] 58, Cabinet, -4.032, 0.561, 4.212, 0, 180, 0, [SEP] 59, Cabinet, -2.884, 0.561, 4.212, 0, 180, 0, [SEP] 60, Dresser, -4.041, -0.000, 4.589, 0, 180, 0, [SEP] 61, Drawer, -4.916, 1.014, 4.311, 0, 180, 0, [SEP] 62, Drawer, -3.166, 1.014, 4.311, 0, 180, 0, [SEP] 63, Cabinet, -5.196, 0.561, 4.212, 0, 180, 0, [SEP] 64, Sofa, -0.705, -0.002, 2.753, 0, 270, 0, [SEP] 65, NorthWall, , , , , , , [SEP] 66, SouthWall, , , , , , , [SEP] 67, SouthWall, , , , , , , ", "output": ["STEP 1: Turn around head towards the dresser with the two laptops. | STEP 2: Close the lid of the laptop on the right and pick it up. | STEP 3: Turn right and head towards the white couch. | STEP 4: Turn on the lamp on the left of the couch. | END"]} +{"id": "trial_T20190906_181009_893506-2", "input": "Examine the laptop 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, -3.75, 0.901, 1.25, 0, 180, 0, [SEP] 1, TissueBox, -4.854, 1.040, 0.306, 0, 0, 0, 42 [SEP] 2, TissueBox, -4.673, 0.205, 4.523, 0, 90, 0, 63 [SEP] 3, Newspaper, -0.362, 0.079, 1.102, 0, 270, 0, 45 [SEP] 4, Newspaper, -0.221, 1.597, 1.097, 0, 270, 0, 51 [SEP] 5, CellPhone, -0.705, 0.609, 3.281, 0, 0, 0, 64 [SEP] 6, CellPhone, -0.870, 0.609, 3.281, 0, 0, 0, 64 [SEP] 7, Vase, -2.901, 1.111, 4.786, 0, 90, 0, 60 [SEP] 8, Vase, -3.052, 0.203, 4.589, 0, 90, 0, 59 [SEP] 9, KeyChain, -2.351, 0.034, 0.108, 0, 90, 0, 43 [SEP] 10, KeyChain, -2.244, 0.034, 0.317, 0, 90, 0, 43 [SEP] 11, RemoteControl, -1.459, 0.592, 4.384, 0, 0, 0, 54 [SEP] 12, RemoteControl, -5.534, 1.041, 0.173, 0, 0, 0, 42 [SEP] 13, Box, -3.503, 0.425, 4.459, 0, 90, 0, 58 [SEP] 14, Laptop, -0.952, 0.620, 2.753, 0, 0, 0, 64 [SEP] 15, Laptop, -3.864, 1.109, 4.687, 0, 90, 0, 60 [SEP] 16, Box, -4.505, 1.329, 4.490, 0, 270, 0, 60 [SEP] 17, Watch, -4.826, 1.108, 4.292, 0, 90, 0, 61 [SEP] 18, Pillow, -2.031, 0.668, 4.421, 0, 0, 0, 54 [SEP] 19, TissueBox, -4.826, 1.112, 4.490, 0, 90, 0, 60 [SEP] 20, Newspaper, -0.952, 0.615, 1.960, 0, 0, 0, 64 [SEP] 21, CreditCard, -4.563, 0.861, 0.405, 0, 0, 0, 41 [SEP] 22, KeyChain, -2.244, 0.034, 0.212, 0, 90, 0, 43 [SEP] 23, CellPhone, -3.222, 1.108, 4.885, 0, 90, 0, 60 [SEP] 24, Statue, -5.194, 1.044, 0.173, 0, 0, 0, 42 [SEP] 25, Laptop, -3.393, 1.104, 4.492, 0, 191.867, 0, 60 [SEP] 26, RemoteControl, -0.787, 0.611, 2.224, 0, 0, 0, 64 [SEP] 27, Vase, -4.184, 1.111, 4.687, 0, 90, 0, 60 [SEP] 28, DeskLamp, -4.649, 1.051, 0.268, 0, 0, 0, [SEP] 29, DeskLamp, -2.992, 1.107, 4.522, 0, 0, 0, [SEP] 30, FloorLamp, -0.650, 0.007, 4.431, 0, 0, 0, [SEP] 31, FloorLamp, -5.607, 0.007, 4.641, 0, 0, 0, [SEP] 32, Shelf, -5.237, 1.776, 0.070, 0, 0, 0, [SEP] 33, Shelf, -5.238, 1.968, 0.085, 0, 0, 0, [SEP] 34, Shelf, -5.242, 1.391, 0.086, 0, 0, 0, [SEP] 35, Shelf, -5.241, 1.582, 0.065, 0, 0, 0, [SEP] 36, LightSwitch, -6.002, 1.353, 3.404, 0, 90, 0, [SEP] 37, GarbageCan, -5.794, -0.033, 4.073, 0, 90, 0, [SEP] 38, Painting, -6.017, 1.802, 4.177, 90, 270, 0, [SEP] 39, HousePlant, -3.966, 1.625, 0.135, 0, 315, 0, [SEP] 40, Television, -3.355, 0.833, 0.027, 0, 0, 0, [SEP] 41, Drawer, -5.024, 0.903, 0.370, 0, 0, 0, [SEP] 42, SideTable, -5.024, 0.008, 0.267, 0, 0, 0, [SEP] 43, Safe, -2.298, 5.778, 0.268, 0, 90, 0, [SEP] 44, Shelf, -0.253, 0.781, 1.058, 0, 270, 0, [SEP] 45, Shelf, -0.283, 0.274, 1.066, 0, 270, 0, [SEP] 46, Shelf, -1.224, 1.288, 0.270, 0, 0, 0, [SEP] 47, Shelf, -1.218, 1.810, 0.275, 0, 0, 0, [SEP] 48, Shelf, -0.280, 1.810, 1.057, 0, 270, 0, [SEP] 49, Shelf, -1.218, 0.274, 0.262, 0, 0, 0, [SEP] 50, Shelf, -1.223, 0.782, 0.237, 0, 0, 0, [SEP] 51, Shelf, -0.280, 1.288, 1.055, 0, 270, 0, [SEP] 52, ShelvingUnit, -0.268, 0.004, 1.067, 0, 270, 0, [SEP] 53, ShelvingUnit, -1.218, 0.004, 0.244, 0, 0, 0, [SEP] 54, ArmChair, -2.027, 0.001, 4.422, 0, 178.692, 0, [SEP] 55, Drawer, -4.329, 1.014, 4.311, 0, 180, 0, [SEP] 56, Drawer, -3.750, 1.014, 4.311, 0, 180, 0, [SEP] 57, Cabinet, -4.049, 0.561, 4.212, 0, 180, 0, [SEP] 58, Cabinet, -4.032, 0.561, 4.212, 0, 180, 0, [SEP] 59, Cabinet, -2.884, 0.561, 4.212, 0, 180, 0, [SEP] 60, Dresser, -4.041, -0.000, 4.589, 0, 180, 0, [SEP] 61, Drawer, -4.916, 1.014, 4.311, 0, 180, 0, [SEP] 62, Drawer, -3.166, 1.014, 4.311, 0, 180, 0, [SEP] 63, Cabinet, -5.196, 0.561, 4.212, 0, 180, 0, [SEP] 64, Sofa, -0.705, -0.002, 2.753, 0, 270, 0, [SEP] 65, NorthWall, , , , , , , [SEP] 66, SouthWall, , , , , , , [SEP] 67, SouthWall, , , , , , , ", "output": ["STEP 1: turn around and walk across the room to the large dresser | STEP 2: Close and pick up the right most laptop from the dresser | STEP 3: Turn right and walk over to the floor lamp in the corner | STEP 4: Turn on the lamp | END"]} +{"id": "trial_T20190906_181009_893506-3", "input": "Take the laptop from the dresser, 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, -3.75, 0.901, 1.25, 0, 180, 0, [SEP] 1, TissueBox, -4.854, 1.040, 0.306, 0, 0, 0, 42 [SEP] 2, TissueBox, -4.673, 0.205, 4.523, 0, 90, 0, 63 [SEP] 3, Newspaper, -0.362, 0.079, 1.102, 0, 270, 0, 45 [SEP] 4, Newspaper, -0.221, 1.597, 1.097, 0, 270, 0, 51 [SEP] 5, CellPhone, -0.705, 0.609, 3.281, 0, 0, 0, 64 [SEP] 6, CellPhone, -0.870, 0.609, 3.281, 0, 0, 0, 64 [SEP] 7, Vase, -2.901, 1.111, 4.786, 0, 90, 0, 60 [SEP] 8, Vase, -3.052, 0.203, 4.589, 0, 90, 0, 59 [SEP] 9, KeyChain, -2.351, 0.034, 0.108, 0, 90, 0, 43 [SEP] 10, KeyChain, -2.244, 0.034, 0.317, 0, 90, 0, 43 [SEP] 11, RemoteControl, -1.459, 0.592, 4.384, 0, 0, 0, 54 [SEP] 12, RemoteControl, -5.534, 1.041, 0.173, 0, 0, 0, 42 [SEP] 13, Box, -3.503, 0.425, 4.459, 0, 90, 0, 58 [SEP] 14, Laptop, -0.952, 0.620, 2.753, 0, 0, 0, 64 [SEP] 15, Laptop, -3.864, 1.109, 4.687, 0, 90, 0, 60 [SEP] 16, Box, -4.505, 1.329, 4.490, 0, 270, 0, 60 [SEP] 17, Watch, -4.826, 1.108, 4.292, 0, 90, 0, 61 [SEP] 18, Pillow, -2.031, 0.668, 4.421, 0, 0, 0, 54 [SEP] 19, TissueBox, -4.826, 1.112, 4.490, 0, 90, 0, 60 [SEP] 20, Newspaper, -0.952, 0.615, 1.960, 0, 0, 0, 64 [SEP] 21, CreditCard, -4.563, 0.861, 0.405, 0, 0, 0, 41 [SEP] 22, KeyChain, -2.244, 0.034, 0.212, 0, 90, 0, 43 [SEP] 23, CellPhone, -3.222, 1.108, 4.885, 0, 90, 0, 60 [SEP] 24, Statue, -5.194, 1.044, 0.173, 0, 0, 0, 42 [SEP] 25, Laptop, -3.393, 1.104, 4.492, 0, 191.867, 0, 60 [SEP] 26, RemoteControl, -0.787, 0.611, 2.224, 0, 0, 0, 64 [SEP] 27, Vase, -4.184, 1.111, 4.687, 0, 90, 0, 60 [SEP] 28, DeskLamp, -4.649, 1.051, 0.268, 0, 0, 0, [SEP] 29, DeskLamp, -2.992, 1.107, 4.522, 0, 0, 0, [SEP] 30, FloorLamp, -0.650, 0.007, 4.431, 0, 0, 0, [SEP] 31, FloorLamp, -5.607, 0.007, 4.641, 0, 0, 0, [SEP] 32, Shelf, -5.237, 1.776, 0.070, 0, 0, 0, [SEP] 33, Shelf, -5.238, 1.968, 0.085, 0, 0, 0, [SEP] 34, Shelf, -5.242, 1.391, 0.086, 0, 0, 0, [SEP] 35, Shelf, -5.241, 1.582, 0.065, 0, 0, 0, [SEP] 36, LightSwitch, -6.002, 1.353, 3.404, 0, 90, 0, [SEP] 37, GarbageCan, -5.794, -0.033, 4.073, 0, 90, 0, [SEP] 38, Painting, -6.017, 1.802, 4.177, 90, 270, 0, [SEP] 39, HousePlant, -3.966, 1.625, 0.135, 0, 315, 0, [SEP] 40, Television, -3.355, 0.833, 0.027, 0, 0, 0, [SEP] 41, Drawer, -5.024, 0.903, 0.370, 0, 0, 0, [SEP] 42, SideTable, -5.024, 0.008, 0.267, 0, 0, 0, [SEP] 43, Safe, -2.298, 5.778, 0.268, 0, 90, 0, [SEP] 44, Shelf, -0.253, 0.781, 1.058, 0, 270, 0, [SEP] 45, Shelf, -0.283, 0.274, 1.066, 0, 270, 0, [SEP] 46, Shelf, -1.224, 1.288, 0.270, 0, 0, 0, [SEP] 47, Shelf, -1.218, 1.810, 0.275, 0, 0, 0, [SEP] 48, Shelf, -0.280, 1.810, 1.057, 0, 270, 0, [SEP] 49, Shelf, -1.218, 0.274, 0.262, 0, 0, 0, [SEP] 50, Shelf, -1.223, 0.782, 0.237, 0, 0, 0, [SEP] 51, Shelf, -0.280, 1.288, 1.055, 0, 270, 0, [SEP] 52, ShelvingUnit, -0.268, 0.004, 1.067, 0, 270, 0, [SEP] 53, ShelvingUnit, -1.218, 0.004, 0.244, 0, 0, 0, [SEP] 54, ArmChair, -2.027, 0.001, 4.422, 0, 178.692, 0, [SEP] 55, Drawer, -4.329, 1.014, 4.311, 0, 180, 0, [SEP] 56, Drawer, -3.750, 1.014, 4.311, 0, 180, 0, [SEP] 57, Cabinet, -4.049, 0.561, 4.212, 0, 180, 0, [SEP] 58, Cabinet, -4.032, 0.561, 4.212, 0, 180, 0, [SEP] 59, Cabinet, -2.884, 0.561, 4.212, 0, 180, 0, [SEP] 60, Dresser, -4.041, -0.000, 4.589, 0, 180, 0, [SEP] 61, Drawer, -4.916, 1.014, 4.311, 0, 180, 0, [SEP] 62, Drawer, -3.166, 1.014, 4.311, 0, 180, 0, [SEP] 63, Cabinet, -5.196, 0.561, 4.212, 0, 180, 0, [SEP] 64, Sofa, -0.705, -0.002, 2.753, 0, 270, 0, [SEP] 65, NorthWall, , , , , , , [SEP] 66, SouthWall, , , , , , , [SEP] 67, SouthWall, , , , , , , ", "output": ["STEP 1: Turn around, head to the dressed across the room | STEP 2: Take the laptop computer from the dresser | STEP 3: Turn to the right, head to the couch | STEP 4: Turn on the lamp in the corner | END"]} +{"id": "trial_T20190906_181009_893506-4", "input": "Turn on the light in the living room as you hold a laptop. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.75, 0.901, 1.25, 0, 180, 0, [SEP] 1, TissueBox, -4.854, 1.040, 0.306, 0, 0, 0, 42 [SEP] 2, TissueBox, -4.673, 0.205, 4.523, 0, 90, 0, 63 [SEP] 3, Newspaper, -0.362, 0.079, 1.102, 0, 270, 0, 45 [SEP] 4, Newspaper, -0.221, 1.597, 1.097, 0, 270, 0, 51 [SEP] 5, CellPhone, -0.705, 0.609, 3.281, 0, 0, 0, 64 [SEP] 6, CellPhone, -0.870, 0.609, 3.281, 0, 0, 0, 64 [SEP] 7, Vase, -2.901, 1.111, 4.786, 0, 90, 0, 60 [SEP] 8, Vase, -3.052, 0.203, 4.589, 0, 90, 0, 59 [SEP] 9, KeyChain, -2.351, 0.034, 0.108, 0, 90, 0, 43 [SEP] 10, KeyChain, -2.244, 0.034, 0.317, 0, 90, 0, 43 [SEP] 11, RemoteControl, -1.459, 0.592, 4.384, 0, 0, 0, 54 [SEP] 12, RemoteControl, -5.534, 1.041, 0.173, 0, 0, 0, 42 [SEP] 13, Box, -3.503, 0.425, 4.459, 0, 90, 0, 58 [SEP] 14, Laptop, -0.952, 0.620, 2.753, 0, 0, 0, 64 [SEP] 15, Laptop, -3.864, 1.109, 4.687, 0, 90, 0, 60 [SEP] 16, Box, -4.505, 1.329, 4.490, 0, 270, 0, 60 [SEP] 17, Watch, -4.826, 1.108, 4.292, 0, 90, 0, 61 [SEP] 18, Pillow, -2.031, 0.668, 4.421, 0, 0, 0, 54 [SEP] 19, TissueBox, -4.826, 1.112, 4.490, 0, 90, 0, 60 [SEP] 20, Newspaper, -0.952, 0.615, 1.960, 0, 0, 0, 64 [SEP] 21, CreditCard, -4.563, 0.861, 0.405, 0, 0, 0, 41 [SEP] 22, KeyChain, -2.244, 0.034, 0.212, 0, 90, 0, 43 [SEP] 23, CellPhone, -3.222, 1.108, 4.885, 0, 90, 0, 60 [SEP] 24, Statue, -5.194, 1.044, 0.173, 0, 0, 0, 42 [SEP] 25, Laptop, -3.393, 1.104, 4.492, 0, 191.867, 0, 60 [SEP] 26, RemoteControl, -0.787, 0.611, 2.224, 0, 0, 0, 64 [SEP] 27, Vase, -4.184, 1.111, 4.687, 0, 90, 0, 60 [SEP] 28, DeskLamp, -4.649, 1.051, 0.268, 0, 0, 0, [SEP] 29, DeskLamp, -2.992, 1.107, 4.522, 0, 0, 0, [SEP] 30, FloorLamp, -0.650, 0.007, 4.431, 0, 0, 0, [SEP] 31, FloorLamp, -5.607, 0.007, 4.641, 0, 0, 0, [SEP] 32, Shelf, -5.237, 1.776, 0.070, 0, 0, 0, [SEP] 33, Shelf, -5.238, 1.968, 0.085, 0, 0, 0, [SEP] 34, Shelf, -5.242, 1.391, 0.086, 0, 0, 0, [SEP] 35, Shelf, -5.241, 1.582, 0.065, 0, 0, 0, [SEP] 36, LightSwitch, -6.002, 1.353, 3.404, 0, 90, 0, [SEP] 37, GarbageCan, -5.794, -0.033, 4.073, 0, 90, 0, [SEP] 38, Painting, -6.017, 1.802, 4.177, 90, 270, 0, [SEP] 39, HousePlant, -3.966, 1.625, 0.135, 0, 315, 0, [SEP] 40, Television, -3.355, 0.833, 0.027, 0, 0, 0, [SEP] 41, Drawer, -5.024, 0.903, 0.370, 0, 0, 0, [SEP] 42, SideTable, -5.024, 0.008, 0.267, 0, 0, 0, [SEP] 43, Safe, -2.298, 5.778, 0.268, 0, 90, 0, [SEP] 44, Shelf, -0.253, 0.781, 1.058, 0, 270, 0, [SEP] 45, Shelf, -0.283, 0.274, 1.066, 0, 270, 0, [SEP] 46, Shelf, -1.224, 1.288, 0.270, 0, 0, 0, [SEP] 47, Shelf, -1.218, 1.810, 0.275, 0, 0, 0, [SEP] 48, Shelf, -0.280, 1.810, 1.057, 0, 270, 0, [SEP] 49, Shelf, -1.218, 0.274, 0.262, 0, 0, 0, [SEP] 50, Shelf, -1.223, 0.782, 0.237, 0, 0, 0, [SEP] 51, Shelf, -0.280, 1.288, 1.055, 0, 270, 0, [SEP] 52, ShelvingUnit, -0.268, 0.004, 1.067, 0, 270, 0, [SEP] 53, ShelvingUnit, -1.218, 0.004, 0.244, 0, 0, 0, [SEP] 54, ArmChair, -2.027, 0.001, 4.422, 0, 178.692, 0, [SEP] 55, Drawer, -4.329, 1.014, 4.311, 0, 180, 0, [SEP] 56, Drawer, -3.750, 1.014, 4.311, 0, 180, 0, [SEP] 57, Cabinet, -4.049, 0.561, 4.212, 0, 180, 0, [SEP] 58, Cabinet, -4.032, 0.561, 4.212, 0, 180, 0, [SEP] 59, Cabinet, -2.884, 0.561, 4.212, 0, 180, 0, [SEP] 60, Dresser, -4.041, -0.000, 4.589, 0, 180, 0, [SEP] 61, Drawer, -4.916, 1.014, 4.311, 0, 180, 0, [SEP] 62, Drawer, -3.166, 1.014, 4.311, 0, 180, 0, [SEP] 63, Cabinet, -5.196, 0.561, 4.212, 0, 180, 0, [SEP] 64, Sofa, -0.705, -0.002, 2.753, 0, 270, 0, [SEP] 65, NorthWall, , , , , , , [SEP] 66, SouthWall, , , , , , , [SEP] 67, SouthWall, , , , , , , ", "output": ["STEP 1: Turn around and walk to the brown cabinets with laptops on the and face the laptops. | STEP 2: Close the lid of the laptop on the right and pick it up. | STEP 3: Turn right and walk to the cream colored couch and face it. | STEP 4: Turn on the light. | END"]} +{"id": "trial_T20190906_181009_893506-5", "input": "get the computer 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, -3.75, 0.901, 1.25, 0, 180, 0, [SEP] 1, TissueBox, -4.854, 1.040, 0.306, 0, 0, 0, 42 [SEP] 2, TissueBox, -4.673, 0.205, 4.523, 0, 90, 0, 63 [SEP] 3, Newspaper, -0.362, 0.079, 1.102, 0, 270, 0, 45 [SEP] 4, Newspaper, -0.221, 1.597, 1.097, 0, 270, 0, 51 [SEP] 5, CellPhone, -0.705, 0.609, 3.281, 0, 0, 0, 64 [SEP] 6, CellPhone, -0.870, 0.609, 3.281, 0, 0, 0, 64 [SEP] 7, Vase, -2.901, 1.111, 4.786, 0, 90, 0, 60 [SEP] 8, Vase, -3.052, 0.203, 4.589, 0, 90, 0, 59 [SEP] 9, KeyChain, -2.351, 0.034, 0.108, 0, 90, 0, 43 [SEP] 10, KeyChain, -2.244, 0.034, 0.317, 0, 90, 0, 43 [SEP] 11, RemoteControl, -1.459, 0.592, 4.384, 0, 0, 0, 54 [SEP] 12, RemoteControl, -5.534, 1.041, 0.173, 0, 0, 0, 42 [SEP] 13, Box, -3.503, 0.425, 4.459, 0, 90, 0, 58 [SEP] 14, Laptop, -0.952, 0.620, 2.753, 0, 0, 0, 64 [SEP] 15, Laptop, -3.864, 1.109, 4.687, 0, 90, 0, 60 [SEP] 16, Box, -4.505, 1.329, 4.490, 0, 270, 0, 60 [SEP] 17, Watch, -4.826, 1.108, 4.292, 0, 90, 0, 61 [SEP] 18, Pillow, -2.031, 0.668, 4.421, 0, 0, 0, 54 [SEP] 19, TissueBox, -4.826, 1.112, 4.490, 0, 90, 0, 60 [SEP] 20, Newspaper, -0.952, 0.615, 1.960, 0, 0, 0, 64 [SEP] 21, CreditCard, -4.563, 0.861, 0.405, 0, 0, 0, 41 [SEP] 22, KeyChain, -2.244, 0.034, 0.212, 0, 90, 0, 43 [SEP] 23, CellPhone, -3.222, 1.108, 4.885, 0, 90, 0, 60 [SEP] 24, Statue, -5.194, 1.044, 0.173, 0, 0, 0, 42 [SEP] 25, Laptop, -3.393, 1.104, 4.492, 0, 191.867, 0, 60 [SEP] 26, RemoteControl, -0.787, 0.611, 2.224, 0, 0, 0, 64 [SEP] 27, Vase, -4.184, 1.111, 4.687, 0, 90, 0, 60 [SEP] 28, DeskLamp, -4.649, 1.051, 0.268, 0, 0, 0, [SEP] 29, DeskLamp, -2.992, 1.107, 4.522, 0, 0, 0, [SEP] 30, FloorLamp, -0.650, 0.007, 4.431, 0, 0, 0, [SEP] 31, FloorLamp, -5.607, 0.007, 4.641, 0, 0, 0, [SEP] 32, Shelf, -5.237, 1.776, 0.070, 0, 0, 0, [SEP] 33, Shelf, -5.238, 1.968, 0.085, 0, 0, 0, [SEP] 34, Shelf, -5.242, 1.391, 0.086, 0, 0, 0, [SEP] 35, Shelf, -5.241, 1.582, 0.065, 0, 0, 0, [SEP] 36, LightSwitch, -6.002, 1.353, 3.404, 0, 90, 0, [SEP] 37, GarbageCan, -5.794, -0.033, 4.073, 0, 90, 0, [SEP] 38, Painting, -6.017, 1.802, 4.177, 90, 270, 0, [SEP] 39, HousePlant, -3.966, 1.625, 0.135, 0, 315, 0, [SEP] 40, Television, -3.355, 0.833, 0.027, 0, 0, 0, [SEP] 41, Drawer, -5.024, 0.903, 0.370, 0, 0, 0, [SEP] 42, SideTable, -5.024, 0.008, 0.267, 0, 0, 0, [SEP] 43, Safe, -2.298, 5.778, 0.268, 0, 90, 0, [SEP] 44, Shelf, -0.253, 0.781, 1.058, 0, 270, 0, [SEP] 45, Shelf, -0.283, 0.274, 1.066, 0, 270, 0, [SEP] 46, Shelf, -1.224, 1.288, 0.270, 0, 0, 0, [SEP] 47, Shelf, -1.218, 1.810, 0.275, 0, 0, 0, [SEP] 48, Shelf, -0.280, 1.810, 1.057, 0, 270, 0, [SEP] 49, Shelf, -1.218, 0.274, 0.262, 0, 0, 0, [SEP] 50, Shelf, -1.223, 0.782, 0.237, 0, 0, 0, [SEP] 51, Shelf, -0.280, 1.288, 1.055, 0, 270, 0, [SEP] 52, ShelvingUnit, -0.268, 0.004, 1.067, 0, 270, 0, [SEP] 53, ShelvingUnit, -1.218, 0.004, 0.244, 0, 0, 0, [SEP] 54, ArmChair, -2.027, 0.001, 4.422, 0, 178.692, 0, [SEP] 55, Drawer, -4.329, 1.014, 4.311, 0, 180, 0, [SEP] 56, Drawer, -3.750, 1.014, 4.311, 0, 180, 0, [SEP] 57, Cabinet, -4.049, 0.561, 4.212, 0, 180, 0, [SEP] 58, Cabinet, -4.032, 0.561, 4.212, 0, 180, 0, [SEP] 59, Cabinet, -2.884, 0.561, 4.212, 0, 180, 0, [SEP] 60, Dresser, -4.041, -0.000, 4.589, 0, 180, 0, [SEP] 61, Drawer, -4.916, 1.014, 4.311, 0, 180, 0, [SEP] 62, Drawer, -3.166, 1.014, 4.311, 0, 180, 0, [SEP] 63, Cabinet, -5.196, 0.561, 4.212, 0, 180, 0, [SEP] 64, Sofa, -0.705, -0.002, 2.753, 0, 270, 0, [SEP] 65, NorthWall, , , , , , , [SEP] 66, SouthWall, , , , , , , [SEP] 67, SouthWall, , , , , , , ", "output": ["STEP 1: walk over to the laptops | STEP 2: close the one on the right and pick it up | STEP 3: take the laptop to the nightstand | STEP 4: turn on the lamp | END"]} +{"id": "trial_T20190907_033228_194678-0", "input": "Put a chilled 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, -3.0, 0.900, -1.0, 0, 90, 0, [SEP] 1, Statue, -1.229, 0.936, -0.380, 0, 0, 0, 60 [SEP] 2, Potato, 1.029, 0.941, -0.208, 0, 0, 0, 61 [SEP] 3, CreditCard, 0.688, 0.908, -0.208, 0, 0, 0, 61 [SEP] 4, CreditCard, -1.571, 0.878, 2.665, 0, 0, 0, 87 [SEP] 5, CellPhone, -1.229, 0.930, -0.643, 0, 0, 0, 60 [SEP] 6, DishSponge, 0.811, 0.107, -1.892, 0, 0, 0, 65 [SEP] 7, ButterKnife, 0.773, 0.911, -1.879, 0, 0, 0, 66 [SEP] 8, ButterKnife, -0.550, 0.933, -1.463, 0, 0, 0, 60 [SEP] 9, Fork, -0.550, 0.934, 0.086, 0, 0, 0, 60 [SEP] 10, Fork, -0.697, 0.781, -0.918, 0, 180, 0, 81 [SEP] 11, Spoon, -0.920, 0.934, -1.231, 0, 90, 0, 60 [SEP] 12, Spoon, 1.114, 0.912, -0.555, 0, 0, 0, 61 [SEP] 13, Spatula, -0.550, 0.948, -1.618, 0, 0, 0, 60 [SEP] 14, Spatula, 0.773, 0.926, -0.381, 0, 90, 0, 61 [SEP] 15, Egg, -0.477, 0.971, 0.315, 0, 0, 0, 60 [SEP] 16, Egg, -0.808, 0.818, -0.400, 0, 90, 0, 81 [SEP] 17, Plate, 1.126, 2.211, -1.517, 0, 270, 0, 67 [SEP] 18, Tomato, 0.688, 0.952, -1.793, 0, 0, 0, 66 [SEP] 19, SoapBottle, 1.199, 0.911, -0.381, 0, 0, 0, 61 [SEP] 20, SoapBottle, -0.920, 0.933, -1.386, 0, 0, 0, 60 [SEP] 21, Bowl, -1.104, 0.936, -1.430, 0, 0, 0, 60 [SEP] 22, Bowl, -0.642, 0.783, -0.659, 0, 90, 0, 81 [SEP] 23, SaltShaker, 0.964, 0.117, 0.423, 0, 270, 0, 61 [SEP] 24, Lettuce, 1.026, 1.479, 1.349, 0, 270, 0, 83 [SEP] 25, Apple, 1.029, 0.961, 0.139, 0, 0, 0, 61 [SEP] 26, Statue, -1.167, 0.936, -0.905, 0, 0, 0, 60 [SEP] 27, Glassbottle, 0.859, 0.912, 0.139, 0, 0, 0, 61 [SEP] 28, Bread, -0.624, 1.014, -0.067, 0, 0, 0, 60 [SEP] 29, CreditCard, 1.199, 0.908, -0.208, 0, 0, 0, 61 [SEP] 30, CellPhone, 0.875, 0.491, -0.648, 0, 270, 0, 64 [SEP] 31, Potato, -0.642, 0.811, -0.400, 0, 90, 0, 81 [SEP] 32, Knife, -0.697, 0.804, -0.832, 0, 90, 0, 81 [SEP] 33, Fork, 1.029, 0.911, -0.034, 0, 0, 0, 61 [SEP] 34, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 54 [SEP] 35, Lettuce, 0.688, 0.988, -0.381, 0, 0, 0, 61 [SEP] 36, Plate, 0.844, 1.138, 1.444, 0, 270, 0, 83 [SEP] 37, Apple, -1.007, 0.229, 0.641, 0, 180, 0, 80 [SEP] 38, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 56 [SEP] 39, Spatula, 0.915, 0.510, -0.565, 0, 0, 0, 64 [SEP] 40, PaperTowelRoll, 0.773, 1.015, -0.729, 0, 0, 0, 61 [SEP] 41, Tomato, 0.965, 1.442, 1.540, 0, 270, 0, 83 [SEP] 42, Egg, 0.995, 1.833, -1.339, 0, 270, 0, 82 [SEP] 43, SaltShaker, 0.956, 0.698, -0.648, 0, 270, 0, 58 [SEP] 44, PepperShaker, -1.878, 0.878, 2.665, 0, 0, 0, 87 [SEP] 45, Vase, 1.194, 1.666, -2.234, 0, 270, 0, 59 [SEP] 46, ButterKnife, -0.698, 0.776, -0.573, 0, 90, 0, 81 [SEP] 47, SoapBottle, 1.169, 2.208, -0.973, 0, 270, 0, 67 [SEP] 48, Vase, 1.193, 1.667, 0.216, 0, 270, 0, 68 [SEP] 49, Bowl, 0.844, 0.866, 1.254, 0, 270, 0, 83 [SEP] 50, DishSponge, -1.104, 0.933, 0.144, 0, 0, 0, 60 [SEP] 51, Spoon, 0.794, 0.496, -0.607, 0, 270, 0, 64 [SEP] 52, Cup, 0.783, 1.640, 1.349, 0, 270, 0, 83 [SEP] 53, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 79 [SEP] 54, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 55, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 56, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 57, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 58, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 59, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 60, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 61, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 62, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 63, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 64, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 65, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 66, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 67, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 68, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 69, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 70, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 71, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 72, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 73, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 74, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 75, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 76, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 77, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 78, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 79, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 80, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 81, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 82, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 83, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 84, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 85, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 86, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 87, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 88, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 89, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 90, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 91, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 92, NorthWall, , , , , , , [SEP] 93, EastWall, , , , , , , [SEP] 94, SouthWall, , , , , , , [SEP] 95, WestWall, , , , , , , ", "output": ["STEP 1: Move to the sink. | STEP 2: Pick up the potato in the sink. | STEP 3: Bring the potato to the fridge. | STEP 4: Chill the potato in the fridge. | STEP 5: Bring the chilled potato to the microwave. | STEP 6: Put the potato in the microwave. | END"]} +{"id": "trial_T20190907_033228_194678-1", "input": "place a cooled potato inside 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, -3.0, 0.900, -1.0, 0, 90, 0, [SEP] 1, Statue, -1.229, 0.936, -0.380, 0, 0, 0, 60 [SEP] 2, Potato, 1.029, 0.941, -0.208, 0, 0, 0, 61 [SEP] 3, CreditCard, 0.688, 0.908, -0.208, 0, 0, 0, 61 [SEP] 4, CreditCard, -1.571, 0.878, 2.665, 0, 0, 0, 87 [SEP] 5, CellPhone, -1.229, 0.930, -0.643, 0, 0, 0, 60 [SEP] 6, DishSponge, 0.811, 0.107, -1.892, 0, 0, 0, 65 [SEP] 7, ButterKnife, 0.773, 0.911, -1.879, 0, 0, 0, 66 [SEP] 8, ButterKnife, -0.550, 0.933, -1.463, 0, 0, 0, 60 [SEP] 9, Fork, -0.550, 0.934, 0.086, 0, 0, 0, 60 [SEP] 10, Fork, -0.697, 0.781, -0.918, 0, 180, 0, 81 [SEP] 11, Spoon, -0.920, 0.934, -1.231, 0, 90, 0, 60 [SEP] 12, Spoon, 1.114, 0.912, -0.555, 0, 0, 0, 61 [SEP] 13, Spatula, -0.550, 0.948, -1.618, 0, 0, 0, 60 [SEP] 14, Spatula, 0.773, 0.926, -0.381, 0, 90, 0, 61 [SEP] 15, Egg, -0.477, 0.971, 0.315, 0, 0, 0, 60 [SEP] 16, Egg, -0.808, 0.818, -0.400, 0, 90, 0, 81 [SEP] 17, Plate, 1.126, 2.211, -1.517, 0, 270, 0, 67 [SEP] 18, Tomato, 0.688, 0.952, -1.793, 0, 0, 0, 66 [SEP] 19, SoapBottle, 1.199, 0.911, -0.381, 0, 0, 0, 61 [SEP] 20, SoapBottle, -0.920, 0.933, -1.386, 0, 0, 0, 60 [SEP] 21, Bowl, -1.104, 0.936, -1.430, 0, 0, 0, 60 [SEP] 22, Bowl, -0.642, 0.783, -0.659, 0, 90, 0, 81 [SEP] 23, SaltShaker, 0.964, 0.117, 0.423, 0, 270, 0, 61 [SEP] 24, Lettuce, 1.026, 1.479, 1.349, 0, 270, 0, 83 [SEP] 25, Apple, 1.029, 0.961, 0.139, 0, 0, 0, 61 [SEP] 26, Statue, -1.167, 0.936, -0.905, 0, 0, 0, 60 [SEP] 27, Glassbottle, 0.859, 0.912, 0.139, 0, 0, 0, 61 [SEP] 28, Bread, -0.624, 1.014, -0.067, 0, 0, 0, 60 [SEP] 29, CreditCard, 1.199, 0.908, -0.208, 0, 0, 0, 61 [SEP] 30, CellPhone, 0.875, 0.491, -0.648, 0, 270, 0, 64 [SEP] 31, Potato, -0.642, 0.811, -0.400, 0, 90, 0, 81 [SEP] 32, Knife, -0.697, 0.804, -0.832, 0, 90, 0, 81 [SEP] 33, Fork, 1.029, 0.911, -0.034, 0, 0, 0, 61 [SEP] 34, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 54 [SEP] 35, Lettuce, 0.688, 0.988, -0.381, 0, 0, 0, 61 [SEP] 36, Plate, 0.844, 1.138, 1.444, 0, 270, 0, 83 [SEP] 37, Apple, -1.007, 0.229, 0.641, 0, 180, 0, 80 [SEP] 38, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 56 [SEP] 39, Spatula, 0.915, 0.510, -0.565, 0, 0, 0, 64 [SEP] 40, PaperTowelRoll, 0.773, 1.015, -0.729, 0, 0, 0, 61 [SEP] 41, Tomato, 0.965, 1.442, 1.540, 0, 270, 0, 83 [SEP] 42, Egg, 0.995, 1.833, -1.339, 0, 270, 0, 82 [SEP] 43, SaltShaker, 0.956, 0.698, -0.648, 0, 270, 0, 58 [SEP] 44, PepperShaker, -1.878, 0.878, 2.665, 0, 0, 0, 87 [SEP] 45, Vase, 1.194, 1.666, -2.234, 0, 270, 0, 59 [SEP] 46, ButterKnife, -0.698, 0.776, -0.573, 0, 90, 0, 81 [SEP] 47, SoapBottle, 1.169, 2.208, -0.973, 0, 270, 0, 67 [SEP] 48, Vase, 1.193, 1.667, 0.216, 0, 270, 0, 68 [SEP] 49, Bowl, 0.844, 0.866, 1.254, 0, 270, 0, 83 [SEP] 50, DishSponge, -1.104, 0.933, 0.144, 0, 0, 0, 60 [SEP] 51, Spoon, 0.794, 0.496, -0.607, 0, 270, 0, 64 [SEP] 52, Cup, 0.783, 1.640, 1.349, 0, 270, 0, 83 [SEP] 53, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 79 [SEP] 54, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 55, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 56, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 57, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 58, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 59, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 60, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 61, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 62, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 63, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 64, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 65, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 66, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 67, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 68, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 69, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 70, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 71, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 72, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 73, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 74, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 75, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 76, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 77, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 78, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 79, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 80, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 81, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 82, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 83, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 84, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 85, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 86, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 87, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 88, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 89, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 90, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 91, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 92, NorthWall, , , , , , , [SEP] 93, EastWall, , , , , , , [SEP] 94, SouthWall, , , , , , , [SEP] 95, WestWall, , , , , , , ", "output": ["STEP 1: turn right and move to the windows at the end of the room, then hang a left and walk over to the kitchen island and face the sink part of it | STEP 2: grab a potato out of the sink | STEP 3: turn right and walk to the fridge on your right | STEP 4: place the potato in the fridge, let it cool, then take it back out | STEP 5: turn right and head over to the stove on your left | STEP 6: place the potato inside the microwave above the stove and close the door | END"]} +{"id": "trial_T20190907_033228_194678-2", "input": "Place a chilled 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, -3.0, 0.900, -1.0, 0, 90, 0, [SEP] 1, Statue, -1.229, 0.936, -0.380, 0, 0, 0, 60 [SEP] 2, Potato, 1.029, 0.941, -0.208, 0, 0, 0, 61 [SEP] 3, CreditCard, 0.688, 0.908, -0.208, 0, 0, 0, 61 [SEP] 4, CreditCard, -1.571, 0.878, 2.665, 0, 0, 0, 87 [SEP] 5, CellPhone, -1.229, 0.930, -0.643, 0, 0, 0, 60 [SEP] 6, DishSponge, 0.811, 0.107, -1.892, 0, 0, 0, 65 [SEP] 7, ButterKnife, 0.773, 0.911, -1.879, 0, 0, 0, 66 [SEP] 8, ButterKnife, -0.550, 0.933, -1.463, 0, 0, 0, 60 [SEP] 9, Fork, -0.550, 0.934, 0.086, 0, 0, 0, 60 [SEP] 10, Fork, -0.697, 0.781, -0.918, 0, 180, 0, 81 [SEP] 11, Spoon, -0.920, 0.934, -1.231, 0, 90, 0, 60 [SEP] 12, Spoon, 1.114, 0.912, -0.555, 0, 0, 0, 61 [SEP] 13, Spatula, -0.550, 0.948, -1.618, 0, 0, 0, 60 [SEP] 14, Spatula, 0.773, 0.926, -0.381, 0, 90, 0, 61 [SEP] 15, Egg, -0.477, 0.971, 0.315, 0, 0, 0, 60 [SEP] 16, Egg, -0.808, 0.818, -0.400, 0, 90, 0, 81 [SEP] 17, Plate, 1.126, 2.211, -1.517, 0, 270, 0, 67 [SEP] 18, Tomato, 0.688, 0.952, -1.793, 0, 0, 0, 66 [SEP] 19, SoapBottle, 1.199, 0.911, -0.381, 0, 0, 0, 61 [SEP] 20, SoapBottle, -0.920, 0.933, -1.386, 0, 0, 0, 60 [SEP] 21, Bowl, -1.104, 0.936, -1.430, 0, 0, 0, 60 [SEP] 22, Bowl, -0.642, 0.783, -0.659, 0, 90, 0, 81 [SEP] 23, SaltShaker, 0.964, 0.117, 0.423, 0, 270, 0, 61 [SEP] 24, Lettuce, 1.026, 1.479, 1.349, 0, 270, 0, 83 [SEP] 25, Apple, 1.029, 0.961, 0.139, 0, 0, 0, 61 [SEP] 26, Statue, -1.167, 0.936, -0.905, 0, 0, 0, 60 [SEP] 27, Glassbottle, 0.859, 0.912, 0.139, 0, 0, 0, 61 [SEP] 28, Bread, -0.624, 1.014, -0.067, 0, 0, 0, 60 [SEP] 29, CreditCard, 1.199, 0.908, -0.208, 0, 0, 0, 61 [SEP] 30, CellPhone, 0.875, 0.491, -0.648, 0, 270, 0, 64 [SEP] 31, Potato, -0.642, 0.811, -0.400, 0, 90, 0, 81 [SEP] 32, Knife, -0.697, 0.804, -0.832, 0, 90, 0, 81 [SEP] 33, Fork, 1.029, 0.911, -0.034, 0, 0, 0, 61 [SEP] 34, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 54 [SEP] 35, Lettuce, 0.688, 0.988, -0.381, 0, 0, 0, 61 [SEP] 36, Plate, 0.844, 1.138, 1.444, 0, 270, 0, 83 [SEP] 37, Apple, -1.007, 0.229, 0.641, 0, 180, 0, 80 [SEP] 38, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 56 [SEP] 39, Spatula, 0.915, 0.510, -0.565, 0, 0, 0, 64 [SEP] 40, PaperTowelRoll, 0.773, 1.015, -0.729, 0, 0, 0, 61 [SEP] 41, Tomato, 0.965, 1.442, 1.540, 0, 270, 0, 83 [SEP] 42, Egg, 0.995, 1.833, -1.339, 0, 270, 0, 82 [SEP] 43, SaltShaker, 0.956, 0.698, -0.648, 0, 270, 0, 58 [SEP] 44, PepperShaker, -1.878, 0.878, 2.665, 0, 0, 0, 87 [SEP] 45, Vase, 1.194, 1.666, -2.234, 0, 270, 0, 59 [SEP] 46, ButterKnife, -0.698, 0.776, -0.573, 0, 90, 0, 81 [SEP] 47, SoapBottle, 1.169, 2.208, -0.973, 0, 270, 0, 67 [SEP] 48, Vase, 1.193, 1.667, 0.216, 0, 270, 0, 68 [SEP] 49, Bowl, 0.844, 0.866, 1.254, 0, 270, 0, 83 [SEP] 50, DishSponge, -1.104, 0.933, 0.144, 0, 0, 0, 60 [SEP] 51, Spoon, 0.794, 0.496, -0.607, 0, 270, 0, 64 [SEP] 52, Cup, 0.783, 1.640, 1.349, 0, 270, 0, 83 [SEP] 53, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 79 [SEP] 54, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 55, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 56, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 57, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 58, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 59, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 60, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 61, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 62, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 63, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 64, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 65, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 66, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 67, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 68, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 69, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 70, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 71, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 72, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 73, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 74, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 75, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 76, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 77, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 78, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 79, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 80, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 81, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 82, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 83, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 84, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 85, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 86, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 87, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 88, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 89, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 90, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 91, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 92, NorthWall, , , , , , , [SEP] 93, EastWall, , , , , , , [SEP] 94, SouthWall, , , , , , , [SEP] 95, WestWall, , , , , , , ", "output": ["STEP 1: Walk forward, then turn right at the chair, then left at the window, then left again and walk until you reach the sink. | STEP 2: Grab the potato from the front right corner of the sink. | STEP 3: Turn right, then stop when you get to the fridge and turn to face it. | STEP 4: Place the potato next to the bowl in the fridge, allow it to chill, then remove it. | STEP 5: Turn right, then stop at the stove and turn left to face the microwave. | STEP 6: Place the potato in the fridge to the left on an egg. | END"]} +{"id": "trial_T20190908_201444_037645-0", "input": "Examine a mug using 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, -2.25, 0.900, 1.5, 0, 180, 0, [SEP] 1, Bowl, -1.834, 0.886, 0.448, 0, 0, 0, 45 [SEP] 2, Mug, -0.819, 0.855, -1.183, 0, 0, 0, 35 [SEP] 3, Mug, -0.399, 0.855, -0.836, 0, 90, 0, 35 [SEP] 4, CD, -2.187, 0.039, 2.575, 0, 180, 0, 50 [SEP] 5, CD, -0.672, 0.202, -0.310, 0, 0, 0, 28 [SEP] 6, Pen, -2.265, 0.884, 0.581, 0, 0, 0, 45 [SEP] 7, KeyChain, -0.399, 0.857, -1.183, 0, 0, 0, 35 [SEP] 8, Pillow, 1.206, 0.918, 1.366, 0, 0, 0, 26 [SEP] 9, Pillow, 1.612, 0.918, 2.524, 0, 0, 0, 26 [SEP] 10, AlarmClock, -1.834, 1.724, 0.407, 0, 0, 0, 39 [SEP] 11, AlarmClock, -1.392, 1.724, 0.489, 0, 0, 0, 39 [SEP] 12, Book, 1.815, 0.783, 1.366, 0, 0, 0, 26 [SEP] 13, AlarmClock, -0.514, 0.851, -0.619, 0, 56.206, 0, 35 [SEP] 14, BasketBall, 1.976, 0.120, 0.211, 0, 331.076, 0, [SEP] 15, Pen, -0.549, 0.654, -0.772, 0, 0, 0, 33 [SEP] 16, Laptop, -1.783, 0.871, 0.732, 0, 0, 0, 45 [SEP] 17, BaseballBat, 1.953, 0.659, -1.81, 346.388, 0, 0, [SEP] 18, Bowl, -0.735, 0.861, -0.663, 0, 0, 0, 35 [SEP] 19, Pillow, 1.206, 0.918, 0.787, 0, 0, 0, 26 [SEP] 20, KeyChain, -0.735, 0.857, -1.010, 0, 0, 0, 35 [SEP] 21, CreditCard, -0.511, 0.083, -0.692, 0, 0, 0, 34 [SEP] 22, CellPhone, -2.292, 0.040, 2.469, 0, 180, 0, 50 [SEP] 23, CD, -2.075, 0.667, 0.758, 0, 0, 0, 46 [SEP] 24, Pencil, -1.728, 1.353, 0.448, 0, 0, 0, 37 [SEP] 25, Mug, -2.045, 1.347, 0.489, 0, 0, 0, 45 [SEP] 26, Bed, 1.227, -0.002, 1.664, 0, 0, 0, [SEP] 27, LightSwitch, 2.151, 1.233, -0.518, 0, 270, 0, [SEP] 28, GarbageCan, -0.747, 0.014, -0.327, 0, 0, 0, [SEP] 29, Mirror, -1.358, 1.427, 2.855, 0, 0, 0, [SEP] 30, DeskLamp, -2.296, 0.858, 0.750, 0, 0, 0, [SEP] 31, Window, -0.421, 1.534, -1.947, 90, 0, 0, [SEP] 32, Window, 0.579, 1.534, -1.947, 90, 0, 0, [SEP] 33, Drawer, -0.491, 0.739, -0.855, 0, 90, 0, [SEP] 34, Drawer, -0.491, 0.204, -0.855, 0, 90, 0, [SEP] 35, Desk, -0.639, 0.009, -1.187, 0, 90, 0, [SEP] 36, Drawer, -0.491, 0.487, -0.855, 0, 90, 0, [SEP] 37, Shelf, -1.965, 1.514, 0.416, 0, 0, 0, [SEP] 38, Shelf, -1.965, 1.092, 0.416, 0, 0, 0, [SEP] 39, Shelf, -1.312, 1.888, 0.416, 0, 0, 0, [SEP] 40, Shelf, -1.965, 1.888, 0.416, 0, 0, 0, [SEP] 41, Shelf, -1.312, 1.092, 0.416, 0, 0, 0, [SEP] 42, Shelf, -1.312, 1.514, 0.416, 0, 0, 0, [SEP] 43, Blinds, 0.601, 2.161, -1.916, 0, 0, 0, [SEP] 44, Blinds, -0.402, 2.161, -1.916, 0, 0, 0, [SEP] 45, Desk, -1.726, 0.001, 0.575, 0, 0, 0, [SEP] 46, Drawer, -2.058, 0.733, 0.734, 0, 0, 0, [SEP] 47, Drawer, -2.058, 0.482, 0.734, 0, 0, 0, [SEP] 48, Drawer, -2.058, 0.198, 0.735, 0, 0, 0, [SEP] 49, Chair, -0.137, 0.000, -1.587, 0, 315, 0, [SEP] 50, Safe, -2.183, -7.748, 2.576, 0, 180, 0, [SEP] 51, Chair, -1.433, 0.009, 0.780, 357.672, 206.726, 0, [SEP] 52, LaundryHamper, 0.163, 0.003, 2.635, 0, 86.390, 0, [SEP] 53, NorthWall, , , , , , , [SEP] 54, EastWall, , , , , , , [SEP] 55, SouthWall, , , , , , , [SEP] 56, WestWall, , , , , , , ", "output": ["STEP 1: Turn to the left, walk to the bed, turn right, walk almost to the window, then turn right to face the desk. | STEP 2: Pick up the mug that is on the desk closest to the wall. | STEP 3: Turn to the right, walk almost to the hamper, turn left, walk to the wall, then turn left to face the desk. | STEP 4: Turn on the lamp that is on the desk. | END"]} +{"id": "trial_T20190908_201444_037645-1", "input": "examine a mug with 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, 1.5, 0, 180, 0, [SEP] 1, Bowl, -1.834, 0.886, 0.448, 0, 0, 0, 45 [SEP] 2, Mug, -0.819, 0.855, -1.183, 0, 0, 0, 35 [SEP] 3, Mug, -0.399, 0.855, -0.836, 0, 90, 0, 35 [SEP] 4, CD, -2.187, 0.039, 2.575, 0, 180, 0, 50 [SEP] 5, CD, -0.672, 0.202, -0.310, 0, 0, 0, 28 [SEP] 6, Pen, -2.265, 0.884, 0.581, 0, 0, 0, 45 [SEP] 7, KeyChain, -0.399, 0.857, -1.183, 0, 0, 0, 35 [SEP] 8, Pillow, 1.206, 0.918, 1.366, 0, 0, 0, 26 [SEP] 9, Pillow, 1.612, 0.918, 2.524, 0, 0, 0, 26 [SEP] 10, AlarmClock, -1.834, 1.724, 0.407, 0, 0, 0, 39 [SEP] 11, AlarmClock, -1.392, 1.724, 0.489, 0, 0, 0, 39 [SEP] 12, Book, 1.815, 0.783, 1.366, 0, 0, 0, 26 [SEP] 13, AlarmClock, -0.514, 0.851, -0.619, 0, 56.206, 0, 35 [SEP] 14, BasketBall, 1.976, 0.120, 0.211, 0, 331.076, 0, [SEP] 15, Pen, -0.549, 0.654, -0.772, 0, 0, 0, 33 [SEP] 16, Laptop, -1.783, 0.871, 0.732, 0, 0, 0, 45 [SEP] 17, BaseballBat, 1.953, 0.659, -1.81, 346.388, 0, 0, [SEP] 18, Bowl, -0.735, 0.861, -0.663, 0, 0, 0, 35 [SEP] 19, Pillow, 1.206, 0.918, 0.787, 0, 0, 0, 26 [SEP] 20, KeyChain, -0.735, 0.857, -1.010, 0, 0, 0, 35 [SEP] 21, CreditCard, -0.511, 0.083, -0.692, 0, 0, 0, 34 [SEP] 22, CellPhone, -2.292, 0.040, 2.469, 0, 180, 0, 50 [SEP] 23, CD, -2.075, 0.667, 0.758, 0, 0, 0, 46 [SEP] 24, Pencil, -1.728, 1.353, 0.448, 0, 0, 0, 37 [SEP] 25, Mug, -2.045, 1.347, 0.489, 0, 0, 0, 45 [SEP] 26, Bed, 1.227, -0.002, 1.664, 0, 0, 0, [SEP] 27, LightSwitch, 2.151, 1.233, -0.518, 0, 270, 0, [SEP] 28, GarbageCan, -0.747, 0.014, -0.327, 0, 0, 0, [SEP] 29, Mirror, -1.358, 1.427, 2.855, 0, 0, 0, [SEP] 30, DeskLamp, -2.296, 0.858, 0.750, 0, 0, 0, [SEP] 31, Window, -0.421, 1.534, -1.947, 90, 0, 0, [SEP] 32, Window, 0.579, 1.534, -1.947, 90, 0, 0, [SEP] 33, Drawer, -0.491, 0.739, -0.855, 0, 90, 0, [SEP] 34, Drawer, -0.491, 0.204, -0.855, 0, 90, 0, [SEP] 35, Desk, -0.639, 0.009, -1.187, 0, 90, 0, [SEP] 36, Drawer, -0.491, 0.487, -0.855, 0, 90, 0, [SEP] 37, Shelf, -1.965, 1.514, 0.416, 0, 0, 0, [SEP] 38, Shelf, -1.965, 1.092, 0.416, 0, 0, 0, [SEP] 39, Shelf, -1.312, 1.888, 0.416, 0, 0, 0, [SEP] 40, Shelf, -1.965, 1.888, 0.416, 0, 0, 0, [SEP] 41, Shelf, -1.312, 1.092, 0.416, 0, 0, 0, [SEP] 42, Shelf, -1.312, 1.514, 0.416, 0, 0, 0, [SEP] 43, Blinds, 0.601, 2.161, -1.916, 0, 0, 0, [SEP] 44, Blinds, -0.402, 2.161, -1.916, 0, 0, 0, [SEP] 45, Desk, -1.726, 0.001, 0.575, 0, 0, 0, [SEP] 46, Drawer, -2.058, 0.733, 0.734, 0, 0, 0, [SEP] 47, Drawer, -2.058, 0.482, 0.734, 0, 0, 0, [SEP] 48, Drawer, -2.058, 0.198, 0.735, 0, 0, 0, [SEP] 49, Chair, -0.137, 0.000, -1.587, 0, 315, 0, [SEP] 50, Safe, -2.183, -7.748, 2.576, 0, 180, 0, [SEP] 51, Chair, -1.433, 0.009, 0.780, 357.672, 206.726, 0, [SEP] 52, LaundryHamper, 0.163, 0.003, 2.635, 0, 86.390, 0, [SEP] 53, NorthWall, , , , , , , [SEP] 54, EastWall, , , , , , , [SEP] 55, SouthWall, , , , , , , [SEP] 56, WestWall, , , , , , , ", "output": ["STEP 1: turn left, walk to the bed, turn right, walk across room, turn right to face desk | STEP 2: pick up the white mug from the desk | STEP 3: turn right, walk across the room, turn left, walk to the wall, turn left to face desk | STEP 4: turn the lamp on | END"]} +{"id": "trial_T20190908_201444_037645-2", "input": "Examine a mug 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, -2.25, 0.900, 1.5, 0, 180, 0, [SEP] 1, Bowl, -1.834, 0.886, 0.448, 0, 0, 0, 45 [SEP] 2, Mug, -0.819, 0.855, -1.183, 0, 0, 0, 35 [SEP] 3, Mug, -0.399, 0.855, -0.836, 0, 90, 0, 35 [SEP] 4, CD, -2.187, 0.039, 2.575, 0, 180, 0, 50 [SEP] 5, CD, -0.672, 0.202, -0.310, 0, 0, 0, 28 [SEP] 6, Pen, -2.265, 0.884, 0.581, 0, 0, 0, 45 [SEP] 7, KeyChain, -0.399, 0.857, -1.183, 0, 0, 0, 35 [SEP] 8, Pillow, 1.206, 0.918, 1.366, 0, 0, 0, 26 [SEP] 9, Pillow, 1.612, 0.918, 2.524, 0, 0, 0, 26 [SEP] 10, AlarmClock, -1.834, 1.724, 0.407, 0, 0, 0, 39 [SEP] 11, AlarmClock, -1.392, 1.724, 0.489, 0, 0, 0, 39 [SEP] 12, Book, 1.815, 0.783, 1.366, 0, 0, 0, 26 [SEP] 13, AlarmClock, -0.514, 0.851, -0.619, 0, 56.206, 0, 35 [SEP] 14, BasketBall, 1.976, 0.120, 0.211, 0, 331.076, 0, [SEP] 15, Pen, -0.549, 0.654, -0.772, 0, 0, 0, 33 [SEP] 16, Laptop, -1.783, 0.871, 0.732, 0, 0, 0, 45 [SEP] 17, BaseballBat, 1.953, 0.659, -1.81, 346.388, 0, 0, [SEP] 18, Bowl, -0.735, 0.861, -0.663, 0, 0, 0, 35 [SEP] 19, Pillow, 1.206, 0.918, 0.787, 0, 0, 0, 26 [SEP] 20, KeyChain, -0.735, 0.857, -1.010, 0, 0, 0, 35 [SEP] 21, CreditCard, -0.511, 0.083, -0.692, 0, 0, 0, 34 [SEP] 22, CellPhone, -2.292, 0.040, 2.469, 0, 180, 0, 50 [SEP] 23, CD, -2.075, 0.667, 0.758, 0, 0, 0, 46 [SEP] 24, Pencil, -1.728, 1.353, 0.448, 0, 0, 0, 37 [SEP] 25, Mug, -2.045, 1.347, 0.489, 0, 0, 0, 45 [SEP] 26, Bed, 1.227, -0.002, 1.664, 0, 0, 0, [SEP] 27, LightSwitch, 2.151, 1.233, -0.518, 0, 270, 0, [SEP] 28, GarbageCan, -0.747, 0.014, -0.327, 0, 0, 0, [SEP] 29, Mirror, -1.358, 1.427, 2.855, 0, 0, 0, [SEP] 30, DeskLamp, -2.296, 0.858, 0.750, 0, 0, 0, [SEP] 31, Window, -0.421, 1.534, -1.947, 90, 0, 0, [SEP] 32, Window, 0.579, 1.534, -1.947, 90, 0, 0, [SEP] 33, Drawer, -0.491, 0.739, -0.855, 0, 90, 0, [SEP] 34, Drawer, -0.491, 0.204, -0.855, 0, 90, 0, [SEP] 35, Desk, -0.639, 0.009, -1.187, 0, 90, 0, [SEP] 36, Drawer, -0.491, 0.487, -0.855, 0, 90, 0, [SEP] 37, Shelf, -1.965, 1.514, 0.416, 0, 0, 0, [SEP] 38, Shelf, -1.965, 1.092, 0.416, 0, 0, 0, [SEP] 39, Shelf, -1.312, 1.888, 0.416, 0, 0, 0, [SEP] 40, Shelf, -1.965, 1.888, 0.416, 0, 0, 0, [SEP] 41, Shelf, -1.312, 1.092, 0.416, 0, 0, 0, [SEP] 42, Shelf, -1.312, 1.514, 0.416, 0, 0, 0, [SEP] 43, Blinds, 0.601, 2.161, -1.916, 0, 0, 0, [SEP] 44, Blinds, -0.402, 2.161, -1.916, 0, 0, 0, [SEP] 45, Desk, -1.726, 0.001, 0.575, 0, 0, 0, [SEP] 46, Drawer, -2.058, 0.733, 0.734, 0, 0, 0, [SEP] 47, Drawer, -2.058, 0.482, 0.734, 0, 0, 0, [SEP] 48, Drawer, -2.058, 0.198, 0.735, 0, 0, 0, [SEP] 49, Chair, -0.137, 0.000, -1.587, 0, 315, 0, [SEP] 50, Safe, -2.183, -7.748, 2.576, 0, 180, 0, [SEP] 51, Chair, -1.433, 0.009, 0.780, 357.672, 206.726, 0, [SEP] 52, LaundryHamper, 0.163, 0.003, 2.635, 0, 86.390, 0, [SEP] 53, NorthWall, , , , , , , [SEP] 54, EastWall, , , , , , , [SEP] 55, SouthWall, , , , , , , [SEP] 56, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and go to the bed, then turn right and go towards the wall, then turn right to face the desk. | STEP 2: Pick up the mug nearest to the wall on the desk. | STEP 3: Turn right and go toward the wall, then turn left go to the wall, then turn left to face the lamp on the desk. | STEP 4: Turn on the lamp. | END"]} +{"id": "trial_T20190907_074124_966890-0", "input": "Put a cleaned bar of soap 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, -1.75, 0.901, 1.5, 0, 180, 0, [SEP] 1, SoapBar, -0.131, 0.953, 1.669, 0, 0, 0, 29 [SEP] 2, SoapBottle, -0.178, 0.076, 2.291, 0, 0, 0, 23 [SEP] 3, ToiletPaper, -0.280, 0.654, 1.985, 0, 180, 90, 26 [SEP] 4, HandTowel, -0.038, 1.619, 3.799, 0, 90, 0, 28 [SEP] 5, Towel, -1.082, 1.326, 1.302, 0, 0, 0, 24 [SEP] 6, SoapBar, -0.326, 0.954, 2.772, 0, 0, 0, 21 [SEP] 7, ToiletPaper, -0.229, 0.072, 3.145, 0, 0, 0, 17 [SEP] 8, Plunger, -0.112, -0.000, 1.848, 0, 0, 0, [SEP] 9, Candle, -0.381, 0.075, 3.145, 0, 0, 0, 22 [SEP] 10, ToiletPaper, -0.279, 0.072, 2.202, 0, 0, 0, 23 [SEP] 11, SprayBottle, -0.202, 0.955, 2.948, 0, 0, 0, 21 [SEP] 12, Cloth, -0.280, 0.076, 3.462, 0, 0, 0, 22 [SEP] 13, ScrubBrush, -0.322, 3.109, 1.950, 0, 0, 0, [SEP] 14, SoapBottle, -0.104, 0.954, 1.294, 0, 0, 0, 29 [SEP] 15, Mirror, -0.030, 1.544, 2.864, 0, 0, 0, [SEP] 16, Sink, -0.302, 0.799, 3.263, 0, 270, 0, [SEP] 17, Cabinet, -0.491, 0.404, 2.863, 0, 0, 0, [SEP] 18, Cabinet, -0.495, 0.384, 2.842, 0, 0, 0, [SEP] 19, ShowerDoor, -1.647, 1.017, 1.180, 0, 0, 0, [SEP] 20, ShowerGlass, -0.909, 0.788, 0.485, 0, 0, 0, [SEP] 21, CounterTop, -0.261, 0.927, 2.843, 0, 0, 0, [SEP] 22, Cabinet, -0.495, 0.384, 3.650, 0, 0, 0, [SEP] 23, Cabinet, -0.491, 0.404, 2.055, 0, 0, 0, [SEP] 24, TowelHolder, -1.082, 1.312, 1.195, 0, 0, 0, [SEP] 25, LightSwitch, -2.424, 1.447, 3.338, 0, 90, 0, [SEP] 26, ToiletPaperHanger, -0.266, 0.786, 2.043, 0, 180, 0, [SEP] 27, HandTowelHolder, 0.000, 1.721, 1.887, 0, 180, 0, [SEP] 28, HandTowelHolder, 0.000, 1.721, 3.799, 0, 180, 0, [SEP] 29, Toilet, -0.542, 3.109, 1.493, 0, 270, 0, [SEP] 30, GarbageCan, -2.159, -0.000, 3.756, 0, 0, 0, [SEP] 31, SinkBasin, -0.308, 0.820, 3.266, 0, 0, 0, [SEP] 32, ShowerHead, -0.134, 1.888, 0.564, 0, 90, 0, [SEP] 33, Faucet, 0.0, 1.009, 3.265, 0, 0, 0, [SEP] 34, Faucet, 0.0, 1.009, 2.421, 0, 0, 0, [SEP] 35, SinkBasin, -0.308, 0.820, 2.422, 0, 0, 0, [SEP] 36, Sink, -0.302, 0.799, 2.419, 0, 270, 0, [SEP] 37, NorthWall, , , , , , , [SEP] 38, SouthWall, , , , , , , [SEP] 39, SouthWall, , , , , , , ", "output": ["STEP 1: Move to the counter in between the two sinks | STEP 2: Pick up the soap from the counter | STEP 3: Move to the sink on the right from you | STEP 4: Clean the soap in the sink | STEP 5: Move to the counter in between the two sinks | STEP 6: Put the soap on the counter | END"]} +{"id": "trial_T20190907_074124_966890-1", "input": "Rinse off a bar of soap 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, -1.75, 0.901, 1.5, 0, 180, 0, [SEP] 1, SoapBar, -0.131, 0.953, 1.669, 0, 0, 0, 29 [SEP] 2, SoapBottle, -0.178, 0.076, 2.291, 0, 0, 0, 23 [SEP] 3, ToiletPaper, -0.280, 0.654, 1.985, 0, 180, 90, 26 [SEP] 4, HandTowel, -0.038, 1.619, 3.799, 0, 90, 0, 28 [SEP] 5, Towel, -1.082, 1.326, 1.302, 0, 0, 0, 24 [SEP] 6, SoapBar, -0.326, 0.954, 2.772, 0, 0, 0, 21 [SEP] 7, ToiletPaper, -0.229, 0.072, 3.145, 0, 0, 0, 17 [SEP] 8, Plunger, -0.112, -0.000, 1.848, 0, 0, 0, [SEP] 9, Candle, -0.381, 0.075, 3.145, 0, 0, 0, 22 [SEP] 10, ToiletPaper, -0.279, 0.072, 2.202, 0, 0, 0, 23 [SEP] 11, SprayBottle, -0.202, 0.955, 2.948, 0, 0, 0, 21 [SEP] 12, Cloth, -0.280, 0.076, 3.462, 0, 0, 0, 22 [SEP] 13, ScrubBrush, -0.322, 3.109, 1.950, 0, 0, 0, [SEP] 14, SoapBottle, -0.104, 0.954, 1.294, 0, 0, 0, 29 [SEP] 15, Mirror, -0.030, 1.544, 2.864, 0, 0, 0, [SEP] 16, Sink, -0.302, 0.799, 3.263, 0, 270, 0, [SEP] 17, Cabinet, -0.491, 0.404, 2.863, 0, 0, 0, [SEP] 18, Cabinet, -0.495, 0.384, 2.842, 0, 0, 0, [SEP] 19, ShowerDoor, -1.647, 1.017, 1.180, 0, 0, 0, [SEP] 20, ShowerGlass, -0.909, 0.788, 0.485, 0, 0, 0, [SEP] 21, CounterTop, -0.261, 0.927, 2.843, 0, 0, 0, [SEP] 22, Cabinet, -0.495, 0.384, 3.650, 0, 0, 0, [SEP] 23, Cabinet, -0.491, 0.404, 2.055, 0, 0, 0, [SEP] 24, TowelHolder, -1.082, 1.312, 1.195, 0, 0, 0, [SEP] 25, LightSwitch, -2.424, 1.447, 3.338, 0, 90, 0, [SEP] 26, ToiletPaperHanger, -0.266, 0.786, 2.043, 0, 180, 0, [SEP] 27, HandTowelHolder, 0.000, 1.721, 1.887, 0, 180, 0, [SEP] 28, HandTowelHolder, 0.000, 1.721, 3.799, 0, 180, 0, [SEP] 29, Toilet, -0.542, 3.109, 1.493, 0, 270, 0, [SEP] 30, GarbageCan, -2.159, -0.000, 3.756, 0, 0, 0, [SEP] 31, SinkBasin, -0.308, 0.820, 3.266, 0, 0, 0, [SEP] 32, ShowerHead, -0.134, 1.888, 0.564, 0, 90, 0, [SEP] 33, Faucet, 0.0, 1.009, 3.265, 0, 0, 0, [SEP] 34, Faucet, 0.0, 1.009, 2.421, 0, 0, 0, [SEP] 35, SinkBasin, -0.308, 0.820, 2.422, 0, 0, 0, [SEP] 36, Sink, -0.302, 0.799, 2.419, 0, 270, 0, [SEP] 37, NorthWall, , , , , , , [SEP] 38, SouthWall, , , , , , , [SEP] 39, SouthWall, , , , , , , ", "output": ["STEP 1: Turn around and turn right to go to the sinks. | STEP 2: Pick up the bar of soap from in between the sinks. | STEP 3: Take a step to the right to face the sink. | STEP 4: Place the soap in the sink, turn the water on and then off. Pick up the soap. | STEP 5: Carry the soap and take a step to the left. | STEP 6: Place the soap on the counter in between the sinks. | END"]} +{"id": "trial_T20190907_074124_966890-2", "input": "Put a clean bar of soap on the bathroom counter. 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, 1.5, 0, 180, 0, [SEP] 1, SoapBar, -0.131, 0.953, 1.669, 0, 0, 0, 29 [SEP] 2, SoapBottle, -0.178, 0.076, 2.291, 0, 0, 0, 23 [SEP] 3, ToiletPaper, -0.280, 0.654, 1.985, 0, 180, 90, 26 [SEP] 4, HandTowel, -0.038, 1.619, 3.799, 0, 90, 0, 28 [SEP] 5, Towel, -1.082, 1.326, 1.302, 0, 0, 0, 24 [SEP] 6, SoapBar, -0.326, 0.954, 2.772, 0, 0, 0, 21 [SEP] 7, ToiletPaper, -0.229, 0.072, 3.145, 0, 0, 0, 17 [SEP] 8, Plunger, -0.112, -0.000, 1.848, 0, 0, 0, [SEP] 9, Candle, -0.381, 0.075, 3.145, 0, 0, 0, 22 [SEP] 10, ToiletPaper, -0.279, 0.072, 2.202, 0, 0, 0, 23 [SEP] 11, SprayBottle, -0.202, 0.955, 2.948, 0, 0, 0, 21 [SEP] 12, Cloth, -0.280, 0.076, 3.462, 0, 0, 0, 22 [SEP] 13, ScrubBrush, -0.322, 3.109, 1.950, 0, 0, 0, [SEP] 14, SoapBottle, -0.104, 0.954, 1.294, 0, 0, 0, 29 [SEP] 15, Mirror, -0.030, 1.544, 2.864, 0, 0, 0, [SEP] 16, Sink, -0.302, 0.799, 3.263, 0, 270, 0, [SEP] 17, Cabinet, -0.491, 0.404, 2.863, 0, 0, 0, [SEP] 18, Cabinet, -0.495, 0.384, 2.842, 0, 0, 0, [SEP] 19, ShowerDoor, -1.647, 1.017, 1.180, 0, 0, 0, [SEP] 20, ShowerGlass, -0.909, 0.788, 0.485, 0, 0, 0, [SEP] 21, CounterTop, -0.261, 0.927, 2.843, 0, 0, 0, [SEP] 22, Cabinet, -0.495, 0.384, 3.650, 0, 0, 0, [SEP] 23, Cabinet, -0.491, 0.404, 2.055, 0, 0, 0, [SEP] 24, TowelHolder, -1.082, 1.312, 1.195, 0, 0, 0, [SEP] 25, LightSwitch, -2.424, 1.447, 3.338, 0, 90, 0, [SEP] 26, ToiletPaperHanger, -0.266, 0.786, 2.043, 0, 180, 0, [SEP] 27, HandTowelHolder, 0.000, 1.721, 1.887, 0, 180, 0, [SEP] 28, HandTowelHolder, 0.000, 1.721, 3.799, 0, 180, 0, [SEP] 29, Toilet, -0.542, 3.109, 1.493, 0, 270, 0, [SEP] 30, GarbageCan, -2.159, -0.000, 3.756, 0, 0, 0, [SEP] 31, SinkBasin, -0.308, 0.820, 3.266, 0, 0, 0, [SEP] 32, ShowerHead, -0.134, 1.888, 0.564, 0, 90, 0, [SEP] 33, Faucet, 0.0, 1.009, 3.265, 0, 0, 0, [SEP] 34, Faucet, 0.0, 1.009, 2.421, 0, 0, 0, [SEP] 35, SinkBasin, -0.308, 0.820, 2.422, 0, 0, 0, [SEP] 36, Sink, -0.302, 0.799, 2.419, 0, 270, 0, [SEP] 37, NorthWall, , , , , , , [SEP] 38, SouthWall, , , , , , , [SEP] 39, SouthWall, , , , , , , ", "output": ["STEP 1: Turn around and begin walking across the room, then turn right and walk up to the sink counter. | STEP 2: Pick up the bar of soap that is on the counter in between the two sinks. | STEP 3: Turn around and take a step forward, then turn left and take another step, turn left again to face the sink. | STEP 4: Put the bar of soap into the rightmost sink basin and turn on the water, after a couple seconds turn the water off and remove the now clean bar of soap. | STEP 5: Turn left and take a step forward, then turn right to face the counter. | STEP 6: Place the clean bar of soap on front of the counter in between the two sinks. | END"]} +{"id": "trial_T20190907_074124_966890-3", "input": "Put a clean bar of soap 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, -1.75, 0.901, 1.5, 0, 180, 0, [SEP] 1, SoapBar, -0.131, 0.953, 1.669, 0, 0, 0, 29 [SEP] 2, SoapBottle, -0.178, 0.076, 2.291, 0, 0, 0, 23 [SEP] 3, ToiletPaper, -0.280, 0.654, 1.985, 0, 180, 90, 26 [SEP] 4, HandTowel, -0.038, 1.619, 3.799, 0, 90, 0, 28 [SEP] 5, Towel, -1.082, 1.326, 1.302, 0, 0, 0, 24 [SEP] 6, SoapBar, -0.326, 0.954, 2.772, 0, 0, 0, 21 [SEP] 7, ToiletPaper, -0.229, 0.072, 3.145, 0, 0, 0, 17 [SEP] 8, Plunger, -0.112, -0.000, 1.848, 0, 0, 0, [SEP] 9, Candle, -0.381, 0.075, 3.145, 0, 0, 0, 22 [SEP] 10, ToiletPaper, -0.279, 0.072, 2.202, 0, 0, 0, 23 [SEP] 11, SprayBottle, -0.202, 0.955, 2.948, 0, 0, 0, 21 [SEP] 12, Cloth, -0.280, 0.076, 3.462, 0, 0, 0, 22 [SEP] 13, ScrubBrush, -0.322, 3.109, 1.950, 0, 0, 0, [SEP] 14, SoapBottle, -0.104, 0.954, 1.294, 0, 0, 0, 29 [SEP] 15, Mirror, -0.030, 1.544, 2.864, 0, 0, 0, [SEP] 16, Sink, -0.302, 0.799, 3.263, 0, 270, 0, [SEP] 17, Cabinet, -0.491, 0.404, 2.863, 0, 0, 0, [SEP] 18, Cabinet, -0.495, 0.384, 2.842, 0, 0, 0, [SEP] 19, ShowerDoor, -1.647, 1.017, 1.180, 0, 0, 0, [SEP] 20, ShowerGlass, -0.909, 0.788, 0.485, 0, 0, 0, [SEP] 21, CounterTop, -0.261, 0.927, 2.843, 0, 0, 0, [SEP] 22, Cabinet, -0.495, 0.384, 3.650, 0, 0, 0, [SEP] 23, Cabinet, -0.491, 0.404, 2.055, 0, 0, 0, [SEP] 24, TowelHolder, -1.082, 1.312, 1.195, 0, 0, 0, [SEP] 25, LightSwitch, -2.424, 1.447, 3.338, 0, 90, 0, [SEP] 26, ToiletPaperHanger, -0.266, 0.786, 2.043, 0, 180, 0, [SEP] 27, HandTowelHolder, 0.000, 1.721, 1.887, 0, 180, 0, [SEP] 28, HandTowelHolder, 0.000, 1.721, 3.799, 0, 180, 0, [SEP] 29, Toilet, -0.542, 3.109, 1.493, 0, 270, 0, [SEP] 30, GarbageCan, -2.159, -0.000, 3.756, 0, 0, 0, [SEP] 31, SinkBasin, -0.308, 0.820, 3.266, 0, 0, 0, [SEP] 32, ShowerHead, -0.134, 1.888, 0.564, 0, 90, 0, [SEP] 33, Faucet, 0.0, 1.009, 3.265, 0, 0, 0, [SEP] 34, Faucet, 0.0, 1.009, 2.421, 0, 0, 0, [SEP] 35, SinkBasin, -0.308, 0.820, 2.422, 0, 0, 0, [SEP] 36, Sink, -0.302, 0.799, 2.419, 0, 270, 0, [SEP] 37, NorthWall, , , , , , , [SEP] 38, SouthWall, , , , , , , [SEP] 39, SouthWall, , , , , , , ", "output": ["STEP 1: Turn around and go right towards the double sings. | STEP 2: Pick up the bar of soap. | STEP 3: Go to the right and face the sink. | STEP 4: Put the bar of soap in the sink, turn the water on and then off and then pick up the bar of soap. | STEP 5: Move to the left. | STEP 6: Put the soap down in between the two sinks. | END"]} +{"id": "trial_T20190907_074124_966890-4", "input": "Put wet soap in between the sinks. 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, 1.5, 0, 180, 0, [SEP] 1, SoapBar, -0.131, 0.953, 1.669, 0, 0, 0, 29 [SEP] 2, SoapBottle, -0.178, 0.076, 2.291, 0, 0, 0, 23 [SEP] 3, ToiletPaper, -0.280, 0.654, 1.985, 0, 180, 90, 26 [SEP] 4, HandTowel, -0.038, 1.619, 3.799, 0, 90, 0, 28 [SEP] 5, Towel, -1.082, 1.326, 1.302, 0, 0, 0, 24 [SEP] 6, SoapBar, -0.326, 0.954, 2.772, 0, 0, 0, 21 [SEP] 7, ToiletPaper, -0.229, 0.072, 3.145, 0, 0, 0, 17 [SEP] 8, Plunger, -0.112, -0.000, 1.848, 0, 0, 0, [SEP] 9, Candle, -0.381, 0.075, 3.145, 0, 0, 0, 22 [SEP] 10, ToiletPaper, -0.279, 0.072, 2.202, 0, 0, 0, 23 [SEP] 11, SprayBottle, -0.202, 0.955, 2.948, 0, 0, 0, 21 [SEP] 12, Cloth, -0.280, 0.076, 3.462, 0, 0, 0, 22 [SEP] 13, ScrubBrush, -0.322, 3.109, 1.950, 0, 0, 0, [SEP] 14, SoapBottle, -0.104, 0.954, 1.294, 0, 0, 0, 29 [SEP] 15, Mirror, -0.030, 1.544, 2.864, 0, 0, 0, [SEP] 16, Sink, -0.302, 0.799, 3.263, 0, 270, 0, [SEP] 17, Cabinet, -0.491, 0.404, 2.863, 0, 0, 0, [SEP] 18, Cabinet, -0.495, 0.384, 2.842, 0, 0, 0, [SEP] 19, ShowerDoor, -1.647, 1.017, 1.180, 0, 0, 0, [SEP] 20, ShowerGlass, -0.909, 0.788, 0.485, 0, 0, 0, [SEP] 21, CounterTop, -0.261, 0.927, 2.843, 0, 0, 0, [SEP] 22, Cabinet, -0.495, 0.384, 3.650, 0, 0, 0, [SEP] 23, Cabinet, -0.491, 0.404, 2.055, 0, 0, 0, [SEP] 24, TowelHolder, -1.082, 1.312, 1.195, 0, 0, 0, [SEP] 25, LightSwitch, -2.424, 1.447, 3.338, 0, 90, 0, [SEP] 26, ToiletPaperHanger, -0.266, 0.786, 2.043, 0, 180, 0, [SEP] 27, HandTowelHolder, 0.000, 1.721, 1.887, 0, 180, 0, [SEP] 28, HandTowelHolder, 0.000, 1.721, 3.799, 0, 180, 0, [SEP] 29, Toilet, -0.542, 3.109, 1.493, 0, 270, 0, [SEP] 30, GarbageCan, -2.159, -0.000, 3.756, 0, 0, 0, [SEP] 31, SinkBasin, -0.308, 0.820, 3.266, 0, 0, 0, [SEP] 32, ShowerHead, -0.134, 1.888, 0.564, 0, 90, 0, [SEP] 33, Faucet, 0.0, 1.009, 3.265, 0, 0, 0, [SEP] 34, Faucet, 0.0, 1.009, 2.421, 0, 0, 0, [SEP] 35, SinkBasin, -0.308, 0.820, 2.422, 0, 0, 0, [SEP] 36, Sink, -0.302, 0.799, 2.419, 0, 270, 0, [SEP] 37, NorthWall, , , , , , , [SEP] 38, SouthWall, , , , , , , [SEP] 39, SouthWall, , , , , , , ", "output": ["STEP 1: Turn around and go to the sinks. | STEP 2: Pick up the soap from in between the sinks. | STEP 3: Move to the right to face the rightmost sink. | STEP 4: Get the soap wet in the sink. | STEP 5: Move back to the left. | STEP 6: Put the soap in between the two sinks. | END"]} +{"id": "trial_T20190907_051056_585414-0", "input": "Put the two disks from the desk 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, -0.75, 0.900, 1.25, 0, 0, 0, [SEP] 1, CD, -0.903, 0.857, -0.836, 0, 0, 0, 34 [SEP] 2, CellPhone, -0.735, 0.858, -1.183, 0, 0, 0, 34 [SEP] 3, CellPhone, -0.483, 0.858, -1.356, 0, 0, 0, 34 [SEP] 4, Pen, -1.286, 1.729, 0.489, 0, 0, 0, 38 [SEP] 5, KeyChain, -2.151, 1.723, 0.530, 0, 0, 0, 39 [SEP] 6, KeyChain, -2.315, 0.386, 0.608, 0, 90, 0, 46 [SEP] 7, Book, -2.155, 0.386, 0.721, 0, 0, 0, 46 [SEP] 8, Book, 1.206, 0.783, 1.366, 0, 0, 0, 25 [SEP] 9, AlarmClock, -1.834, 0.883, 0.448, 0, 0, 0, 44 [SEP] 10, AlarmClock, -1.834, 1.724, 0.407, 0, 0, 0, 38 [SEP] 11, Book, -2.075, 0.667, 0.721, 0, 0, 0, 45 [SEP] 12, AlarmClock, -0.735, 0.858, -0.836, 0, 0, 0, 34 [SEP] 13, BasketBall, 1.976, 0.120, 0.211, 0, 331.076, 0, [SEP] 14, Pen, -2.074, 0.110, 0.759, 0, 0, 0, 47 [SEP] 15, Laptop, -1.783, 0.871, 0.732, 0, 0, 0, 44 [SEP] 16, BaseballBat, 1.953, 0.659, -1.81, 346.388, 0, 0, [SEP] 17, Bowl, -2.091, 0.882, 0.665, 0, 0, 0, 44 [SEP] 18, Pillow, 0.800, 0.918, 0.787, 0, 0, 0, 25 [SEP] 19, KeyChain, -0.511, 0.083, -1.093, 0, 0, 0, 33 [SEP] 20, CreditCard, -0.567, 0.857, -1.010, 0, 0, 0, 34 [SEP] 21, CellPhone, -2.083, 0.040, 2.682, 0, 180, 0, 49 [SEP] 22, CD, -0.399, 0.857, -1.010, 0, 0, 0, 34 [SEP] 23, Pencil, -1.728, 1.727, 0.366, 0, 0, 0, 39 [SEP] 24, Mug, -0.819, 0.855, -1.529, 0, 0, 0, 34 [SEP] 25, Bed, 1.227, -0.002, 1.664, 0, 0, 0, [SEP] 26, LightSwitch, 2.151, 1.233, -0.518, 0, 270, 0, [SEP] 27, GarbageCan, -0.747, 0.014, -0.327, 0, 0, 0, [SEP] 28, Mirror, -1.358, 1.427, 2.855, 0, 0, 0, [SEP] 29, DeskLamp, -2.296, 0.858, 0.750, 0, 0, 0, [SEP] 30, Window, -0.421, 1.534, -1.947, 90, 0, 0, [SEP] 31, Window, 0.579, 1.534, -1.947, 90, 0, 0, [SEP] 32, Drawer, -0.491, 0.739, -0.855, 0, 90, 0, [SEP] 33, Drawer, -0.491, 0.204, -0.855, 0, 90, 0, [SEP] 34, Desk, -0.639, 0.009, -1.187, 0, 90, 0, [SEP] 35, Drawer, -0.491, 0.487, -0.855, 0, 90, 0, [SEP] 36, Shelf, -1.965, 1.514, 0.416, 0, 0, 0, [SEP] 37, Shelf, -1.965, 1.092, 0.416, 0, 0, 0, [SEP] 38, Shelf, -1.312, 1.888, 0.416, 0, 0, 0, [SEP] 39, Shelf, -1.965, 1.888, 0.416, 0, 0, 0, [SEP] 40, Shelf, -1.312, 1.092, 0.416, 0, 0, 0, [SEP] 41, Shelf, -1.312, 1.514, 0.416, 0, 0, 0, [SEP] 42, Blinds, 0.601, 2.161, -1.916, 0, 0, 0, [SEP] 43, Blinds, -0.402, 2.161, -1.916, 0, 0, 0, [SEP] 44, Desk, -1.726, 0.001, 0.575, 0, 0, 0, [SEP] 45, Drawer, -2.058, 0.733, 0.734, 0, 0, 0, [SEP] 46, Drawer, -2.058, 0.482, 0.734, 0, 0, 0, [SEP] 47, Drawer, -2.058, 0.198, 0.735, 0, 0, 0, [SEP] 48, Chair, -0.137, 0.000, -1.587, 0, 315, 0, [SEP] 49, Safe, -2.183, -7.748, 2.576, 0, 180, 0, [SEP] 50, Chair, -1.433, 0.009, 0.780, 357.672, 206.726, 0, [SEP] 51, LaundryHamper, 0.163, 0.003, 2.635, 0, 86.390, 0, [SEP] 52, NorthWall, , , , , , , [SEP] 53, EastWall, , , , , , , [SEP] 54, SouthWall, , , , , , , [SEP] 55, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and go to the desk. | STEP 2: Grab the disk off of the desk. | STEP 3: Turn around and walk to the far wall, turn left and face the safe. | STEP 4: Put the disk in the safe. | STEP 5: Close the safe and turn around and go back to the desk. | STEP 6: Pick up the second disk off of the desk. | STEP 7: Turn around and walk back to the safe. | STEP 8: Open the safe, put the second disk in, then close the safe. | END"]} +{"id": "trial_T20190907_051056_585414-1", "input": "Put two CDs in the safe. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.900, 1.25, 0, 0, 0, [SEP] 1, CD, -0.903, 0.857, -0.836, 0, 0, 0, 34 [SEP] 2, CellPhone, -0.735, 0.858, -1.183, 0, 0, 0, 34 [SEP] 3, CellPhone, -0.483, 0.858, -1.356, 0, 0, 0, 34 [SEP] 4, Pen, -1.286, 1.729, 0.489, 0, 0, 0, 38 [SEP] 5, KeyChain, -2.151, 1.723, 0.530, 0, 0, 0, 39 [SEP] 6, KeyChain, -2.315, 0.386, 0.608, 0, 90, 0, 46 [SEP] 7, Book, -2.155, 0.386, 0.721, 0, 0, 0, 46 [SEP] 8, Book, 1.206, 0.783, 1.366, 0, 0, 0, 25 [SEP] 9, AlarmClock, -1.834, 0.883, 0.448, 0, 0, 0, 44 [SEP] 10, AlarmClock, -1.834, 1.724, 0.407, 0, 0, 0, 38 [SEP] 11, Book, -2.075, 0.667, 0.721, 0, 0, 0, 45 [SEP] 12, AlarmClock, -0.735, 0.858, -0.836, 0, 0, 0, 34 [SEP] 13, BasketBall, 1.976, 0.120, 0.211, 0, 331.076, 0, [SEP] 14, Pen, -2.074, 0.110, 0.759, 0, 0, 0, 47 [SEP] 15, Laptop, -1.783, 0.871, 0.732, 0, 0, 0, 44 [SEP] 16, BaseballBat, 1.953, 0.659, -1.81, 346.388, 0, 0, [SEP] 17, Bowl, -2.091, 0.882, 0.665, 0, 0, 0, 44 [SEP] 18, Pillow, 0.800, 0.918, 0.787, 0, 0, 0, 25 [SEP] 19, KeyChain, -0.511, 0.083, -1.093, 0, 0, 0, 33 [SEP] 20, CreditCard, -0.567, 0.857, -1.010, 0, 0, 0, 34 [SEP] 21, CellPhone, -2.083, 0.040, 2.682, 0, 180, 0, 49 [SEP] 22, CD, -0.399, 0.857, -1.010, 0, 0, 0, 34 [SEP] 23, Pencil, -1.728, 1.727, 0.366, 0, 0, 0, 39 [SEP] 24, Mug, -0.819, 0.855, -1.529, 0, 0, 0, 34 [SEP] 25, Bed, 1.227, -0.002, 1.664, 0, 0, 0, [SEP] 26, LightSwitch, 2.151, 1.233, -0.518, 0, 270, 0, [SEP] 27, GarbageCan, -0.747, 0.014, -0.327, 0, 0, 0, [SEP] 28, Mirror, -1.358, 1.427, 2.855, 0, 0, 0, [SEP] 29, DeskLamp, -2.296, 0.858, 0.750, 0, 0, 0, [SEP] 30, Window, -0.421, 1.534, -1.947, 90, 0, 0, [SEP] 31, Window, 0.579, 1.534, -1.947, 90, 0, 0, [SEP] 32, Drawer, -0.491, 0.739, -0.855, 0, 90, 0, [SEP] 33, Drawer, -0.491, 0.204, -0.855, 0, 90, 0, [SEP] 34, Desk, -0.639, 0.009, -1.187, 0, 90, 0, [SEP] 35, Drawer, -0.491, 0.487, -0.855, 0, 90, 0, [SEP] 36, Shelf, -1.965, 1.514, 0.416, 0, 0, 0, [SEP] 37, Shelf, -1.965, 1.092, 0.416, 0, 0, 0, [SEP] 38, Shelf, -1.312, 1.888, 0.416, 0, 0, 0, [SEP] 39, Shelf, -1.965, 1.888, 0.416, 0, 0, 0, [SEP] 40, Shelf, -1.312, 1.092, 0.416, 0, 0, 0, [SEP] 41, Shelf, -1.312, 1.514, 0.416, 0, 0, 0, [SEP] 42, Blinds, 0.601, 2.161, -1.916, 0, 0, 0, [SEP] 43, Blinds, -0.402, 2.161, -1.916, 0, 0, 0, [SEP] 44, Desk, -1.726, 0.001, 0.575, 0, 0, 0, [SEP] 45, Drawer, -2.058, 0.733, 0.734, 0, 0, 0, [SEP] 46, Drawer, -2.058, 0.482, 0.734, 0, 0, 0, [SEP] 47, Drawer, -2.058, 0.198, 0.735, 0, 0, 0, [SEP] 48, Chair, -0.137, 0.000, -1.587, 0, 315, 0, [SEP] 49, Safe, -2.183, -7.748, 2.576, 0, 180, 0, [SEP] 50, Chair, -1.433, 0.009, 0.780, 357.672, 206.726, 0, [SEP] 51, LaundryHamper, 0.163, 0.003, 2.635, 0, 86.390, 0, [SEP] 52, NorthWall, , , , , , , [SEP] 53, EastWall, , , , , , , [SEP] 54, SouthWall, , , , , , , [SEP] 55, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and move to the front side of the desk across the room. | STEP 2: Remove the CD from the red CD player on the desk. | STEP 3: Turn right and move across the room. Turn left towards the safe in the corner. | STEP 4: Put the CD in the safe. | STEP 5: Turn left and move back to the front of the desk. | STEP 6: Pick up the CD that's laying on top of the desk. | STEP 7: Head back to the safe. | STEP 8: Put the CD in the safe. | END"]} +{"id": "trial_T20190907_051056_585414-2", "input": "Move the CD's from the table to the safe. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.900, 1.25, 0, 0, 0, [SEP] 1, CD, -0.903, 0.857, -0.836, 0, 0, 0, 34 [SEP] 2, CellPhone, -0.735, 0.858, -1.183, 0, 0, 0, 34 [SEP] 3, CellPhone, -0.483, 0.858, -1.356, 0, 0, 0, 34 [SEP] 4, Pen, -1.286, 1.729, 0.489, 0, 0, 0, 38 [SEP] 5, KeyChain, -2.151, 1.723, 0.530, 0, 0, 0, 39 [SEP] 6, KeyChain, -2.315, 0.386, 0.608, 0, 90, 0, 46 [SEP] 7, Book, -2.155, 0.386, 0.721, 0, 0, 0, 46 [SEP] 8, Book, 1.206, 0.783, 1.366, 0, 0, 0, 25 [SEP] 9, AlarmClock, -1.834, 0.883, 0.448, 0, 0, 0, 44 [SEP] 10, AlarmClock, -1.834, 1.724, 0.407, 0, 0, 0, 38 [SEP] 11, Book, -2.075, 0.667, 0.721, 0, 0, 0, 45 [SEP] 12, AlarmClock, -0.735, 0.858, -0.836, 0, 0, 0, 34 [SEP] 13, BasketBall, 1.976, 0.120, 0.211, 0, 331.076, 0, [SEP] 14, Pen, -2.074, 0.110, 0.759, 0, 0, 0, 47 [SEP] 15, Laptop, -1.783, 0.871, 0.732, 0, 0, 0, 44 [SEP] 16, BaseballBat, 1.953, 0.659, -1.81, 346.388, 0, 0, [SEP] 17, Bowl, -2.091, 0.882, 0.665, 0, 0, 0, 44 [SEP] 18, Pillow, 0.800, 0.918, 0.787, 0, 0, 0, 25 [SEP] 19, KeyChain, -0.511, 0.083, -1.093, 0, 0, 0, 33 [SEP] 20, CreditCard, -0.567, 0.857, -1.010, 0, 0, 0, 34 [SEP] 21, CellPhone, -2.083, 0.040, 2.682, 0, 180, 0, 49 [SEP] 22, CD, -0.399, 0.857, -1.010, 0, 0, 0, 34 [SEP] 23, Pencil, -1.728, 1.727, 0.366, 0, 0, 0, 39 [SEP] 24, Mug, -0.819, 0.855, -1.529, 0, 0, 0, 34 [SEP] 25, Bed, 1.227, -0.002, 1.664, 0, 0, 0, [SEP] 26, LightSwitch, 2.151, 1.233, -0.518, 0, 270, 0, [SEP] 27, GarbageCan, -0.747, 0.014, -0.327, 0, 0, 0, [SEP] 28, Mirror, -1.358, 1.427, 2.855, 0, 0, 0, [SEP] 29, DeskLamp, -2.296, 0.858, 0.750, 0, 0, 0, [SEP] 30, Window, -0.421, 1.534, -1.947, 90, 0, 0, [SEP] 31, Window, 0.579, 1.534, -1.947, 90, 0, 0, [SEP] 32, Drawer, -0.491, 0.739, -0.855, 0, 90, 0, [SEP] 33, Drawer, -0.491, 0.204, -0.855, 0, 90, 0, [SEP] 34, Desk, -0.639, 0.009, -1.187, 0, 90, 0, [SEP] 35, Drawer, -0.491, 0.487, -0.855, 0, 90, 0, [SEP] 36, Shelf, -1.965, 1.514, 0.416, 0, 0, 0, [SEP] 37, Shelf, -1.965, 1.092, 0.416, 0, 0, 0, [SEP] 38, Shelf, -1.312, 1.888, 0.416, 0, 0, 0, [SEP] 39, Shelf, -1.965, 1.888, 0.416, 0, 0, 0, [SEP] 40, Shelf, -1.312, 1.092, 0.416, 0, 0, 0, [SEP] 41, Shelf, -1.312, 1.514, 0.416, 0, 0, 0, [SEP] 42, Blinds, 0.601, 2.161, -1.916, 0, 0, 0, [SEP] 43, Blinds, -0.402, 2.161, -1.916, 0, 0, 0, [SEP] 44, Desk, -1.726, 0.001, 0.575, 0, 0, 0, [SEP] 45, Drawer, -2.058, 0.733, 0.734, 0, 0, 0, [SEP] 46, Drawer, -2.058, 0.482, 0.734, 0, 0, 0, [SEP] 47, Drawer, -2.058, 0.198, 0.735, 0, 0, 0, [SEP] 48, Chair, -0.137, 0.000, -1.587, 0, 315, 0, [SEP] 49, Safe, -2.183, -7.748, 2.576, 0, 180, 0, [SEP] 50, Chair, -1.433, 0.009, 0.780, 357.672, 206.726, 0, [SEP] 51, LaundryHamper, 0.163, 0.003, 2.635, 0, 86.390, 0, [SEP] 52, NorthWall, , , , , , , [SEP] 53, EastWall, , , , , , , [SEP] 54, SouthWall, , , , , , , [SEP] 55, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and go to the table. | STEP 2: Pick up the CD on the right. | STEP 3: Turn right, go straight, turn left, go straight to the white safe and open the door. | STEP 4: Place the CD inside the safe and close the door. | STEP 5: Turn around, walk towards the bed, turn right and go to the table. | STEP 6: Pick up the remaining CD. | STEP 7: Turn right, go straight, turn left, go straight to the white safe and open the door. | STEP 8: Place the CD inside the safe and close the door. | END"]} +{"id": "trial_T20190909_061805_153515-0", "input": "Put a chilled slice of 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, -3.25, 0.900, -2.25, 0, 90, 0, [SEP] 1, Pan, 0.905, 1.399, 1.444, 0, 0, 0, 77 [SEP] 2, Potato, -1.229, 0.963, -1.430, 0, 0, 0, 54 [SEP] 3, CreditCard, 0.859, 0.908, -0.729, 0, 0, 0, 55 [SEP] 4, CreditCard, 0.874, 0.150, -0.650, 0, 270, 0, 57 [SEP] 5, DishSponge, 1.240, 1.665, -2.029, 0, 270, 0, 53 [SEP] 6, DishSponge, -0.808, 0.780, -0.659, 0, 90, 0, 75 [SEP] 7, ButterKnife, 0.773, 0.911, 0.139, 0, 0, 0, 55 [SEP] 8, ButterKnife, -0.698, 0.933, -1.540, 0, 0, 0, 54 [SEP] 9, Glassbottle, -0.96, 0.177, 0.641, 0, 180, 0, 74 [SEP] 10, Glassbottle, 0.861, 0.109, -2.212, 0, 0, 0, 59 [SEP] 11, Fork, 0.875, 0.495, -0.690, 0, 0, 0, 58 [SEP] 12, Spoon, -0.846, 0.934, -1.463, 0, 0, 0, 54 [SEP] 13, Spoon, -1.229, 0.934, -0.905, 0, 0, 0, 54 [SEP] 14, Knife, 1.029, 0.934, -0.034, 0, 0, 0, 55 [SEP] 15, Knife, -0.697, 0.803, -0.573, 0, 270, 0, 75 [SEP] 16, Egg, -1.007, 0.216, 0.510, 0, 180, 0, 74 [SEP] 17, Lettuce, 0.688, 0.988, -0.729, 0, 0, 0, 55 [SEP] 18, Bread, 1.026, 1.216, 1.254, 0, 270, 0, 77 [SEP] 19, Mug, 1.093, 1.790, -1.132, 0, 270, 0, 76 [SEP] 20, Statue, 0.859, 0.914, -0.555, 0, 0, 0, 55 [SEP] 21, Glassbottle, 1.055, 1.667, -2.302, 0, 270, 0, 53 [SEP] 22, Bread, -0.805, 0.996, 0.222, 0, 241.695, 0, 54 [SEP] 23, CreditCard, -1.229, 0.930, -0.380, 0, 0, 0, 54 [SEP] 24, CellPhone, 0.688, 0.908, 0.313, 0, 0, 0, 55 [SEP] 25, Potato, -0.587, 0.807, -0.573, 0, 90, 0, 75 [SEP] 26, Knife, -0.550, 0.943, 0.171, 21.594, 357.153, 0, 54 [SEP] 27, Fork, 0.875, 0.494, -0.607, 0, 0, 0, 58 [SEP] 28, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 48 [SEP] 29, Lettuce, 0.966, 0.940, 1.158, 0, 270, 0, 77 [SEP] 30, Plate, 0.811, 0.111, -1.972, 0, 0, 0, 59 [SEP] 31, Apple, 0.844, 1.452, 1.254, 0, 270, 0, 77 [SEP] 32, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 50 [SEP] 33, Spatula, 0.859, 0.926, -0.381, 0, 0, 0, 55 [SEP] 34, PaperTowelRoll, -0.865, 0.281, 0.543, 0, 180, 0, 74 [SEP] 35, Tomato, 0.944, 0.952, -0.208, 0, 0, 0, 55 [SEP] 36, Egg, -0.587, 0.818, -0.832, 0, 90, 0, 75 [SEP] 37, SaltShaker, 0.875, 0.490, -0.772, 0, 270, 0, 58 [SEP] 38, PepperShaker, 0.754, 0.698, -0.524, 0, 270, 0, 52 [SEP] 39, Vase, 0.859, 0.911, -1.793, 0, 0, 0, 60 [SEP] 40, ButterKnife, -1.292, 0.933, -0.643, 0, 0, 0, 54 [SEP] 41, SoapBottle, 0.862, 0.121, 0.398, 0, 270, 0, 49 [SEP] 42, Vase, -1.363, 0.555, 2.718, 0, 0, 0, 80 [SEP] 43, Bowl, 1.029, 0.914, 0.139, 0, 0, 0, 55 [SEP] 44, DishSponge, -0.477, 0.921, 0.086, 0, 0, 0, 54 [SEP] 45, Spoon, -0.698, 0.934, -1.463, 0, 0, 0, 54 [SEP] 46, Cup, 1.126, 2.205, -1.299, 0, 270, 0, 61 [SEP] 47, Mug, 1.193, 1.661, 0.153, 0, 270, 0, 62 [SEP] 48, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 49, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 50, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 51, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 52, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 53, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 54, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 55, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 56, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 57, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 58, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 59, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 60, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 61, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 62, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 63, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 64, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 65, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 66, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 67, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 68, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 69, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 70, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 71, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 72, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 73, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 74, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 75, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 76, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 77, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 78, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 79, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 80, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 81, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 82, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 83, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 84, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 85, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 86, NorthWall, , , , , , , [SEP] 87, EastWall, , , , , , , [SEP] 88, SouthWall, , , , , , , [SEP] 89, WestWall, , , , , , , ", "output": ["STEP 1: Go forward and go around the island to the counter above the dishwasher. | STEP 2: Pick up the yellow knife from the counter. | STEP 3: Move over right to the red tomato on the counter between the knife and the spatula. | STEP 4: Slice a half of the tomato on the counter. | STEP 5: Place the knife on the counter in front of the tomato. | STEP 6: Take one slice of the tomato from the counter. | STEP 7: Turn left and go to the refrigerator. | STEP 8: Remove the tomato slice after it's been chilled on the middle shelf in the refrigerator. | STEP 9: Turn right and go back to the counter with the sliced tomato on top. | STEP 10: Place the chilled tomato slice on the counter in front of the rest of the tomato. | END"]} +{"id": "trial_T20190909_061805_153515-1", "input": "put chilled and sliced tomato piece on counter 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, -2.25, 0, 90, 0, [SEP] 1, Pan, 0.905, 1.399, 1.444, 0, 0, 0, 77 [SEP] 2, Potato, -1.229, 0.963, -1.430, 0, 0, 0, 54 [SEP] 3, CreditCard, 0.859, 0.908, -0.729, 0, 0, 0, 55 [SEP] 4, CreditCard, 0.874, 0.150, -0.650, 0, 270, 0, 57 [SEP] 5, DishSponge, 1.240, 1.665, -2.029, 0, 270, 0, 53 [SEP] 6, DishSponge, -0.808, 0.780, -0.659, 0, 90, 0, 75 [SEP] 7, ButterKnife, 0.773, 0.911, 0.139, 0, 0, 0, 55 [SEP] 8, ButterKnife, -0.698, 0.933, -1.540, 0, 0, 0, 54 [SEP] 9, Glassbottle, -0.96, 0.177, 0.641, 0, 180, 0, 74 [SEP] 10, Glassbottle, 0.861, 0.109, -2.212, 0, 0, 0, 59 [SEP] 11, Fork, 0.875, 0.495, -0.690, 0, 0, 0, 58 [SEP] 12, Spoon, -0.846, 0.934, -1.463, 0, 0, 0, 54 [SEP] 13, Spoon, -1.229, 0.934, -0.905, 0, 0, 0, 54 [SEP] 14, Knife, 1.029, 0.934, -0.034, 0, 0, 0, 55 [SEP] 15, Knife, -0.697, 0.803, -0.573, 0, 270, 0, 75 [SEP] 16, Egg, -1.007, 0.216, 0.510, 0, 180, 0, 74 [SEP] 17, Lettuce, 0.688, 0.988, -0.729, 0, 0, 0, 55 [SEP] 18, Bread, 1.026, 1.216, 1.254, 0, 270, 0, 77 [SEP] 19, Mug, 1.093, 1.790, -1.132, 0, 270, 0, 76 [SEP] 20, Statue, 0.859, 0.914, -0.555, 0, 0, 0, 55 [SEP] 21, Glassbottle, 1.055, 1.667, -2.302, 0, 270, 0, 53 [SEP] 22, Bread, -0.805, 0.996, 0.222, 0, 241.695, 0, 54 [SEP] 23, CreditCard, -1.229, 0.930, -0.380, 0, 0, 0, 54 [SEP] 24, CellPhone, 0.688, 0.908, 0.313, 0, 0, 0, 55 [SEP] 25, Potato, -0.587, 0.807, -0.573, 0, 90, 0, 75 [SEP] 26, Knife, -0.550, 0.943, 0.171, 21.594, 357.153, 0, 54 [SEP] 27, Fork, 0.875, 0.494, -0.607, 0, 0, 0, 58 [SEP] 28, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 48 [SEP] 29, Lettuce, 0.966, 0.940, 1.158, 0, 270, 0, 77 [SEP] 30, Plate, 0.811, 0.111, -1.972, 0, 0, 0, 59 [SEP] 31, Apple, 0.844, 1.452, 1.254, 0, 270, 0, 77 [SEP] 32, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 50 [SEP] 33, Spatula, 0.859, 0.926, -0.381, 0, 0, 0, 55 [SEP] 34, PaperTowelRoll, -0.865, 0.281, 0.543, 0, 180, 0, 74 [SEP] 35, Tomato, 0.944, 0.952, -0.208, 0, 0, 0, 55 [SEP] 36, Egg, -0.587, 0.818, -0.832, 0, 90, 0, 75 [SEP] 37, SaltShaker, 0.875, 0.490, -0.772, 0, 270, 0, 58 [SEP] 38, PepperShaker, 0.754, 0.698, -0.524, 0, 270, 0, 52 [SEP] 39, Vase, 0.859, 0.911, -1.793, 0, 0, 0, 60 [SEP] 40, ButterKnife, -1.292, 0.933, -0.643, 0, 0, 0, 54 [SEP] 41, SoapBottle, 0.862, 0.121, 0.398, 0, 270, 0, 49 [SEP] 42, Vase, -1.363, 0.555, 2.718, 0, 0, 0, 80 [SEP] 43, Bowl, 1.029, 0.914, 0.139, 0, 0, 0, 55 [SEP] 44, DishSponge, -0.477, 0.921, 0.086, 0, 0, 0, 54 [SEP] 45, Spoon, -0.698, 0.934, -1.463, 0, 0, 0, 54 [SEP] 46, Cup, 1.126, 2.205, -1.299, 0, 270, 0, 61 [SEP] 47, Mug, 1.193, 1.661, 0.153, 0, 270, 0, 62 [SEP] 48, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 49, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 50, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 51, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 52, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 53, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 54, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 55, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 56, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 57, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 58, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 59, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 60, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 61, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 62, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 63, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 64, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 65, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 66, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 67, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 68, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 69, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 70, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 71, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 72, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 73, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 74, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 75, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 76, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 77, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 78, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 79, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 80, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 81, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 82, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 83, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 84, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 85, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 86, NorthWall, , , , , , , [SEP] 87, EastWall, , , , , , , [SEP] 88, SouthWall, , , , , , , [SEP] 89, WestWall, , , , , , , ", "output": ["STEP 1: walk to face counter with toaster | STEP 2: pick up sharp knife from counter | STEP 3: turn right to face statue on counter | STEP 4: cut tomato on counter | STEP 5: put knife on counter | STEP 6: pick up tomato slice from counter | STEP 7: walk to face fridge | STEP 8: chill and remove tomato slice from fridge | STEP 9: walk to face counter with statue | STEP 10: put tomato slice on counter | END"]} +{"id": "trial_T20190909_061805_153515-2", "input": "drop a cold 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, -3.25, 0.900, -2.25, 0, 90, 0, [SEP] 1, Pan, 0.905, 1.399, 1.444, 0, 0, 0, 77 [SEP] 2, Potato, -1.229, 0.963, -1.430, 0, 0, 0, 54 [SEP] 3, CreditCard, 0.859, 0.908, -0.729, 0, 0, 0, 55 [SEP] 4, CreditCard, 0.874, 0.150, -0.650, 0, 270, 0, 57 [SEP] 5, DishSponge, 1.240, 1.665, -2.029, 0, 270, 0, 53 [SEP] 6, DishSponge, -0.808, 0.780, -0.659, 0, 90, 0, 75 [SEP] 7, ButterKnife, 0.773, 0.911, 0.139, 0, 0, 0, 55 [SEP] 8, ButterKnife, -0.698, 0.933, -1.540, 0, 0, 0, 54 [SEP] 9, Glassbottle, -0.96, 0.177, 0.641, 0, 180, 0, 74 [SEP] 10, Glassbottle, 0.861, 0.109, -2.212, 0, 0, 0, 59 [SEP] 11, Fork, 0.875, 0.495, -0.690, 0, 0, 0, 58 [SEP] 12, Spoon, -0.846, 0.934, -1.463, 0, 0, 0, 54 [SEP] 13, Spoon, -1.229, 0.934, -0.905, 0, 0, 0, 54 [SEP] 14, Knife, 1.029, 0.934, -0.034, 0, 0, 0, 55 [SEP] 15, Knife, -0.697, 0.803, -0.573, 0, 270, 0, 75 [SEP] 16, Egg, -1.007, 0.216, 0.510, 0, 180, 0, 74 [SEP] 17, Lettuce, 0.688, 0.988, -0.729, 0, 0, 0, 55 [SEP] 18, Bread, 1.026, 1.216, 1.254, 0, 270, 0, 77 [SEP] 19, Mug, 1.093, 1.790, -1.132, 0, 270, 0, 76 [SEP] 20, Statue, 0.859, 0.914, -0.555, 0, 0, 0, 55 [SEP] 21, Glassbottle, 1.055, 1.667, -2.302, 0, 270, 0, 53 [SEP] 22, Bread, -0.805, 0.996, 0.222, 0, 241.695, 0, 54 [SEP] 23, CreditCard, -1.229, 0.930, -0.380, 0, 0, 0, 54 [SEP] 24, CellPhone, 0.688, 0.908, 0.313, 0, 0, 0, 55 [SEP] 25, Potato, -0.587, 0.807, -0.573, 0, 90, 0, 75 [SEP] 26, Knife, -0.550, 0.943, 0.171, 21.594, 357.153, 0, 54 [SEP] 27, Fork, 0.875, 0.494, -0.607, 0, 0, 0, 58 [SEP] 28, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 48 [SEP] 29, Lettuce, 0.966, 0.940, 1.158, 0, 270, 0, 77 [SEP] 30, Plate, 0.811, 0.111, -1.972, 0, 0, 0, 59 [SEP] 31, Apple, 0.844, 1.452, 1.254, 0, 270, 0, 77 [SEP] 32, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 50 [SEP] 33, Spatula, 0.859, 0.926, -0.381, 0, 0, 0, 55 [SEP] 34, PaperTowelRoll, -0.865, 0.281, 0.543, 0, 180, 0, 74 [SEP] 35, Tomato, 0.944, 0.952, -0.208, 0, 0, 0, 55 [SEP] 36, Egg, -0.587, 0.818, -0.832, 0, 90, 0, 75 [SEP] 37, SaltShaker, 0.875, 0.490, -0.772, 0, 270, 0, 58 [SEP] 38, PepperShaker, 0.754, 0.698, -0.524, 0, 270, 0, 52 [SEP] 39, Vase, 0.859, 0.911, -1.793, 0, 0, 0, 60 [SEP] 40, ButterKnife, -1.292, 0.933, -0.643, 0, 0, 0, 54 [SEP] 41, SoapBottle, 0.862, 0.121, 0.398, 0, 270, 0, 49 [SEP] 42, Vase, -1.363, 0.555, 2.718, 0, 0, 0, 80 [SEP] 43, Bowl, 1.029, 0.914, 0.139, 0, 0, 0, 55 [SEP] 44, DishSponge, -0.477, 0.921, 0.086, 0, 0, 0, 54 [SEP] 45, Spoon, -0.698, 0.934, -1.463, 0, 0, 0, 54 [SEP] 46, Cup, 1.126, 2.205, -1.299, 0, 270, 0, 61 [SEP] 47, Mug, 1.193, 1.661, 0.153, 0, 270, 0, 62 [SEP] 48, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 49, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 50, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 51, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 52, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 53, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 54, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 55, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 56, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 57, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 58, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 59, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 60, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 61, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 62, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 63, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 64, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 65, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 66, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 67, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 68, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 69, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 70, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 71, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 72, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 73, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 74, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 75, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 76, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 77, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 78, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 79, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 80, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 81, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 82, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 83, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 84, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 85, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 86, NorthWall, , , , , , , [SEP] 87, EastWall, , , , , , , [SEP] 88, SouthWall, , , , , , , [SEP] 89, WestWall, , , , , , , ", "output": ["STEP 1: move forward to the table by the toaster | STEP 2: pick up the knife from the table | STEP 3: move right to the table | STEP 4: slice the tomato on the table | STEP 5: drop the knife on the table | STEP 6: pick up a slice of the tomato | STEP 7: move left to the fridge | STEP 8: place the tomato to chill and then take it out | STEP 9: move right to the table | STEP 10: drop the slice on the table | END"]} +{"id": "trial_T20190909_012027_782483-0", "input": "Put two sets of keys in the safe. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -5.0, 0.901, 1.75, 0, 90, 0, [SEP] 1, TissueBox, -4.505, 1.109, 4.391, 0, 90, 0, 63 [SEP] 2, TissueBox, -5.194, 1.040, 0.239, 0, 0, 0, 45 [SEP] 3, Newspaper, -3.570, 0.210, 4.523, 0, 90, 0, 61 [SEP] 4, CellPhone, -1.459, 0.590, 4.124, 0, 0, 0, 57 [SEP] 5, Statue, -3.863, 1.117, 4.589, 0, 90, 0, 63 [SEP] 6, Statue, -2.244, 0.039, 0.317, 0, 90, 0, 46 [SEP] 7, Vase, -0.229, 1.105, 1.100, 0, 270, 0, 51 [SEP] 8, Watch, -3.455, 0.996, 4.267, 0, 90, 0, 63 [SEP] 9, Watch, -2.404, 0.034, 0.265, 0, 90, 0, 46 [SEP] 10, KeyChain, -3.864, 1.112, 4.786, 0, 90, 0, 63 [SEP] 11, KeyChain, -4.505, 1.108, 4.588, 0, 90, 0, 63 [SEP] 12, KeyChain, -3.741, 0.997, 4.336, 0, 180, 0, 59 [SEP] 13, CreditCard, -4.329, 0.997, 4.359, 0, 90, 0, 58 [SEP] 14, RemoteControl, -1.960, 0.592, 4.211, 0, 0, 0, 57 [SEP] 15, Box, -0.952, 0.830, 1.960, 0, 180, 0, 67 [SEP] 16, Box, -4.184, 1.329, 4.687, 0, 90, 0, 63 [SEP] 17, Pillow, -1.584, 0.668, 4.297, 0, 0, 0, 57 [SEP] 18, Pillow, -0.952, 0.700, 2.753, 0, 0, 0, 67 [SEP] 19, Box, -0.787, 0.830, 3.545, 0, 0, 0, 67 [SEP] 20, Watch, -4.854, 1.039, 0.438, 0, 0, 0, 45 [SEP] 21, Pillow, -2.031, 0.668, 4.421, 0, 0, 0, 57 [SEP] 22, TissueBox, -0.324, 1.593, 0.823, 0, 270, 0, 50 [SEP] 23, Newspaper, -0.273, 1.597, 1.189, 0, 270, 0, 54 [SEP] 24, CreditCard, -4.826, 1.111, 4.490, 0, 90, 0, 63 [SEP] 25, KeyChain, -0.787, 0.609, 3.017, 0, 90, 0, 67 [SEP] 26, CellPhone, -1.035, 0.609, 3.281, 0, 0, 0, 67 [SEP] 27, Statue, -1.369, 1.107, 0.228, 0, 0, 0, 49 [SEP] 28, Laptop, -3.393, 1.104, 4.492, 0, 191.867, 0, 63 [SEP] 29, RemoteControl, -5.534, 1.041, 0.438, 0, 0, 0, 45 [SEP] 30, Vase, -4.876, 0.207, 4.395, 0, 90, 0, 66 [SEP] 31, DeskLamp, -4.649, 1.051, 0.268, 0, 0, 0, [SEP] 32, DeskLamp, -2.992, 1.107, 4.522, 0, 0, 0, [SEP] 33, FloorLamp, -0.650, 0.007, 4.431, 0, 0, 0, [SEP] 34, FloorLamp, -5.607, 0.007, 4.641, 0, 0, 0, [SEP] 35, Shelf, -5.237, 1.776, 0.070, 0, 0, 0, [SEP] 36, Shelf, -5.238, 1.968, 0.085, 0, 0, 0, [SEP] 37, Shelf, -5.242, 1.391, 0.086, 0, 0, 0, [SEP] 38, Shelf, -5.241, 1.582, 0.065, 0, 0, 0, [SEP] 39, LightSwitch, -6.002, 1.353, 3.404, 0, 90, 0, [SEP] 40, GarbageCan, -5.794, -0.033, 4.073, 0, 90, 0, [SEP] 41, Painting, -6.017, 1.802, 4.177, 90, 270, 0, [SEP] 42, HousePlant, -3.966, 1.625, 0.135, 0, 315, 0, [SEP] 43, Television, -3.355, 0.833, 0.027, 0, 0, 0, [SEP] 44, Drawer, -5.024, 0.903, 0.370, 0, 0, 0, [SEP] 45, SideTable, -5.024, 0.008, 0.267, 0, 0, 0, [SEP] 46, Safe, -2.298, 5.778, 0.268, 0, 90, 0, [SEP] 47, Shelf, -0.253, 0.781, 1.058, 0, 270, 0, [SEP] 48, Shelf, -0.283, 0.274, 1.066, 0, 270, 0, [SEP] 49, Shelf, -1.224, 1.288, 0.270, 0, 0, 0, [SEP] 50, Shelf, -1.218, 1.810, 0.275, 0, 0, 0, [SEP] 51, Shelf, -0.280, 1.810, 1.057, 0, 270, 0, [SEP] 52, Shelf, -1.218, 0.274, 0.262, 0, 0, 0, [SEP] 53, Shelf, -1.223, 0.782, 0.237, 0, 0, 0, [SEP] 54, Shelf, -0.280, 1.288, 1.055, 0, 270, 0, [SEP] 55, ShelvingUnit, -0.268, 0.004, 1.067, 0, 270, 0, [SEP] 56, ShelvingUnit, -1.218, 0.004, 0.244, 0, 0, 0, [SEP] 57, ArmChair, -2.027, 0.001, 4.422, 0, 178.692, 0, [SEP] 58, Drawer, -4.329, 1.014, 4.311, 0, 180, 0, [SEP] 59, Drawer, -3.750, 1.014, 4.311, 0, 180, 0, [SEP] 60, Cabinet, -4.049, 0.561, 4.212, 0, 180, 0, [SEP] 61, Cabinet, -4.032, 0.561, 4.212, 0, 180, 0, [SEP] 62, Cabinet, -2.884, 0.561, 4.212, 0, 180, 0, [SEP] 63, Dresser, -4.041, -0.000, 4.589, 0, 180, 0, [SEP] 64, Drawer, -4.916, 1.014, 4.311, 0, 180, 0, [SEP] 65, Drawer, -3.166, 1.014, 4.311, 0, 180, 0, [SEP] 66, Cabinet, -5.196, 0.561, 4.212, 0, 180, 0, [SEP] 67, Sofa, -0.705, -0.002, 2.753, 0, 270, 0, [SEP] 68, NorthWall, , , , , , , [SEP] 69, SouthWall, , , , , , , [SEP] 70, SouthWall, , , , , , , ", "output": ["STEP 1: Turn to your left and go to the dresser across from you. | STEP 2: Pick up the keys behind the statue, on the dresser. | STEP 3: Turn to your right and go to the couch, then turn to your right again and go to the safe on the floor across from you. | STEP 4: Place the keys in the safe, on the floor. | STEP 5: Turn around and go to the end of the couch to your right. | STEP 6: Pick up the keys between the cardboard box and the pillow on the couch. | STEP 7: Turn to your right and go back to the safe on the floor across from you. | STEP 8: Place the keys in the back, right corner of the safe. | END"]} +{"id": "trial_T20190909_012027_782483-1", "input": "put two sets of keys in to the safe SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -5.0, 0.901, 1.75, 0, 90, 0, [SEP] 1, TissueBox, -4.505, 1.109, 4.391, 0, 90, 0, 63 [SEP] 2, TissueBox, -5.194, 1.040, 0.239, 0, 0, 0, 45 [SEP] 3, Newspaper, -3.570, 0.210, 4.523, 0, 90, 0, 61 [SEP] 4, CellPhone, -1.459, 0.590, 4.124, 0, 0, 0, 57 [SEP] 5, Statue, -3.863, 1.117, 4.589, 0, 90, 0, 63 [SEP] 6, Statue, -2.244, 0.039, 0.317, 0, 90, 0, 46 [SEP] 7, Vase, -0.229, 1.105, 1.100, 0, 270, 0, 51 [SEP] 8, Watch, -3.455, 0.996, 4.267, 0, 90, 0, 63 [SEP] 9, Watch, -2.404, 0.034, 0.265, 0, 90, 0, 46 [SEP] 10, KeyChain, -3.864, 1.112, 4.786, 0, 90, 0, 63 [SEP] 11, KeyChain, -4.505, 1.108, 4.588, 0, 90, 0, 63 [SEP] 12, KeyChain, -3.741, 0.997, 4.336, 0, 180, 0, 59 [SEP] 13, CreditCard, -4.329, 0.997, 4.359, 0, 90, 0, 58 [SEP] 14, RemoteControl, -1.960, 0.592, 4.211, 0, 0, 0, 57 [SEP] 15, Box, -0.952, 0.830, 1.960, 0, 180, 0, 67 [SEP] 16, Box, -4.184, 1.329, 4.687, 0, 90, 0, 63 [SEP] 17, Pillow, -1.584, 0.668, 4.297, 0, 0, 0, 57 [SEP] 18, Pillow, -0.952, 0.700, 2.753, 0, 0, 0, 67 [SEP] 19, Box, -0.787, 0.830, 3.545, 0, 0, 0, 67 [SEP] 20, Watch, -4.854, 1.039, 0.438, 0, 0, 0, 45 [SEP] 21, Pillow, -2.031, 0.668, 4.421, 0, 0, 0, 57 [SEP] 22, TissueBox, -0.324, 1.593, 0.823, 0, 270, 0, 50 [SEP] 23, Newspaper, -0.273, 1.597, 1.189, 0, 270, 0, 54 [SEP] 24, CreditCard, -4.826, 1.111, 4.490, 0, 90, 0, 63 [SEP] 25, KeyChain, -0.787, 0.609, 3.017, 0, 90, 0, 67 [SEP] 26, CellPhone, -1.035, 0.609, 3.281, 0, 0, 0, 67 [SEP] 27, Statue, -1.369, 1.107, 0.228, 0, 0, 0, 49 [SEP] 28, Laptop, -3.393, 1.104, 4.492, 0, 191.867, 0, 63 [SEP] 29, RemoteControl, -5.534, 1.041, 0.438, 0, 0, 0, 45 [SEP] 30, Vase, -4.876, 0.207, 4.395, 0, 90, 0, 66 [SEP] 31, DeskLamp, -4.649, 1.051, 0.268, 0, 0, 0, [SEP] 32, DeskLamp, -2.992, 1.107, 4.522, 0, 0, 0, [SEP] 33, FloorLamp, -0.650, 0.007, 4.431, 0, 0, 0, [SEP] 34, FloorLamp, -5.607, 0.007, 4.641, 0, 0, 0, [SEP] 35, Shelf, -5.237, 1.776, 0.070, 0, 0, 0, [SEP] 36, Shelf, -5.238, 1.968, 0.085, 0, 0, 0, [SEP] 37, Shelf, -5.242, 1.391, 0.086, 0, 0, 0, [SEP] 38, Shelf, -5.241, 1.582, 0.065, 0, 0, 0, [SEP] 39, LightSwitch, -6.002, 1.353, 3.404, 0, 90, 0, [SEP] 40, GarbageCan, -5.794, -0.033, 4.073, 0, 90, 0, [SEP] 41, Painting, -6.017, 1.802, 4.177, 90, 270, 0, [SEP] 42, HousePlant, -3.966, 1.625, 0.135, 0, 315, 0, [SEP] 43, Television, -3.355, 0.833, 0.027, 0, 0, 0, [SEP] 44, Drawer, -5.024, 0.903, 0.370, 0, 0, 0, [SEP] 45, SideTable, -5.024, 0.008, 0.267, 0, 0, 0, [SEP] 46, Safe, -2.298, 5.778, 0.268, 0, 90, 0, [SEP] 47, Shelf, -0.253, 0.781, 1.058, 0, 270, 0, [SEP] 48, Shelf, -0.283, 0.274, 1.066, 0, 270, 0, [SEP] 49, Shelf, -1.224, 1.288, 0.270, 0, 0, 0, [SEP] 50, Shelf, -1.218, 1.810, 0.275, 0, 0, 0, [SEP] 51, Shelf, -0.280, 1.810, 1.057, 0, 270, 0, [SEP] 52, Shelf, -1.218, 0.274, 0.262, 0, 0, 0, [SEP] 53, Shelf, -1.223, 0.782, 0.237, 0, 0, 0, [SEP] 54, Shelf, -0.280, 1.288, 1.055, 0, 270, 0, [SEP] 55, ShelvingUnit, -0.268, 0.004, 1.067, 0, 270, 0, [SEP] 56, ShelvingUnit, -1.218, 0.004, 0.244, 0, 0, 0, [SEP] 57, ArmChair, -2.027, 0.001, 4.422, 0, 178.692, 0, [SEP] 58, Drawer, -4.329, 1.014, 4.311, 0, 180, 0, [SEP] 59, Drawer, -3.750, 1.014, 4.311, 0, 180, 0, [SEP] 60, Cabinet, -4.049, 0.561, 4.212, 0, 180, 0, [SEP] 61, Cabinet, -4.032, 0.561, 4.212, 0, 180, 0, [SEP] 62, Cabinet, -2.884, 0.561, 4.212, 0, 180, 0, [SEP] 63, Dresser, -4.041, -0.000, 4.589, 0, 180, 0, [SEP] 64, Drawer, -4.916, 1.014, 4.311, 0, 180, 0, [SEP] 65, Drawer, -3.166, 1.014, 4.311, 0, 180, 0, [SEP] 66, Cabinet, -5.196, 0.561, 4.212, 0, 180, 0, [SEP] 67, Sofa, -0.705, -0.002, 2.753, 0, 270, 0, [SEP] 68, NorthWall, , , , , , , [SEP] 69, SouthWall, , , , , , , [SEP] 70, SouthWall, , , , , , , ", "output": ["STEP 1: turn to the left and move towards the brown chest of drawers | STEP 2: pick up the keys off of the chest of drawers that are behind the statue | STEP 3: turn to the right to the white sofa and turn right across the room to the white safe | STEP 4: open the door of the safe, put the keys in to the safe, close the door | STEP 5: turn around and move towards the blue chair, turning to the right to face the sofa on the right | STEP 6: pick up the keys that are on the sofa to the left of the striped cushion | STEP 7: turn to the right and move forward to the safe | STEP 8: open the safe, put the keys in to the safe and close the door | END"]} +{"id": "trial_T20190909_012027_782483-2", "input": "Place keys in the safe. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -5.0, 0.901, 1.75, 0, 90, 0, [SEP] 1, TissueBox, -4.505, 1.109, 4.391, 0, 90, 0, 63 [SEP] 2, TissueBox, -5.194, 1.040, 0.239, 0, 0, 0, 45 [SEP] 3, Newspaper, -3.570, 0.210, 4.523, 0, 90, 0, 61 [SEP] 4, CellPhone, -1.459, 0.590, 4.124, 0, 0, 0, 57 [SEP] 5, Statue, -3.863, 1.117, 4.589, 0, 90, 0, 63 [SEP] 6, Statue, -2.244, 0.039, 0.317, 0, 90, 0, 46 [SEP] 7, Vase, -0.229, 1.105, 1.100, 0, 270, 0, 51 [SEP] 8, Watch, -3.455, 0.996, 4.267, 0, 90, 0, 63 [SEP] 9, Watch, -2.404, 0.034, 0.265, 0, 90, 0, 46 [SEP] 10, KeyChain, -3.864, 1.112, 4.786, 0, 90, 0, 63 [SEP] 11, KeyChain, -4.505, 1.108, 4.588, 0, 90, 0, 63 [SEP] 12, KeyChain, -3.741, 0.997, 4.336, 0, 180, 0, 59 [SEP] 13, CreditCard, -4.329, 0.997, 4.359, 0, 90, 0, 58 [SEP] 14, RemoteControl, -1.960, 0.592, 4.211, 0, 0, 0, 57 [SEP] 15, Box, -0.952, 0.830, 1.960, 0, 180, 0, 67 [SEP] 16, Box, -4.184, 1.329, 4.687, 0, 90, 0, 63 [SEP] 17, Pillow, -1.584, 0.668, 4.297, 0, 0, 0, 57 [SEP] 18, Pillow, -0.952, 0.700, 2.753, 0, 0, 0, 67 [SEP] 19, Box, -0.787, 0.830, 3.545, 0, 0, 0, 67 [SEP] 20, Watch, -4.854, 1.039, 0.438, 0, 0, 0, 45 [SEP] 21, Pillow, -2.031, 0.668, 4.421, 0, 0, 0, 57 [SEP] 22, TissueBox, -0.324, 1.593, 0.823, 0, 270, 0, 50 [SEP] 23, Newspaper, -0.273, 1.597, 1.189, 0, 270, 0, 54 [SEP] 24, CreditCard, -4.826, 1.111, 4.490, 0, 90, 0, 63 [SEP] 25, KeyChain, -0.787, 0.609, 3.017, 0, 90, 0, 67 [SEP] 26, CellPhone, -1.035, 0.609, 3.281, 0, 0, 0, 67 [SEP] 27, Statue, -1.369, 1.107, 0.228, 0, 0, 0, 49 [SEP] 28, Laptop, -3.393, 1.104, 4.492, 0, 191.867, 0, 63 [SEP] 29, RemoteControl, -5.534, 1.041, 0.438, 0, 0, 0, 45 [SEP] 30, Vase, -4.876, 0.207, 4.395, 0, 90, 0, 66 [SEP] 31, DeskLamp, -4.649, 1.051, 0.268, 0, 0, 0, [SEP] 32, DeskLamp, -2.992, 1.107, 4.522, 0, 0, 0, [SEP] 33, FloorLamp, -0.650, 0.007, 4.431, 0, 0, 0, [SEP] 34, FloorLamp, -5.607, 0.007, 4.641, 0, 0, 0, [SEP] 35, Shelf, -5.237, 1.776, 0.070, 0, 0, 0, [SEP] 36, Shelf, -5.238, 1.968, 0.085, 0, 0, 0, [SEP] 37, Shelf, -5.242, 1.391, 0.086, 0, 0, 0, [SEP] 38, Shelf, -5.241, 1.582, 0.065, 0, 0, 0, [SEP] 39, LightSwitch, -6.002, 1.353, 3.404, 0, 90, 0, [SEP] 40, GarbageCan, -5.794, -0.033, 4.073, 0, 90, 0, [SEP] 41, Painting, -6.017, 1.802, 4.177, 90, 270, 0, [SEP] 42, HousePlant, -3.966, 1.625, 0.135, 0, 315, 0, [SEP] 43, Television, -3.355, 0.833, 0.027, 0, 0, 0, [SEP] 44, Drawer, -5.024, 0.903, 0.370, 0, 0, 0, [SEP] 45, SideTable, -5.024, 0.008, 0.267, 0, 0, 0, [SEP] 46, Safe, -2.298, 5.778, 0.268, 0, 90, 0, [SEP] 47, Shelf, -0.253, 0.781, 1.058, 0, 270, 0, [SEP] 48, Shelf, -0.283, 0.274, 1.066, 0, 270, 0, [SEP] 49, Shelf, -1.224, 1.288, 0.270, 0, 0, 0, [SEP] 50, Shelf, -1.218, 1.810, 0.275, 0, 0, 0, [SEP] 51, Shelf, -0.280, 1.810, 1.057, 0, 270, 0, [SEP] 52, Shelf, -1.218, 0.274, 0.262, 0, 0, 0, [SEP] 53, Shelf, -1.223, 0.782, 0.237, 0, 0, 0, [SEP] 54, Shelf, -0.280, 1.288, 1.055, 0, 270, 0, [SEP] 55, ShelvingUnit, -0.268, 0.004, 1.067, 0, 270, 0, [SEP] 56, ShelvingUnit, -1.218, 0.004, 0.244, 0, 0, 0, [SEP] 57, ArmChair, -2.027, 0.001, 4.422, 0, 178.692, 0, [SEP] 58, Drawer, -4.329, 1.014, 4.311, 0, 180, 0, [SEP] 59, Drawer, -3.750, 1.014, 4.311, 0, 180, 0, [SEP] 60, Cabinet, -4.049, 0.561, 4.212, 0, 180, 0, [SEP] 61, Cabinet, -4.032, 0.561, 4.212, 0, 180, 0, [SEP] 62, Cabinet, -2.884, 0.561, 4.212, 0, 180, 0, [SEP] 63, Dresser, -4.041, -0.000, 4.589, 0, 180, 0, [SEP] 64, Drawer, -4.916, 1.014, 4.311, 0, 180, 0, [SEP] 65, Drawer, -3.166, 1.014, 4.311, 0, 180, 0, [SEP] 66, Cabinet, -5.196, 0.561, 4.212, 0, 180, 0, [SEP] 67, Sofa, -0.705, -0.002, 2.753, 0, 270, 0, [SEP] 68, NorthWall, , , , , , , [SEP] 69, SouthWall, , , , , , , [SEP] 70, SouthWall, , , , , , , ", "output": ["STEP 1: Turn left and face the cabinets in front of you. | STEP 2: Take the keys on top of the cabinet in front of you. | STEP 3: Turn around and face the safe in front of you. | STEP 4: Place the keys in the safe and close it. | STEP 5: Turn around and face the couch with the keys on your right. | STEP 6: Take the keys off of the couch in front of you. | STEP 7: Turn right and face the safe in front of you. | STEP 8: Place the keys inside of the safe in front of you and close it. | END"]} +{"id": "trial_T20190907_161235_786153-0", "input": "Look at the basketball 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, -0.75, 0, 0, 0, [SEP] 1, Mug, -1.744, 0.876, 0.749, 0, 0, 0, 43 [SEP] 2, CellPhone, 0.800, 0.784, 0.787, 0, 0, 0, 24 [SEP] 3, CellPhone, 1.815, 0.784, 2.234, 0, 0, 0, 24 [SEP] 4, Pen, -1.918, 0.884, 0.832, 0, 0, 0, 43 [SEP] 5, Pencil, -2.151, 1.353, 0.448, 0, 0, 0, 35 [SEP] 6, Pencil, -1.914, 0.390, 0.683, 0, 0, 0, 45 [SEP] 7, Book, -0.511, 0.083, -0.692, 0, 0, 0, 32 [SEP] 8, Laptop, 1.206, 0.781, 1.366, 0, 0, 0, 24 [SEP] 9, AlarmClock, -1.224, 0.879, 0.832, 0, 0, 0, 43 [SEP] 10, Book, 1.206, 0.783, 1.655, 0, 0, 0, 24 [SEP] 11, AlarmClock, -1.834, 1.724, 0.366, 0, 0, 0, 37 [SEP] 12, BasketBall, 1.976, 0.120, 0.211, 0, 331.076, 0, [SEP] 13, Pen, -1.744, 0.884, 0.665, 0, 0, 0, 43 [SEP] 14, Laptop, -0.651, 0.855, -0.663, 0, 0, 0, 33 [SEP] 15, BaseballBat, 1.953, 0.659, -1.81, 346.388, 0, 0, [SEP] 16, Bowl, -0.483, 0.861, -1.183, 0, 0, 0, 33 [SEP] 17, Pillow, 1.118, 0.867, 2.464, 0, 0, 0, 24 [SEP] 18, KeyChain, -1.994, 0.104, 0.759, 0, 0, 0, 51 [SEP] 19, CreditCard, -0.511, 0.083, -1.013, 0, 0, 0, 32 [SEP] 20, CellPhone, -0.819, 0.858, -1.356, 0, 0, 0, 33 [SEP] 21, CD, -0.735, 0.857, -1.529, 0, 0, 0, 33 [SEP] 22, Pencil, -1.728, 1.727, 0.530, 0, 0, 0, 38 [SEP] 23, Mug, -0.567, 0.855, -1.529, 0, 0, 0, 33 [SEP] 24, Bed, 1.227, -0.002, 1.664, 0, 0, 0, [SEP] 25, LightSwitch, 2.151, 1.233, -0.518, 0, 270, 0, [SEP] 26, GarbageCan, -0.747, 0.014, -0.327, 0, 0, 0, [SEP] 27, Mirror, -1.358, 1.427, 2.855, 0, 0, 0, [SEP] 28, DeskLamp, -2.296, 0.858, 0.750, 0, 0, 0, [SEP] 29, Window, -0.421, 1.534, -1.947, 90, 0, 0, [SEP] 30, Window, 0.579, 1.534, -1.947, 90, 0, 0, [SEP] 31, Drawer, -0.491, 0.739, -0.855, 0, 90, 0, [SEP] 32, Drawer, -0.491, 0.204, -0.855, 0, 90, 0, [SEP] 33, Desk, -0.639, 0.009, -1.187, 0, 90, 0, [SEP] 34, Drawer, -0.491, 0.487, -0.855, 0, 90, 0, [SEP] 35, Shelf, -1.965, 1.514, 0.416, 0, 0, 0, [SEP] 36, Shelf, -1.965, 1.092, 0.416, 0, 0, 0, [SEP] 37, Shelf, -1.312, 1.888, 0.416, 0, 0, 0, [SEP] 38, Shelf, -1.965, 1.888, 0.416, 0, 0, 0, [SEP] 39, Shelf, -1.312, 1.092, 0.416, 0, 0, 0, [SEP] 40, Shelf, -1.312, 1.514, 0.416, 0, 0, 0, [SEP] 41, Blinds, 0.601, 2.161, -1.916, 0, 0, 0, [SEP] 42, Blinds, -0.402, 2.161, -1.916, 0, 0, 0, [SEP] 43, Desk, -1.726, 0.001, 0.575, 0, 0, 0, [SEP] 44, Drawer, -2.058, 0.733, 0.734, 0, 0, 0, [SEP] 45, Drawer, -2.058, 0.482, 0.734, 0, 0, 0, [SEP] 46, Drawer, -2.058, 0.198, 0.735, 0, 0, 0, [SEP] 47, Chair, -0.137, 0.000, -1.587, 0, 315, 0, [SEP] 48, Safe, -2.183, -7.748, 2.576, 0, 180, 0, [SEP] 49, Chair, -1.433, 0.009, 0.780, 357.672, 206.726, 0, [SEP] 50, LaundryHamper, 0.163, 0.003, 2.635, 0, 86.390, 0, [SEP] 51, , , , , , , , [SEP] 52, NorthWall, , , , , , , [SEP] 53, EastWall, , , , , , , [SEP] 54, SouthWall, , , , , , , [SEP] 55, WestWall, , , , , , , ", "output": ["STEP 1: Walk to the foot of the bed. | STEP 2: Pick up the basketball from the floor. | STEP 3: Go to the desk to your left. | STEP 4: Turn on the lamp. | END"]} +{"id": "trial_T20190907_161235_786153-1", "input": "Carry a basketball 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, 0.5, 0.900, -0.75, 0, 0, 0, [SEP] 1, Mug, -1.744, 0.876, 0.749, 0, 0, 0, 43 [SEP] 2, CellPhone, 0.800, 0.784, 0.787, 0, 0, 0, 24 [SEP] 3, CellPhone, 1.815, 0.784, 2.234, 0, 0, 0, 24 [SEP] 4, Pen, -1.918, 0.884, 0.832, 0, 0, 0, 43 [SEP] 5, Pencil, -2.151, 1.353, 0.448, 0, 0, 0, 35 [SEP] 6, Pencil, -1.914, 0.390, 0.683, 0, 0, 0, 45 [SEP] 7, Book, -0.511, 0.083, -0.692, 0, 0, 0, 32 [SEP] 8, Laptop, 1.206, 0.781, 1.366, 0, 0, 0, 24 [SEP] 9, AlarmClock, -1.224, 0.879, 0.832, 0, 0, 0, 43 [SEP] 10, Book, 1.206, 0.783, 1.655, 0, 0, 0, 24 [SEP] 11, AlarmClock, -1.834, 1.724, 0.366, 0, 0, 0, 37 [SEP] 12, BasketBall, 1.976, 0.120, 0.211, 0, 331.076, 0, [SEP] 13, Pen, -1.744, 0.884, 0.665, 0, 0, 0, 43 [SEP] 14, Laptop, -0.651, 0.855, -0.663, 0, 0, 0, 33 [SEP] 15, BaseballBat, 1.953, 0.659, -1.81, 346.388, 0, 0, [SEP] 16, Bowl, -0.483, 0.861, -1.183, 0, 0, 0, 33 [SEP] 17, Pillow, 1.118, 0.867, 2.464, 0, 0, 0, 24 [SEP] 18, KeyChain, -1.994, 0.104, 0.759, 0, 0, 0, 51 [SEP] 19, CreditCard, -0.511, 0.083, -1.013, 0, 0, 0, 32 [SEP] 20, CellPhone, -0.819, 0.858, -1.356, 0, 0, 0, 33 [SEP] 21, CD, -0.735, 0.857, -1.529, 0, 0, 0, 33 [SEP] 22, Pencil, -1.728, 1.727, 0.530, 0, 0, 0, 38 [SEP] 23, Mug, -0.567, 0.855, -1.529, 0, 0, 0, 33 [SEP] 24, Bed, 1.227, -0.002, 1.664, 0, 0, 0, [SEP] 25, LightSwitch, 2.151, 1.233, -0.518, 0, 270, 0, [SEP] 26, GarbageCan, -0.747, 0.014, -0.327, 0, 0, 0, [SEP] 27, Mirror, -1.358, 1.427, 2.855, 0, 0, 0, [SEP] 28, DeskLamp, -2.296, 0.858, 0.750, 0, 0, 0, [SEP] 29, Window, -0.421, 1.534, -1.947, 90, 0, 0, [SEP] 30, Window, 0.579, 1.534, -1.947, 90, 0, 0, [SEP] 31, Drawer, -0.491, 0.739, -0.855, 0, 90, 0, [SEP] 32, Drawer, -0.491, 0.204, -0.855, 0, 90, 0, [SEP] 33, Desk, -0.639, 0.009, -1.187, 0, 90, 0, [SEP] 34, Drawer, -0.491, 0.487, -0.855, 0, 90, 0, [SEP] 35, Shelf, -1.965, 1.514, 0.416, 0, 0, 0, [SEP] 36, Shelf, -1.965, 1.092, 0.416, 0, 0, 0, [SEP] 37, Shelf, -1.312, 1.888, 0.416, 0, 0, 0, [SEP] 38, Shelf, -1.965, 1.888, 0.416, 0, 0, 0, [SEP] 39, Shelf, -1.312, 1.092, 0.416, 0, 0, 0, [SEP] 40, Shelf, -1.312, 1.514, 0.416, 0, 0, 0, [SEP] 41, Blinds, 0.601, 2.161, -1.916, 0, 0, 0, [SEP] 42, Blinds, -0.402, 2.161, -1.916, 0, 0, 0, [SEP] 43, Desk, -1.726, 0.001, 0.575, 0, 0, 0, [SEP] 44, Drawer, -2.058, 0.733, 0.734, 0, 0, 0, [SEP] 45, Drawer, -2.058, 0.482, 0.734, 0, 0, 0, [SEP] 46, Drawer, -2.058, 0.198, 0.735, 0, 0, 0, [SEP] 47, Chair, -0.137, 0.000, -1.587, 0, 315, 0, [SEP] 48, Safe, -2.183, -7.748, 2.576, 0, 180, 0, [SEP] 49, Chair, -1.433, 0.009, 0.780, 357.672, 206.726, 0, [SEP] 50, LaundryHamper, 0.163, 0.003, 2.635, 0, 86.390, 0, [SEP] 51, , , , , , , , [SEP] 52, NorthWall, , , , , , , [SEP] 53, EastWall, , , , , , , [SEP] 54, SouthWall, , , , , , , [SEP] 55, WestWall, , , , , , , ", "output": ["STEP 1: Move to the right side of the foot of the bed closest to the wall | STEP 2: Pick up the basketball that is on the floor by the foot of the bed | STEP 3: Carry the basketball to the desk lamp on the right side of the wood desk top | STEP 4: Turn on the lamp | END"]} +{"id": "trial_T20190907_161235_786153-2", "input": "pick up the basketball and turn on the desk lamp in the bedroom 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, Mug, -1.744, 0.876, 0.749, 0, 0, 0, 43 [SEP] 2, CellPhone, 0.800, 0.784, 0.787, 0, 0, 0, 24 [SEP] 3, CellPhone, 1.815, 0.784, 2.234, 0, 0, 0, 24 [SEP] 4, Pen, -1.918, 0.884, 0.832, 0, 0, 0, 43 [SEP] 5, Pencil, -2.151, 1.353, 0.448, 0, 0, 0, 35 [SEP] 6, Pencil, -1.914, 0.390, 0.683, 0, 0, 0, 45 [SEP] 7, Book, -0.511, 0.083, -0.692, 0, 0, 0, 32 [SEP] 8, Laptop, 1.206, 0.781, 1.366, 0, 0, 0, 24 [SEP] 9, AlarmClock, -1.224, 0.879, 0.832, 0, 0, 0, 43 [SEP] 10, Book, 1.206, 0.783, 1.655, 0, 0, 0, 24 [SEP] 11, AlarmClock, -1.834, 1.724, 0.366, 0, 0, 0, 37 [SEP] 12, BasketBall, 1.976, 0.120, 0.211, 0, 331.076, 0, [SEP] 13, Pen, -1.744, 0.884, 0.665, 0, 0, 0, 43 [SEP] 14, Laptop, -0.651, 0.855, -0.663, 0, 0, 0, 33 [SEP] 15, BaseballBat, 1.953, 0.659, -1.81, 346.388, 0, 0, [SEP] 16, Bowl, -0.483, 0.861, -1.183, 0, 0, 0, 33 [SEP] 17, Pillow, 1.118, 0.867, 2.464, 0, 0, 0, 24 [SEP] 18, KeyChain, -1.994, 0.104, 0.759, 0, 0, 0, 51 [SEP] 19, CreditCard, -0.511, 0.083, -1.013, 0, 0, 0, 32 [SEP] 20, CellPhone, -0.819, 0.858, -1.356, 0, 0, 0, 33 [SEP] 21, CD, -0.735, 0.857, -1.529, 0, 0, 0, 33 [SEP] 22, Pencil, -1.728, 1.727, 0.530, 0, 0, 0, 38 [SEP] 23, Mug, -0.567, 0.855, -1.529, 0, 0, 0, 33 [SEP] 24, Bed, 1.227, -0.002, 1.664, 0, 0, 0, [SEP] 25, LightSwitch, 2.151, 1.233, -0.518, 0, 270, 0, [SEP] 26, GarbageCan, -0.747, 0.014, -0.327, 0, 0, 0, [SEP] 27, Mirror, -1.358, 1.427, 2.855, 0, 0, 0, [SEP] 28, DeskLamp, -2.296, 0.858, 0.750, 0, 0, 0, [SEP] 29, Window, -0.421, 1.534, -1.947, 90, 0, 0, [SEP] 30, Window, 0.579, 1.534, -1.947, 90, 0, 0, [SEP] 31, Drawer, -0.491, 0.739, -0.855, 0, 90, 0, [SEP] 32, Drawer, -0.491, 0.204, -0.855, 0, 90, 0, [SEP] 33, Desk, -0.639, 0.009, -1.187, 0, 90, 0, [SEP] 34, Drawer, -0.491, 0.487, -0.855, 0, 90, 0, [SEP] 35, Shelf, -1.965, 1.514, 0.416, 0, 0, 0, [SEP] 36, Shelf, -1.965, 1.092, 0.416, 0, 0, 0, [SEP] 37, Shelf, -1.312, 1.888, 0.416, 0, 0, 0, [SEP] 38, Shelf, -1.965, 1.888, 0.416, 0, 0, 0, [SEP] 39, Shelf, -1.312, 1.092, 0.416, 0, 0, 0, [SEP] 40, Shelf, -1.312, 1.514, 0.416, 0, 0, 0, [SEP] 41, Blinds, 0.601, 2.161, -1.916, 0, 0, 0, [SEP] 42, Blinds, -0.402, 2.161, -1.916, 0, 0, 0, [SEP] 43, Desk, -1.726, 0.001, 0.575, 0, 0, 0, [SEP] 44, Drawer, -2.058, 0.733, 0.734, 0, 0, 0, [SEP] 45, Drawer, -2.058, 0.482, 0.734, 0, 0, 0, [SEP] 46, Drawer, -2.058, 0.198, 0.735, 0, 0, 0, [SEP] 47, Chair, -0.137, 0.000, -1.587, 0, 315, 0, [SEP] 48, Safe, -2.183, -7.748, 2.576, 0, 180, 0, [SEP] 49, Chair, -1.433, 0.009, 0.780, 357.672, 206.726, 0, [SEP] 50, LaundryHamper, 0.163, 0.003, 2.635, 0, 86.390, 0, [SEP] 51, , , , , , , , [SEP] 52, NorthWall, , , , , , , [SEP] 53, EastWall, , , , , , , [SEP] 54, SouthWall, , , , , , , [SEP] 55, WestWall, , , , , , , ", "output": ["STEP 1: turn right and walk to face the basketball underneath the foot of the bed | STEP 2: pick up the basketball from under the bed | STEP 3: turn left, walk through the room until the desk, turn left at the desk and face it | STEP 4: turn on the lamp on the desk | END"]} +{"id": "trial_T20190907_171035_866841-0", "input": "Carry a newspaper 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, -5.5, 0.901, 3.5, 0, 90, 0, [SEP] 1, TissueBox, -2.901, 1.112, 4.786, 0, 90, 0, 59 [SEP] 2, Newspaper, -0.221, 1.597, 0.823, 0, 270, 0, 50 [SEP] 3, Newspaper, -3.503, 0.210, 4.523, 0, 90, 0, 57 [SEP] 4, Newspaper, -3.863, 1.114, 4.490, 0, 90, 0, 59 [SEP] 5, Statue, -0.273, 1.597, 1.097, 0, 270, 0, 47 [SEP] 6, Vase, -0.228, 1.105, 0.826, 0, 270, 0, 47 [SEP] 7, Watch, -5.364, 1.039, 0.504, 0, 0, 0, 41 [SEP] 8, KeyChain, -1.035, 0.609, 3.017, 0, 0, 0, 63 [SEP] 9, CreditCard, -3.222, 1.111, 4.687, 0, 90, 0, 59 [SEP] 10, CreditCard, -0.222, 0.592, 1.193, 0, 270, 0, 43 [SEP] 11, RemoteControl, -1.367, 0.076, 0.213, 0, 0, 0, 48 [SEP] 12, Box, -4.184, 1.329, 4.490, 0, 90, 0, 59 [SEP] 13, Laptop, -0.952, 0.620, 2.753, 0, 0, 0, 63 [SEP] 14, Pillow, -1.584, 0.668, 4.211, 0, 0, 0, 53 [SEP] 15, Box, -0.952, 0.830, 1.960, 0, 180, 0, 63 [SEP] 16, Watch, -1.189, 1.592, 0.428, 0, 0, 0, 46 [SEP] 17, Pillow, -2.031, 0.668, 4.421, 0, 0, 0, 53 [SEP] 18, TissueBox, -4.854, 1.040, 0.239, 0, 0, 0, 41 [SEP] 19, Newspaper, -2.914, 0.205, 4.528, 0, 90, 0, 58 [SEP] 20, CreditCard, -1.459, 0.589, 4.211, 0, 0, 0, 53 [SEP] 21, KeyChain, -2.297, 0.034, 0.265, 0, 90, 0, 42 [SEP] 22, CellPhone, -4.826, 1.108, 4.588, 0, 90, 0, 59 [SEP] 23, Statue, -4.505, 1.117, 4.391, 0, 90, 0, 59 [SEP] 24, Laptop, -3.393, 1.104, 4.492, 0, 191.867, 0, 59 [SEP] 25, RemoteControl, -5.534, 1.041, 0.239, 0, 0, 0, 41 [SEP] 26, Vase, -3.864, 1.115, 4.786, 0, 90, 0, 59 [SEP] 27, DeskLamp, -4.649, 1.051, 0.268, 0, 0, 0, [SEP] 28, DeskLamp, -2.992, 1.107, 4.522, 0, 0, 0, [SEP] 29, FloorLamp, -0.650, 0.007, 4.431, 0, 0, 0, [SEP] 30, FloorLamp, -5.607, 0.007, 4.641, 0, 0, 0, [SEP] 31, Shelf, -5.237, 1.776, 0.070, 0, 0, 0, [SEP] 32, Shelf, -5.238, 1.968, 0.085, 0, 0, 0, [SEP] 33, Shelf, -5.242, 1.391, 0.086, 0, 0, 0, [SEP] 34, Shelf, -5.241, 1.582, 0.065, 0, 0, 0, [SEP] 35, LightSwitch, -6.002, 1.353, 3.404, 0, 90, 0, [SEP] 36, GarbageCan, -5.794, -0.033, 4.073, 0, 90, 0, [SEP] 37, Painting, -6.017, 1.802, 4.177, 90, 270, 0, [SEP] 38, HousePlant, -3.966, 1.625, 0.135, 0, 315, 0, [SEP] 39, Television, -3.355, 0.833, 0.027, 0, 0, 0, [SEP] 40, Drawer, -5.024, 0.903, 0.370, 0, 0, 0, [SEP] 41, SideTable, -5.024, 0.008, 0.267, 0, 0, 0, [SEP] 42, Safe, -2.298, 5.778, 0.268, 0, 90, 0, [SEP] 43, Shelf, -0.253, 0.781, 1.058, 0, 270, 0, [SEP] 44, Shelf, -0.283, 0.274, 1.066, 0, 270, 0, [SEP] 45, Shelf, -1.224, 1.288, 0.270, 0, 0, 0, [SEP] 46, Shelf, -1.218, 1.810, 0.275, 0, 0, 0, [SEP] 47, Shelf, -0.280, 1.810, 1.057, 0, 270, 0, [SEP] 48, Shelf, -1.218, 0.274, 0.262, 0, 0, 0, [SEP] 49, Shelf, -1.223, 0.782, 0.237, 0, 0, 0, [SEP] 50, Shelf, -0.280, 1.288, 1.055, 0, 270, 0, [SEP] 51, ShelvingUnit, -0.268, 0.004, 1.067, 0, 270, 0, [SEP] 52, ShelvingUnit, -1.218, 0.004, 0.244, 0, 0, 0, [SEP] 53, ArmChair, -2.027, 0.001, 4.422, 0, 178.692, 0, [SEP] 54, Drawer, -4.329, 1.014, 4.311, 0, 180, 0, [SEP] 55, Drawer, -3.750, 1.014, 4.311, 0, 180, 0, [SEP] 56, Cabinet, -4.049, 0.561, 4.212, 0, 180, 0, [SEP] 57, Cabinet, -4.032, 0.561, 4.212, 0, 180, 0, [SEP] 58, Cabinet, -2.884, 0.561, 4.212, 0, 180, 0, [SEP] 59, Dresser, -4.041, -0.000, 4.589, 0, 180, 0, [SEP] 60, Drawer, -4.916, 1.014, 4.311, 0, 180, 0, [SEP] 61, Drawer, -3.166, 1.014, 4.311, 0, 180, 0, [SEP] 62, Cabinet, -5.196, 0.561, 4.212, 0, 180, 0, [SEP] 63, Sofa, -0.705, -0.002, 2.753, 0, 270, 0, [SEP] 64, NorthWall, , , , , , , [SEP] 65, SouthWall, , , , , , , [SEP] 66, SouthWall, , , , , , , ", "output": ["STEP 1: Move to the right side of the wood cupboard to the left of the blue sofa | STEP 2: Open the right cupboard then remove the newspaper in the cupboard | STEP 3: Carry the newspaper to the lamp that is left of the tan sofa | STEP 4: Turn on the lamp | END"]} +{"id": "trial_T20190907_171035_866841-1", "input": "Inspect a newspaper 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, -5.5, 0.901, 3.5, 0, 90, 0, [SEP] 1, TissueBox, -2.901, 1.112, 4.786, 0, 90, 0, 59 [SEP] 2, Newspaper, -0.221, 1.597, 0.823, 0, 270, 0, 50 [SEP] 3, Newspaper, -3.503, 0.210, 4.523, 0, 90, 0, 57 [SEP] 4, Newspaper, -3.863, 1.114, 4.490, 0, 90, 0, 59 [SEP] 5, Statue, -0.273, 1.597, 1.097, 0, 270, 0, 47 [SEP] 6, Vase, -0.228, 1.105, 0.826, 0, 270, 0, 47 [SEP] 7, Watch, -5.364, 1.039, 0.504, 0, 0, 0, 41 [SEP] 8, KeyChain, -1.035, 0.609, 3.017, 0, 0, 0, 63 [SEP] 9, CreditCard, -3.222, 1.111, 4.687, 0, 90, 0, 59 [SEP] 10, CreditCard, -0.222, 0.592, 1.193, 0, 270, 0, 43 [SEP] 11, RemoteControl, -1.367, 0.076, 0.213, 0, 0, 0, 48 [SEP] 12, Box, -4.184, 1.329, 4.490, 0, 90, 0, 59 [SEP] 13, Laptop, -0.952, 0.620, 2.753, 0, 0, 0, 63 [SEP] 14, Pillow, -1.584, 0.668, 4.211, 0, 0, 0, 53 [SEP] 15, Box, -0.952, 0.830, 1.960, 0, 180, 0, 63 [SEP] 16, Watch, -1.189, 1.592, 0.428, 0, 0, 0, 46 [SEP] 17, Pillow, -2.031, 0.668, 4.421, 0, 0, 0, 53 [SEP] 18, TissueBox, -4.854, 1.040, 0.239, 0, 0, 0, 41 [SEP] 19, Newspaper, -2.914, 0.205, 4.528, 0, 90, 0, 58 [SEP] 20, CreditCard, -1.459, 0.589, 4.211, 0, 0, 0, 53 [SEP] 21, KeyChain, -2.297, 0.034, 0.265, 0, 90, 0, 42 [SEP] 22, CellPhone, -4.826, 1.108, 4.588, 0, 90, 0, 59 [SEP] 23, Statue, -4.505, 1.117, 4.391, 0, 90, 0, 59 [SEP] 24, Laptop, -3.393, 1.104, 4.492, 0, 191.867, 0, 59 [SEP] 25, RemoteControl, -5.534, 1.041, 0.239, 0, 0, 0, 41 [SEP] 26, Vase, -3.864, 1.115, 4.786, 0, 90, 0, 59 [SEP] 27, DeskLamp, -4.649, 1.051, 0.268, 0, 0, 0, [SEP] 28, DeskLamp, -2.992, 1.107, 4.522, 0, 0, 0, [SEP] 29, FloorLamp, -0.650, 0.007, 4.431, 0, 0, 0, [SEP] 30, FloorLamp, -5.607, 0.007, 4.641, 0, 0, 0, [SEP] 31, Shelf, -5.237, 1.776, 0.070, 0, 0, 0, [SEP] 32, Shelf, -5.238, 1.968, 0.085, 0, 0, 0, [SEP] 33, Shelf, -5.242, 1.391, 0.086, 0, 0, 0, [SEP] 34, Shelf, -5.241, 1.582, 0.065, 0, 0, 0, [SEP] 35, LightSwitch, -6.002, 1.353, 3.404, 0, 90, 0, [SEP] 36, GarbageCan, -5.794, -0.033, 4.073, 0, 90, 0, [SEP] 37, Painting, -6.017, 1.802, 4.177, 90, 270, 0, [SEP] 38, HousePlant, -3.966, 1.625, 0.135, 0, 315, 0, [SEP] 39, Television, -3.355, 0.833, 0.027, 0, 0, 0, [SEP] 40, Drawer, -5.024, 0.903, 0.370, 0, 0, 0, [SEP] 41, SideTable, -5.024, 0.008, 0.267, 0, 0, 0, [SEP] 42, Safe, -2.298, 5.778, 0.268, 0, 90, 0, [SEP] 43, Shelf, -0.253, 0.781, 1.058, 0, 270, 0, [SEP] 44, Shelf, -0.283, 0.274, 1.066, 0, 270, 0, [SEP] 45, Shelf, -1.224, 1.288, 0.270, 0, 0, 0, [SEP] 46, Shelf, -1.218, 1.810, 0.275, 0, 0, 0, [SEP] 47, Shelf, -0.280, 1.810, 1.057, 0, 270, 0, [SEP] 48, Shelf, -1.218, 0.274, 0.262, 0, 0, 0, [SEP] 49, Shelf, -1.223, 0.782, 0.237, 0, 0, 0, [SEP] 50, Shelf, -0.280, 1.288, 1.055, 0, 270, 0, [SEP] 51, ShelvingUnit, -0.268, 0.004, 1.067, 0, 270, 0, [SEP] 52, ShelvingUnit, -1.218, 0.004, 0.244, 0, 0, 0, [SEP] 53, ArmChair, -2.027, 0.001, 4.422, 0, 178.692, 0, [SEP] 54, Drawer, -4.329, 1.014, 4.311, 0, 180, 0, [SEP] 55, Drawer, -3.750, 1.014, 4.311, 0, 180, 0, [SEP] 56, Cabinet, -4.049, 0.561, 4.212, 0, 180, 0, [SEP] 57, Cabinet, -4.032, 0.561, 4.212, 0, 180, 0, [SEP] 58, Cabinet, -2.884, 0.561, 4.212, 0, 180, 0, [SEP] 59, Dresser, -4.041, -0.000, 4.589, 0, 180, 0, [SEP] 60, Drawer, -4.916, 1.014, 4.311, 0, 180, 0, [SEP] 61, Drawer, -3.166, 1.014, 4.311, 0, 180, 0, [SEP] 62, Cabinet, -5.196, 0.561, 4.212, 0, 180, 0, [SEP] 63, Sofa, -0.705, -0.002, 2.753, 0, 270, 0, [SEP] 64, NorthWall, , , , , , , [SEP] 65, SouthWall, , , , , , , [SEP] 66, SouthWall, , , , , , , ", "output": ["STEP 1: Walk up to the very last cabinet door on your left. | STEP 2: Open the door and pick up the newspaper that is in the cabinet. | STEP 3: Turn to your right and walk up to the white sofa. | STEP 4: Turn on the lamp that is to the left of the white sofa. | END"]} +{"id": "trial_T20190907_171035_866841-2", "input": "Examine a newspaper by the light of the floor 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, -5.5, 0.901, 3.5, 0, 90, 0, [SEP] 1, TissueBox, -2.901, 1.112, 4.786, 0, 90, 0, 59 [SEP] 2, Newspaper, -0.221, 1.597, 0.823, 0, 270, 0, 50 [SEP] 3, Newspaper, -3.503, 0.210, 4.523, 0, 90, 0, 57 [SEP] 4, Newspaper, -3.863, 1.114, 4.490, 0, 90, 0, 59 [SEP] 5, Statue, -0.273, 1.597, 1.097, 0, 270, 0, 47 [SEP] 6, Vase, -0.228, 1.105, 0.826, 0, 270, 0, 47 [SEP] 7, Watch, -5.364, 1.039, 0.504, 0, 0, 0, 41 [SEP] 8, KeyChain, -1.035, 0.609, 3.017, 0, 0, 0, 63 [SEP] 9, CreditCard, -3.222, 1.111, 4.687, 0, 90, 0, 59 [SEP] 10, CreditCard, -0.222, 0.592, 1.193, 0, 270, 0, 43 [SEP] 11, RemoteControl, -1.367, 0.076, 0.213, 0, 0, 0, 48 [SEP] 12, Box, -4.184, 1.329, 4.490, 0, 90, 0, 59 [SEP] 13, Laptop, -0.952, 0.620, 2.753, 0, 0, 0, 63 [SEP] 14, Pillow, -1.584, 0.668, 4.211, 0, 0, 0, 53 [SEP] 15, Box, -0.952, 0.830, 1.960, 0, 180, 0, 63 [SEP] 16, Watch, -1.189, 1.592, 0.428, 0, 0, 0, 46 [SEP] 17, Pillow, -2.031, 0.668, 4.421, 0, 0, 0, 53 [SEP] 18, TissueBox, -4.854, 1.040, 0.239, 0, 0, 0, 41 [SEP] 19, Newspaper, -2.914, 0.205, 4.528, 0, 90, 0, 58 [SEP] 20, CreditCard, -1.459, 0.589, 4.211, 0, 0, 0, 53 [SEP] 21, KeyChain, -2.297, 0.034, 0.265, 0, 90, 0, 42 [SEP] 22, CellPhone, -4.826, 1.108, 4.588, 0, 90, 0, 59 [SEP] 23, Statue, -4.505, 1.117, 4.391, 0, 90, 0, 59 [SEP] 24, Laptop, -3.393, 1.104, 4.492, 0, 191.867, 0, 59 [SEP] 25, RemoteControl, -5.534, 1.041, 0.239, 0, 0, 0, 41 [SEP] 26, Vase, -3.864, 1.115, 4.786, 0, 90, 0, 59 [SEP] 27, DeskLamp, -4.649, 1.051, 0.268, 0, 0, 0, [SEP] 28, DeskLamp, -2.992, 1.107, 4.522, 0, 0, 0, [SEP] 29, FloorLamp, -0.650, 0.007, 4.431, 0, 0, 0, [SEP] 30, FloorLamp, -5.607, 0.007, 4.641, 0, 0, 0, [SEP] 31, Shelf, -5.237, 1.776, 0.070, 0, 0, 0, [SEP] 32, Shelf, -5.238, 1.968, 0.085, 0, 0, 0, [SEP] 33, Shelf, -5.242, 1.391, 0.086, 0, 0, 0, [SEP] 34, Shelf, -5.241, 1.582, 0.065, 0, 0, 0, [SEP] 35, LightSwitch, -6.002, 1.353, 3.404, 0, 90, 0, [SEP] 36, GarbageCan, -5.794, -0.033, 4.073, 0, 90, 0, [SEP] 37, Painting, -6.017, 1.802, 4.177, 90, 270, 0, [SEP] 38, HousePlant, -3.966, 1.625, 0.135, 0, 315, 0, [SEP] 39, Television, -3.355, 0.833, 0.027, 0, 0, 0, [SEP] 40, Drawer, -5.024, 0.903, 0.370, 0, 0, 0, [SEP] 41, SideTable, -5.024, 0.008, 0.267, 0, 0, 0, [SEP] 42, Safe, -2.298, 5.778, 0.268, 0, 90, 0, [SEP] 43, Shelf, -0.253, 0.781, 1.058, 0, 270, 0, [SEP] 44, Shelf, -0.283, 0.274, 1.066, 0, 270, 0, [SEP] 45, Shelf, -1.224, 1.288, 0.270, 0, 0, 0, [SEP] 46, Shelf, -1.218, 1.810, 0.275, 0, 0, 0, [SEP] 47, Shelf, -0.280, 1.810, 1.057, 0, 270, 0, [SEP] 48, Shelf, -1.218, 0.274, 0.262, 0, 0, 0, [SEP] 49, Shelf, -1.223, 0.782, 0.237, 0, 0, 0, [SEP] 50, Shelf, -0.280, 1.288, 1.055, 0, 270, 0, [SEP] 51, ShelvingUnit, -0.268, 0.004, 1.067, 0, 270, 0, [SEP] 52, ShelvingUnit, -1.218, 0.004, 0.244, 0, 0, 0, [SEP] 53, ArmChair, -2.027, 0.001, 4.422, 0, 178.692, 0, [SEP] 54, Drawer, -4.329, 1.014, 4.311, 0, 180, 0, [SEP] 55, Drawer, -3.750, 1.014, 4.311, 0, 180, 0, [SEP] 56, Cabinet, -4.049, 0.561, 4.212, 0, 180, 0, [SEP] 57, Cabinet, -4.032, 0.561, 4.212, 0, 180, 0, [SEP] 58, Cabinet, -2.884, 0.561, 4.212, 0, 180, 0, [SEP] 59, Dresser, -4.041, -0.000, 4.589, 0, 180, 0, [SEP] 60, Drawer, -4.916, 1.014, 4.311, 0, 180, 0, [SEP] 61, Drawer, -3.166, 1.014, 4.311, 0, 180, 0, [SEP] 62, Cabinet, -5.196, 0.561, 4.212, 0, 180, 0, [SEP] 63, Sofa, -0.705, -0.002, 2.753, 0, 270, 0, [SEP] 64, NorthWall, , , , , , , [SEP] 65, SouthWall, , , , , , , [SEP] 66, SouthWall, , , , , , , ", "output": ["STEP 1: go forward towards the couch, then stop at the end of the bureau, and turn left to face the bureau. Look down at the cabinet doors | STEP 2: open the cabinet door on the far right of the bureau, take out the newspaper, and close the cabinet door | STEP 3: look back up to your normal position, then turn right and approach the couch. Look up. | STEP 4: Turn on the lamp | END"]} +{"id": "trial_T20190912_190125_832581-0", "input": "Put an egg in a bowl, 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, -1.75, 0.900, 2.25, 0, 270, 0, [SEP] 1, Pan, 0.905, 1.132, 1.444, 0, 0, 0, 87 [SEP] 2, Statue, -1.167, 0.936, -0.643, 0, 0, 0, 64 [SEP] 3, Vase, -1.167, 0.934, -0.380, 0, 0, 0, 64 [SEP] 4, CreditCard, 0.834, 0.491, -0.690, 0, 270, 0, 68 [SEP] 5, CreditCard, 0.688, 0.908, 0.139, 0, 0, 0, 65 [SEP] 6, CellPhone, 1.199, 0.908, 0.139, 0, 0, 0, 65 [SEP] 7, CellPhone, -0.477, 0.930, 0.009, 0, 0, 0, 64 [SEP] 8, DishSponge, 1.169, 2.207, -0.973, 0, 270, 0, 71 [SEP] 9, DishSponge, 0.910, 0.107, -2.052, 0, 0, 0, 69 [SEP] 10, ButterKnife, 1.114, 0.911, -0.381, 0, 0, 0, 65 [SEP] 11, Fork, 0.794, 0.495, -0.731, 0, 180, 0, 68 [SEP] 12, Fork, 0.874, 0.154, -0.690, 0, 0, 0, 67 [SEP] 13, Knife, 0.859, 0.934, -0.729, 0, 0, 0, 65 [SEP] 14, Knife, 1.029, 0.934, -0.208, 0, 0, 0, 65 [SEP] 15, Egg, 1.026, 1.680, 1.349, 0, 270, 0, 87 [SEP] 16, Egg, 0.688, 0.949, -0.034, 0, 0, 0, 65 [SEP] 17, Egg, 1.148, 1.172, 1.540, 0, 270, 0, 87 [SEP] 18, Cup, -1.571, 0.879, 2.746, 0, 0, 0, 91 [SEP] 19, Plate, -0.624, 0.936, -1.308, 0, 0, 0, 64 [SEP] 20, Plate, 1.148, 1.669, -2.029, 0, 270, 0, 63 [SEP] 21, SoapBottle, -1.292, 0.933, -0.118, 0, 0, 0, 64 [SEP] 22, SaltShaker, 1.010, 0.104, -2.292, 0, 0, 0, 69 [SEP] 23, SaltShaker, 1.055, 1.662, -2.234, 0, 270, 0, 63 [SEP] 24, PepperShaker, 1.009, 1.662, 0.025, 0, 270, 0, 72 [SEP] 25, PepperShaker, 0.753, 0.150, -0.571, 0, 270, 0, 67 [SEP] 26, Lettuce, 1.114, 0.988, -0.034, 0, 0, 0, 65 [SEP] 27, Bread, 0.859, 0.992, 0.139, 0, 0, 0, 65 [SEP] 28, Bread, 0.905, 0.944, 1.349, 0, 270, 0, 87 [SEP] 29, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 83 [SEP] 30, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 64 [SEP] 31, Glassbottle, -1.570, 0.554, 2.822, 0, 0, 0, 90 [SEP] 32, Bread, -1.292, 1.014, 0.144, 0, 0, 0, 64 [SEP] 33, CreditCard, 0.834, 0.492, -0.565, 0, 270, 0, 68 [SEP] 34, CellPhone, -0.698, 0.930, 0.239, 0, 0, 0, 64 [SEP] 35, Potato, 1.093, 1.825, -1.132, 0, 270, 0, 86 [SEP] 36, Knife, -0.698, 0.803, -0.745, 0, 90, 0, 85 [SEP] 37, Fork, -0.642, 0.781, -0.918, 0, 0, 0, 85 [SEP] 38, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 58 [SEP] 39, Lettuce, -0.912, 0.256, 0.543, 0, 90, 0, 84 [SEP] 40, Plate, 0.773, 0.914, -0.381, 0, 0, 0, 65 [SEP] 41, Apple, -0.753, 0.826, -0.832, 0, 90, 0, 85 [SEP] 42, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 60 [SEP] 43, Spatula, 1.029, 0.926, -0.729, 0, 90, 0, 65 [SEP] 44, PaperTowelRoll, -1.101, 0.281, 0.543, 0, 180, 0, 84 [SEP] 45, Tomato, -0.808, 0.821, -0.573, 0, 90, 0, 85 [SEP] 46, Egg, 1.114, 0.949, -1.879, 0, 0, 0, 70 [SEP] 47, SaltShaker, 0.713, 0.698, -0.648, 0, 270, 0, 62 [SEP] 48, PepperShaker, 1.014, 0.117, 0.423, 0, 270, 0, 65 [SEP] 49, Vase, 0.761, 0.108, -2.212, 0, 0, 0, 69 [SEP] 50, ButterKnife, 1.029, 0.911, -0.208, 0, 0, 0, 65 [SEP] 51, SoapBottle, 1.039, 2.208, -1.517, 0, 270, 0, 71 [SEP] 52, Vase, -1.881, 0.555, 2.718, 0, 0, 0, 90 [SEP] 53, Bowl, -1.570, 0.557, 2.667, 0, 0, 0, 90 [SEP] 54, DishSponge, -1.363, 0.553, 2.667, 0, 0, 0, 90 [SEP] 55, Spoon, -0.772, 0.934, -1.618, 0, 0, 0, 64 [SEP] 56, Cup, 0.944, 0.908, -0.208, 0, 0, 0, 65 [SEP] 57, Mug, 0.905, 1.396, 0.967, 0, 270, 0, 87 [SEP] 58, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 59, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 60, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 61, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 62, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 63, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 64, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 65, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 66, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 67, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 68, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 69, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 70, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 71, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 72, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 73, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 74, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 75, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 76, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 77, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 78, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 79, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 80, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 81, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 82, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 83, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 84, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 85, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 86, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 87, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 88, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 89, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 90, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 91, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 92, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 93, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 94, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 95, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 96, NorthWall, , , , , , , [SEP] 97, EastWall, , , , , , , [SEP] 98, SouthWall, , , , , , , [SEP] 99, WestWall, , , , , , , ", "output": ["STEP 1: Turn to the wooden shelf on our right. | STEP 2: Pick up the tan bowl, on the third shelf. | STEP 3: Turn to your right and go to the refrigerator, then make another right and go through the kitchen, to the small counter on the end, to your left, with the coffee maker on it. | STEP 4: Pace the bowl on the left, front corner of the counter. | STEP 5: Pick up the egg to the left of the coffee maker. | STEP 6: Place the egg in the bowl on the front, left corner of the counter. | END"]} +{"id": "trial_T20190912_190125_832581-1", "input": "Put a egg on a bowl 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, -1.75, 0.900, 2.25, 0, 270, 0, [SEP] 1, Pan, 0.905, 1.132, 1.444, 0, 0, 0, 87 [SEP] 2, Statue, -1.167, 0.936, -0.643, 0, 0, 0, 64 [SEP] 3, Vase, -1.167, 0.934, -0.380, 0, 0, 0, 64 [SEP] 4, CreditCard, 0.834, 0.491, -0.690, 0, 270, 0, 68 [SEP] 5, CreditCard, 0.688, 0.908, 0.139, 0, 0, 0, 65 [SEP] 6, CellPhone, 1.199, 0.908, 0.139, 0, 0, 0, 65 [SEP] 7, CellPhone, -0.477, 0.930, 0.009, 0, 0, 0, 64 [SEP] 8, DishSponge, 1.169, 2.207, -0.973, 0, 270, 0, 71 [SEP] 9, DishSponge, 0.910, 0.107, -2.052, 0, 0, 0, 69 [SEP] 10, ButterKnife, 1.114, 0.911, -0.381, 0, 0, 0, 65 [SEP] 11, Fork, 0.794, 0.495, -0.731, 0, 180, 0, 68 [SEP] 12, Fork, 0.874, 0.154, -0.690, 0, 0, 0, 67 [SEP] 13, Knife, 0.859, 0.934, -0.729, 0, 0, 0, 65 [SEP] 14, Knife, 1.029, 0.934, -0.208, 0, 0, 0, 65 [SEP] 15, Egg, 1.026, 1.680, 1.349, 0, 270, 0, 87 [SEP] 16, Egg, 0.688, 0.949, -0.034, 0, 0, 0, 65 [SEP] 17, Egg, 1.148, 1.172, 1.540, 0, 270, 0, 87 [SEP] 18, Cup, -1.571, 0.879, 2.746, 0, 0, 0, 91 [SEP] 19, Plate, -0.624, 0.936, -1.308, 0, 0, 0, 64 [SEP] 20, Plate, 1.148, 1.669, -2.029, 0, 270, 0, 63 [SEP] 21, SoapBottle, -1.292, 0.933, -0.118, 0, 0, 0, 64 [SEP] 22, SaltShaker, 1.010, 0.104, -2.292, 0, 0, 0, 69 [SEP] 23, SaltShaker, 1.055, 1.662, -2.234, 0, 270, 0, 63 [SEP] 24, PepperShaker, 1.009, 1.662, 0.025, 0, 270, 0, 72 [SEP] 25, PepperShaker, 0.753, 0.150, -0.571, 0, 270, 0, 67 [SEP] 26, Lettuce, 1.114, 0.988, -0.034, 0, 0, 0, 65 [SEP] 27, Bread, 0.859, 0.992, 0.139, 0, 0, 0, 65 [SEP] 28, Bread, 0.905, 0.944, 1.349, 0, 270, 0, 87 [SEP] 29, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 83 [SEP] 30, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 64 [SEP] 31, Glassbottle, -1.570, 0.554, 2.822, 0, 0, 0, 90 [SEP] 32, Bread, -1.292, 1.014, 0.144, 0, 0, 0, 64 [SEP] 33, CreditCard, 0.834, 0.492, -0.565, 0, 270, 0, 68 [SEP] 34, CellPhone, -0.698, 0.930, 0.239, 0, 0, 0, 64 [SEP] 35, Potato, 1.093, 1.825, -1.132, 0, 270, 0, 86 [SEP] 36, Knife, -0.698, 0.803, -0.745, 0, 90, 0, 85 [SEP] 37, Fork, -0.642, 0.781, -0.918, 0, 0, 0, 85 [SEP] 38, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 58 [SEP] 39, Lettuce, -0.912, 0.256, 0.543, 0, 90, 0, 84 [SEP] 40, Plate, 0.773, 0.914, -0.381, 0, 0, 0, 65 [SEP] 41, Apple, -0.753, 0.826, -0.832, 0, 90, 0, 85 [SEP] 42, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 60 [SEP] 43, Spatula, 1.029, 0.926, -0.729, 0, 90, 0, 65 [SEP] 44, PaperTowelRoll, -1.101, 0.281, 0.543, 0, 180, 0, 84 [SEP] 45, Tomato, -0.808, 0.821, -0.573, 0, 90, 0, 85 [SEP] 46, Egg, 1.114, 0.949, -1.879, 0, 0, 0, 70 [SEP] 47, SaltShaker, 0.713, 0.698, -0.648, 0, 270, 0, 62 [SEP] 48, PepperShaker, 1.014, 0.117, 0.423, 0, 270, 0, 65 [SEP] 49, Vase, 0.761, 0.108, -2.212, 0, 0, 0, 69 [SEP] 50, ButterKnife, 1.029, 0.911, -0.208, 0, 0, 0, 65 [SEP] 51, SoapBottle, 1.039, 2.208, -1.517, 0, 270, 0, 71 [SEP] 52, Vase, -1.881, 0.555, 2.718, 0, 0, 0, 90 [SEP] 53, Bowl, -1.570, 0.557, 2.667, 0, 0, 0, 90 [SEP] 54, DishSponge, -1.363, 0.553, 2.667, 0, 0, 0, 90 [SEP] 55, Spoon, -0.772, 0.934, -1.618, 0, 0, 0, 64 [SEP] 56, Cup, 0.944, 0.908, -0.208, 0, 0, 0, 65 [SEP] 57, Mug, 0.905, 1.396, 0.967, 0, 270, 0, 87 [SEP] 58, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 59, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 60, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 61, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 62, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 63, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 64, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 65, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 66, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 67, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 68, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 69, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 70, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 71, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 72, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 73, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 74, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 75, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 76, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 77, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 78, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 79, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 80, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 81, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 82, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 83, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 84, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 85, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 86, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 87, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 88, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 89, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 90, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 91, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 92, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 93, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 94, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 95, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 96, NorthWall, , , , , , , [SEP] 97, EastWall, , , , , , , [SEP] 98, SouthWall, , , , , , , [SEP] 99, WestWall, , , , , , , ", "output": ["STEP 1: move to the shelf to the right of you | STEP 2: pick up a bowl from the shelf | STEP 3: move to the counter to the right of the stove | STEP 4: put the bowl on the counter | STEP 5: pick up a egg from the counter | STEP 6: put the egg on the bowl on the counter | END"]} +{"id": "trial_T20190912_190125_832581-2", "input": "Move a cup so that a potato can go 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, 0.900, 2.25, 0, 270, 0, [SEP] 1, Pan, 0.905, 1.132, 1.444, 0, 0, 0, 87 [SEP] 2, Statue, -1.167, 0.936, -0.643, 0, 0, 0, 64 [SEP] 3, Vase, -1.167, 0.934, -0.380, 0, 0, 0, 64 [SEP] 4, CreditCard, 0.834, 0.491, -0.690, 0, 270, 0, 68 [SEP] 5, CreditCard, 0.688, 0.908, 0.139, 0, 0, 0, 65 [SEP] 6, CellPhone, 1.199, 0.908, 0.139, 0, 0, 0, 65 [SEP] 7, CellPhone, -0.477, 0.930, 0.009, 0, 0, 0, 64 [SEP] 8, DishSponge, 1.169, 2.207, -0.973, 0, 270, 0, 71 [SEP] 9, DishSponge, 0.910, 0.107, -2.052, 0, 0, 0, 69 [SEP] 10, ButterKnife, 1.114, 0.911, -0.381, 0, 0, 0, 65 [SEP] 11, Fork, 0.794, 0.495, -0.731, 0, 180, 0, 68 [SEP] 12, Fork, 0.874, 0.154, -0.690, 0, 0, 0, 67 [SEP] 13, Knife, 0.859, 0.934, -0.729, 0, 0, 0, 65 [SEP] 14, Knife, 1.029, 0.934, -0.208, 0, 0, 0, 65 [SEP] 15, Egg, 1.026, 1.680, 1.349, 0, 270, 0, 87 [SEP] 16, Egg, 0.688, 0.949, -0.034, 0, 0, 0, 65 [SEP] 17, Egg, 1.148, 1.172, 1.540, 0, 270, 0, 87 [SEP] 18, Cup, -1.571, 0.879, 2.746, 0, 0, 0, 91 [SEP] 19, Plate, -0.624, 0.936, -1.308, 0, 0, 0, 64 [SEP] 20, Plate, 1.148, 1.669, -2.029, 0, 270, 0, 63 [SEP] 21, SoapBottle, -1.292, 0.933, -0.118, 0, 0, 0, 64 [SEP] 22, SaltShaker, 1.010, 0.104, -2.292, 0, 0, 0, 69 [SEP] 23, SaltShaker, 1.055, 1.662, -2.234, 0, 270, 0, 63 [SEP] 24, PepperShaker, 1.009, 1.662, 0.025, 0, 270, 0, 72 [SEP] 25, PepperShaker, 0.753, 0.150, -0.571, 0, 270, 0, 67 [SEP] 26, Lettuce, 1.114, 0.988, -0.034, 0, 0, 0, 65 [SEP] 27, Bread, 0.859, 0.992, 0.139, 0, 0, 0, 65 [SEP] 28, Bread, 0.905, 0.944, 1.349, 0, 270, 0, 87 [SEP] 29, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 83 [SEP] 30, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 64 [SEP] 31, Glassbottle, -1.570, 0.554, 2.822, 0, 0, 0, 90 [SEP] 32, Bread, -1.292, 1.014, 0.144, 0, 0, 0, 64 [SEP] 33, CreditCard, 0.834, 0.492, -0.565, 0, 270, 0, 68 [SEP] 34, CellPhone, -0.698, 0.930, 0.239, 0, 0, 0, 64 [SEP] 35, Potato, 1.093, 1.825, -1.132, 0, 270, 0, 86 [SEP] 36, Knife, -0.698, 0.803, -0.745, 0, 90, 0, 85 [SEP] 37, Fork, -0.642, 0.781, -0.918, 0, 0, 0, 85 [SEP] 38, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 58 [SEP] 39, Lettuce, -0.912, 0.256, 0.543, 0, 90, 0, 84 [SEP] 40, Plate, 0.773, 0.914, -0.381, 0, 0, 0, 65 [SEP] 41, Apple, -0.753, 0.826, -0.832, 0, 90, 0, 85 [SEP] 42, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 60 [SEP] 43, Spatula, 1.029, 0.926, -0.729, 0, 90, 0, 65 [SEP] 44, PaperTowelRoll, -1.101, 0.281, 0.543, 0, 180, 0, 84 [SEP] 45, Tomato, -0.808, 0.821, -0.573, 0, 90, 0, 85 [SEP] 46, Egg, 1.114, 0.949, -1.879, 0, 0, 0, 70 [SEP] 47, SaltShaker, 0.713, 0.698, -0.648, 0, 270, 0, 62 [SEP] 48, PepperShaker, 1.014, 0.117, 0.423, 0, 270, 0, 65 [SEP] 49, Vase, 0.761, 0.108, -2.212, 0, 0, 0, 69 [SEP] 50, ButterKnife, 1.029, 0.911, -0.208, 0, 0, 0, 65 [SEP] 51, SoapBottle, 1.039, 2.208, -1.517, 0, 270, 0, 71 [SEP] 52, Vase, -1.881, 0.555, 2.718, 0, 0, 0, 90 [SEP] 53, Bowl, -1.570, 0.557, 2.667, 0, 0, 0, 90 [SEP] 54, DishSponge, -1.363, 0.553, 2.667, 0, 0, 0, 90 [SEP] 55, Spoon, -0.772, 0.934, -1.618, 0, 0, 0, 64 [SEP] 56, Cup, 0.944, 0.908, -0.208, 0, 0, 0, 65 [SEP] 57, Mug, 0.905, 1.396, 0.967, 0, 270, 0, 87 [SEP] 58, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 59, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 60, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 61, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 62, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 63, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 64, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 65, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 66, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 67, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 68, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 69, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 70, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 71, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 72, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 73, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 74, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 75, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 76, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 77, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 78, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 79, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 80, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 81, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 82, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 83, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 84, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 85, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 86, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 87, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 88, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 89, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 90, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 91, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 92, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 93, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 94, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 95, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 96, NorthWall, , , , , , , [SEP] 97, EastWall, , , , , , , [SEP] 98, SouthWall, , , , , , , [SEP] 99, WestWall, , , , , , , ", "output": ["STEP 1: Walk to the shelf on your left. | STEP 2: Grab a plate from the second bottom shelf. | STEP 3: Walk to the coffee maker on your left. | STEP 4: Place the cup on the counter. | STEP 5: Grab a potato from the counter. | STEP 6: Place the potato in the cup. | END"]} +{"id": "trial_T20190909_064053_839817-0", "input": "Throw two bars of soap 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, -1.0, 0.901, 2.5, 0, 270, 0, [SEP] 1, SprayBottle, -0.279, 0.076, 2.291, 0, 0, 0, 26 [SEP] 2, SprayBottle, -0.141, 0.955, 2.737, 0, 0, 0, 24 [SEP] 3, Candle, -0.388, 0.954, 2.807, 0, 0, 0, 24 [SEP] 4, SoapBar, -0.450, 0.954, 2.878, 0, 0, 0, 24 [SEP] 5, SoapBottle, -0.104, 0.954, 1.294, 0, 0, 0, 32 [SEP] 6, SoapBottle, -0.331, 0.077, 3.462, 0, 0, 0, 25 [SEP] 7, HandTowel, -0.038, 1.619, 1.887, 0, 90, 0, 30 [SEP] 8, Towel, -1.082, 1.326, 1.302, 0, 0, 0, 27 [SEP] 9, SoapBar, -0.264, 0.954, 2.772, 0, 0, 0, 24 [SEP] 10, ToiletPaper, -0.280, 0.073, 2.564, 0, 0, 0, 21 [SEP] 11, Plunger, -0.112, -0.000, 1.848, 0, 0, 0, [SEP] 12, Candle, -0.077, 0.953, 1.544, 0, 0, 0, 32 [SEP] 13, ToiletPaper, -0.280, 0.654, 1.985, 0, 180, 90, 29 [SEP] 14, SprayBottle, -0.382, 0.077, 2.743, 0, 0, 0, 21 [SEP] 15, Cloth, -0.330, 0.075, 3.100, 0, 0, 0, 20 [SEP] 16, ScrubBrush, -0.322, 3.109, 1.950, 0, 0, 0, [SEP] 17, SoapBottle, -0.326, 0.955, 2.878, 0, 0, 0, 24 [SEP] 18, Mirror, -0.030, 1.544, 2.864, 0, 0, 0, [SEP] 19, Sink, -0.302, 0.799, 3.263, 0, 270, 0, [SEP] 20, Cabinet, -0.491, 0.404, 2.863, 0, 0, 0, [SEP] 21, Cabinet, -0.495, 0.384, 2.842, 0, 0, 0, [SEP] 22, ShowerDoor, -1.647, 1.017, 1.180, 0, 0, 0, [SEP] 23, ShowerGlass, -0.909, 0.788, 0.485, 0, 0, 0, [SEP] 24, CounterTop, -0.261, 0.927, 2.843, 0, 0, 0, [SEP] 25, Cabinet, -0.495, 0.384, 3.650, 0, 0, 0, [SEP] 26, Cabinet, -0.491, 0.404, 2.055, 0, 0, 0, [SEP] 27, TowelHolder, -1.082, 1.312, 1.195, 0, 0, 0, [SEP] 28, LightSwitch, -2.424, 1.447, 3.338, 0, 90, 0, [SEP] 29, ToiletPaperHanger, -0.266, 0.786, 2.043, 0, 180, 0, [SEP] 30, HandTowelHolder, 0.000, 1.721, 1.887, 0, 180, 0, [SEP] 31, HandTowelHolder, 0.000, 1.721, 3.799, 0, 180, 0, [SEP] 32, Toilet, -0.542, 3.109, 1.493, 0, 270, 0, [SEP] 33, GarbageCan, -2.159, -0.000, 3.756, 0, 0, 0, [SEP] 34, SinkBasin, -0.308, 0.820, 3.266, 0, 0, 0, [SEP] 35, ShowerHead, -0.134, 1.888, 0.564, 0, 90, 0, [SEP] 36, Faucet, 0.0, 1.009, 3.265, 0, 0, 0, [SEP] 37, Faucet, 0.0, 1.009, 2.421, 0, 0, 0, [SEP] 38, SinkBasin, -0.308, 0.820, 2.422, 0, 0, 0, [SEP] 39, Sink, -0.302, 0.799, 2.419, 0, 270, 0, [SEP] 40, NorthWall, , , , , , , [SEP] 41, SouthWall, , , , , , , [SEP] 42, SouthWall, , , , , , , ", "output": ["STEP 1: Turn around to stand centered with the counter between the two sinks. | STEP 2: Pick up the bar of soap closest to the back of the vanity. | STEP 3: Turn around and move to the door, then turn right to face the trash bin in the corner. | STEP 4: Place the soap in the trash bin. | STEP 5: Turn around and move back to stand at the vanity. | STEP 6: Pick up the remaining bar of soap from between the two sinks. | STEP 7: Turn again to walk to the door and then turn right to face the trash bin. | STEP 8: Place the soap in the trash bin. | END"]} +{"id": "trial_T20190909_064053_839817-1", "input": "place two bars of soap inside the same garbage bin SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.901, 2.5, 0, 270, 0, [SEP] 1, SprayBottle, -0.279, 0.076, 2.291, 0, 0, 0, 26 [SEP] 2, SprayBottle, -0.141, 0.955, 2.737, 0, 0, 0, 24 [SEP] 3, Candle, -0.388, 0.954, 2.807, 0, 0, 0, 24 [SEP] 4, SoapBar, -0.450, 0.954, 2.878, 0, 0, 0, 24 [SEP] 5, SoapBottle, -0.104, 0.954, 1.294, 0, 0, 0, 32 [SEP] 6, SoapBottle, -0.331, 0.077, 3.462, 0, 0, 0, 25 [SEP] 7, HandTowel, -0.038, 1.619, 1.887, 0, 90, 0, 30 [SEP] 8, Towel, -1.082, 1.326, 1.302, 0, 0, 0, 27 [SEP] 9, SoapBar, -0.264, 0.954, 2.772, 0, 0, 0, 24 [SEP] 10, ToiletPaper, -0.280, 0.073, 2.564, 0, 0, 0, 21 [SEP] 11, Plunger, -0.112, -0.000, 1.848, 0, 0, 0, [SEP] 12, Candle, -0.077, 0.953, 1.544, 0, 0, 0, 32 [SEP] 13, ToiletPaper, -0.280, 0.654, 1.985, 0, 180, 90, 29 [SEP] 14, SprayBottle, -0.382, 0.077, 2.743, 0, 0, 0, 21 [SEP] 15, Cloth, -0.330, 0.075, 3.100, 0, 0, 0, 20 [SEP] 16, ScrubBrush, -0.322, 3.109, 1.950, 0, 0, 0, [SEP] 17, SoapBottle, -0.326, 0.955, 2.878, 0, 0, 0, 24 [SEP] 18, Mirror, -0.030, 1.544, 2.864, 0, 0, 0, [SEP] 19, Sink, -0.302, 0.799, 3.263, 0, 270, 0, [SEP] 20, Cabinet, -0.491, 0.404, 2.863, 0, 0, 0, [SEP] 21, Cabinet, -0.495, 0.384, 2.842, 0, 0, 0, [SEP] 22, ShowerDoor, -1.647, 1.017, 1.180, 0, 0, 0, [SEP] 23, ShowerGlass, -0.909, 0.788, 0.485, 0, 0, 0, [SEP] 24, CounterTop, -0.261, 0.927, 2.843, 0, 0, 0, [SEP] 25, Cabinet, -0.495, 0.384, 3.650, 0, 0, 0, [SEP] 26, Cabinet, -0.491, 0.404, 2.055, 0, 0, 0, [SEP] 27, TowelHolder, -1.082, 1.312, 1.195, 0, 0, 0, [SEP] 28, LightSwitch, -2.424, 1.447, 3.338, 0, 90, 0, [SEP] 29, ToiletPaperHanger, -0.266, 0.786, 2.043, 0, 180, 0, [SEP] 30, HandTowelHolder, 0.000, 1.721, 1.887, 0, 180, 0, [SEP] 31, HandTowelHolder, 0.000, 1.721, 3.799, 0, 180, 0, [SEP] 32, Toilet, -0.542, 3.109, 1.493, 0, 270, 0, [SEP] 33, GarbageCan, -2.159, -0.000, 3.756, 0, 0, 0, [SEP] 34, SinkBasin, -0.308, 0.820, 3.266, 0, 0, 0, [SEP] 35, ShowerHead, -0.134, 1.888, 0.564, 0, 90, 0, [SEP] 36, Faucet, 0.0, 1.009, 3.265, 0, 0, 0, [SEP] 37, Faucet, 0.0, 1.009, 2.421, 0, 0, 0, [SEP] 38, SinkBasin, -0.308, 0.820, 2.422, 0, 0, 0, [SEP] 39, Sink, -0.302, 0.799, 2.419, 0, 270, 0, [SEP] 40, NorthWall, , , , , , , [SEP] 41, SouthWall, , , , , , , [SEP] 42, SouthWall, , , , , , , ", "output": ["STEP 1: turn around and walk forwards to the center of the two bathroom sinks ahead | STEP 2: grab a bar of soap off of the bathroom sink counter in between the two sinks | STEP 3: turn around and walk over to the right side corner of the room where the garbage bin is | STEP 4: place the bar inside of the garbage bin | STEP 5: turn right and walk back over to the center of the two bathroom sinks there | STEP 6: grab another bar of soap off of the center bathroom sink counter | STEP 7: turn around and walk over to the garbage bin on the right side of the room | STEP 8: place the bar of soap in the garbage bin | END"]} +{"id": "trial_T20190909_064053_839817-2", "input": "Putting two bars of soap 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, 0.901, 2.5, 0, 270, 0, [SEP] 1, SprayBottle, -0.279, 0.076, 2.291, 0, 0, 0, 26 [SEP] 2, SprayBottle, -0.141, 0.955, 2.737, 0, 0, 0, 24 [SEP] 3, Candle, -0.388, 0.954, 2.807, 0, 0, 0, 24 [SEP] 4, SoapBar, -0.450, 0.954, 2.878, 0, 0, 0, 24 [SEP] 5, SoapBottle, -0.104, 0.954, 1.294, 0, 0, 0, 32 [SEP] 6, SoapBottle, -0.331, 0.077, 3.462, 0, 0, 0, 25 [SEP] 7, HandTowel, -0.038, 1.619, 1.887, 0, 90, 0, 30 [SEP] 8, Towel, -1.082, 1.326, 1.302, 0, 0, 0, 27 [SEP] 9, SoapBar, -0.264, 0.954, 2.772, 0, 0, 0, 24 [SEP] 10, ToiletPaper, -0.280, 0.073, 2.564, 0, 0, 0, 21 [SEP] 11, Plunger, -0.112, -0.000, 1.848, 0, 0, 0, [SEP] 12, Candle, -0.077, 0.953, 1.544, 0, 0, 0, 32 [SEP] 13, ToiletPaper, -0.280, 0.654, 1.985, 0, 180, 90, 29 [SEP] 14, SprayBottle, -0.382, 0.077, 2.743, 0, 0, 0, 21 [SEP] 15, Cloth, -0.330, 0.075, 3.100, 0, 0, 0, 20 [SEP] 16, ScrubBrush, -0.322, 3.109, 1.950, 0, 0, 0, [SEP] 17, SoapBottle, -0.326, 0.955, 2.878, 0, 0, 0, 24 [SEP] 18, Mirror, -0.030, 1.544, 2.864, 0, 0, 0, [SEP] 19, Sink, -0.302, 0.799, 3.263, 0, 270, 0, [SEP] 20, Cabinet, -0.491, 0.404, 2.863, 0, 0, 0, [SEP] 21, Cabinet, -0.495, 0.384, 2.842, 0, 0, 0, [SEP] 22, ShowerDoor, -1.647, 1.017, 1.180, 0, 0, 0, [SEP] 23, ShowerGlass, -0.909, 0.788, 0.485, 0, 0, 0, [SEP] 24, CounterTop, -0.261, 0.927, 2.843, 0, 0, 0, [SEP] 25, Cabinet, -0.495, 0.384, 3.650, 0, 0, 0, [SEP] 26, Cabinet, -0.491, 0.404, 2.055, 0, 0, 0, [SEP] 27, TowelHolder, -1.082, 1.312, 1.195, 0, 0, 0, [SEP] 28, LightSwitch, -2.424, 1.447, 3.338, 0, 90, 0, [SEP] 29, ToiletPaperHanger, -0.266, 0.786, 2.043, 0, 180, 0, [SEP] 30, HandTowelHolder, 0.000, 1.721, 1.887, 0, 180, 0, [SEP] 31, HandTowelHolder, 0.000, 1.721, 3.799, 0, 180, 0, [SEP] 32, Toilet, -0.542, 3.109, 1.493, 0, 270, 0, [SEP] 33, GarbageCan, -2.159, -0.000, 3.756, 0, 0, 0, [SEP] 34, SinkBasin, -0.308, 0.820, 3.266, 0, 0, 0, [SEP] 35, ShowerHead, -0.134, 1.888, 0.564, 0, 90, 0, [SEP] 36, Faucet, 0.0, 1.009, 3.265, 0, 0, 0, [SEP] 37, Faucet, 0.0, 1.009, 2.421, 0, 0, 0, [SEP] 38, SinkBasin, -0.308, 0.820, 2.422, 0, 0, 0, [SEP] 39, Sink, -0.302, 0.799, 2.419, 0, 270, 0, [SEP] 40, NorthWall, , , , , , , [SEP] 41, SouthWall, , , , , , , [SEP] 42, SouthWall, , , , , , , ", "output": ["STEP 1: Turn around and go to the counter between the sinks | STEP 2: Grab a bar of soap off of the counter | STEP 3: Turn around and go to the trash can | STEP 4: Put the soap in the trash can | STEP 5: Turn right and go to the left sink | STEP 6: Grab the bar of soap that's to the right of the sink | STEP 7: Turn around and go to the trash can | STEP 8: Put the soap in the trash can | END"]} +{"id": "trial_T20190908_022321_380927-0", "input": "Put a cleaned blue cloth 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, 2.0, 0, 0, 0, [SEP] 1, Cloth, -0.381, 0.075, 2.202, 0, 90, 0, 26 [SEP] 2, Candle, -0.158, 0.953, 1.544, 0, 0, 0, 32 [SEP] 3, Candle, -0.202, 0.954, 2.737, 0, 0, 0, 24 [SEP] 4, SoapBar, -0.388, 0.954, 2.843, 0, 0, 0, 24 [SEP] 5, SoapBottle, -0.388, 0.955, 2.772, 0, 0, 0, 24 [SEP] 6, SoapBottle, -0.388, 0.955, 2.948, 0, 0, 0, 24 [SEP] 7, HandTowel, -0.038, 1.619, 1.887, 0, 90, 0, 30 [SEP] 8, Towel, -1.082, 1.326, 1.302, 0, 0, 0, 27 [SEP] 9, SoapBar, -0.381, 0.075, 3.100, 0, 0, 0, 20 [SEP] 10, ToiletPaper, -0.117, 0.945, 1.629, 0, 0, 0, 32 [SEP] 11, Plunger, -0.112, -0.000, 1.848, 0, 0, 0, [SEP] 12, Candle, -0.331, 0.076, 2.654, 0, 0, 0, 21 [SEP] 13, ToiletPaper, -0.104, 0.950, 1.356, 0, 0, 0, 32 [SEP] 14, SprayBottle, -0.141, 0.955, 2.772, 0, 0, 0, 24 [SEP] 15, Cloth, -0.351, 0.946, 2.074, 0, 0, 0, 38 [SEP] 16, ScrubBrush, -0.322, 3.109, 1.950, 0, 0, 0, [SEP] 17, SoapBottle, -0.331, 0.077, 3.552, 0, 0, 0, 25 [SEP] 18, Mirror, -0.030, 1.544, 2.864, 0, 0, 0, [SEP] 19, Sink, -0.302, 0.799, 3.263, 0, 270, 0, [SEP] 20, Cabinet, -0.491, 0.404, 2.863, 0, 0, 0, [SEP] 21, Cabinet, -0.495, 0.384, 2.842, 0, 0, 0, [SEP] 22, ShowerDoor, -1.647, 1.017, 1.180, 0, 0, 0, [SEP] 23, ShowerGlass, -0.909, 0.788, 0.485, 0, 0, 0, [SEP] 24, CounterTop, -0.261, 0.927, 2.843, 0, 0, 0, [SEP] 25, Cabinet, -0.495, 0.384, 3.650, 0, 0, 0, [SEP] 26, Cabinet, -0.491, 0.404, 2.055, 0, 0, 0, [SEP] 27, TowelHolder, -1.082, 1.312, 1.195, 0, 0, 0, [SEP] 28, LightSwitch, -2.424, 1.447, 3.338, 0, 90, 0, [SEP] 29, ToiletPaperHanger, -0.266, 0.786, 2.043, 0, 180, 0, [SEP] 30, HandTowelHolder, 0.000, 1.721, 1.887, 0, 180, 0, [SEP] 31, HandTowelHolder, 0.000, 1.721, 3.799, 0, 180, 0, [SEP] 32, Toilet, -0.542, 3.109, 1.493, 0, 270, 0, [SEP] 33, GarbageCan, -2.159, -0.000, 3.756, 0, 0, 0, [SEP] 34, SinkBasin, -0.308, 0.820, 3.266, 0, 0, 0, [SEP] 35, ShowerHead, -0.134, 1.888, 0.564, 0, 90, 0, [SEP] 36, Faucet, 0.0, 1.009, 3.265, 0, 0, 0, [SEP] 37, Faucet, 0.0, 1.009, 2.421, 0, 0, 0, [SEP] 38, SinkBasin, -0.308, 0.820, 2.422, 0, 0, 0, [SEP] 39, Sink, -0.302, 0.799, 2.419, 0, 270, 0, [SEP] 40, NorthWall, , , , , , , [SEP] 41, SouthWall, , , , , , , [SEP] 42, SouthWall, , , , , , , ", "output": ["STEP 1: Turn right and walk to the blue cloth on the counter. | STEP 2: Pick up the blue cloth from the counter. | STEP 3: Walk slightly left to the sink on the right. | STEP 4: Put the cloth in the sink, rinse it off, and take it back out of the sink. | STEP 5: Move backwards a bit away from the sink. | STEP 6: Put the blue cloth in the bottom left cabinet below the sink, then close the cabinet. | END"]} +{"id": "trial_T20190908_022321_380927-1", "input": "Put a cleaned rag in 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, -1.75, 0.901, 2.0, 0, 0, 0, [SEP] 1, Cloth, -0.381, 0.075, 2.202, 0, 90, 0, 26 [SEP] 2, Candle, -0.158, 0.953, 1.544, 0, 0, 0, 32 [SEP] 3, Candle, -0.202, 0.954, 2.737, 0, 0, 0, 24 [SEP] 4, SoapBar, -0.388, 0.954, 2.843, 0, 0, 0, 24 [SEP] 5, SoapBottle, -0.388, 0.955, 2.772, 0, 0, 0, 24 [SEP] 6, SoapBottle, -0.388, 0.955, 2.948, 0, 0, 0, 24 [SEP] 7, HandTowel, -0.038, 1.619, 1.887, 0, 90, 0, 30 [SEP] 8, Towel, -1.082, 1.326, 1.302, 0, 0, 0, 27 [SEP] 9, SoapBar, -0.381, 0.075, 3.100, 0, 0, 0, 20 [SEP] 10, ToiletPaper, -0.117, 0.945, 1.629, 0, 0, 0, 32 [SEP] 11, Plunger, -0.112, -0.000, 1.848, 0, 0, 0, [SEP] 12, Candle, -0.331, 0.076, 2.654, 0, 0, 0, 21 [SEP] 13, ToiletPaper, -0.104, 0.950, 1.356, 0, 0, 0, 32 [SEP] 14, SprayBottle, -0.141, 0.955, 2.772, 0, 0, 0, 24 [SEP] 15, Cloth, -0.351, 0.946, 2.074, 0, 0, 0, 38 [SEP] 16, ScrubBrush, -0.322, 3.109, 1.950, 0, 0, 0, [SEP] 17, SoapBottle, -0.331, 0.077, 3.552, 0, 0, 0, 25 [SEP] 18, Mirror, -0.030, 1.544, 2.864, 0, 0, 0, [SEP] 19, Sink, -0.302, 0.799, 3.263, 0, 270, 0, [SEP] 20, Cabinet, -0.491, 0.404, 2.863, 0, 0, 0, [SEP] 21, Cabinet, -0.495, 0.384, 2.842, 0, 0, 0, [SEP] 22, ShowerDoor, -1.647, 1.017, 1.180, 0, 0, 0, [SEP] 23, ShowerGlass, -0.909, 0.788, 0.485, 0, 0, 0, [SEP] 24, CounterTop, -0.261, 0.927, 2.843, 0, 0, 0, [SEP] 25, Cabinet, -0.495, 0.384, 3.650, 0, 0, 0, [SEP] 26, Cabinet, -0.491, 0.404, 2.055, 0, 0, 0, [SEP] 27, TowelHolder, -1.082, 1.312, 1.195, 0, 0, 0, [SEP] 28, LightSwitch, -2.424, 1.447, 3.338, 0, 90, 0, [SEP] 29, ToiletPaperHanger, -0.266, 0.786, 2.043, 0, 180, 0, [SEP] 30, HandTowelHolder, 0.000, 1.721, 1.887, 0, 180, 0, [SEP] 31, HandTowelHolder, 0.000, 1.721, 3.799, 0, 180, 0, [SEP] 32, Toilet, -0.542, 3.109, 1.493, 0, 270, 0, [SEP] 33, GarbageCan, -2.159, -0.000, 3.756, 0, 0, 0, [SEP] 34, SinkBasin, -0.308, 0.820, 3.266, 0, 0, 0, [SEP] 35, ShowerHead, -0.134, 1.888, 0.564, 0, 90, 0, [SEP] 36, Faucet, 0.0, 1.009, 3.265, 0, 0, 0, [SEP] 37, Faucet, 0.0, 1.009, 2.421, 0, 0, 0, [SEP] 38, SinkBasin, -0.308, 0.820, 2.422, 0, 0, 0, [SEP] 39, Sink, -0.302, 0.799, 2.419, 0, 270, 0, [SEP] 40, NorthWall, , , , , , , [SEP] 41, SouthWall, , , , , , , [SEP] 42, SouthWall, , , , , , , ", "output": ["STEP 1: move to the sink to the left of the toilet | STEP 2: pick up a rag from the counter | STEP 3: move to the sink to the left of you | STEP 4: clean the rag in the sink | STEP 5: move away from the sink | STEP 6: put the rag in the cabinet under the sink | END"]} +{"id": "trial_T20190908_022321_380927-2", "input": "Place a clean rag 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, 2.0, 0, 0, 0, [SEP] 1, Cloth, -0.381, 0.075, 2.202, 0, 90, 0, 26 [SEP] 2, Candle, -0.158, 0.953, 1.544, 0, 0, 0, 32 [SEP] 3, Candle, -0.202, 0.954, 2.737, 0, 0, 0, 24 [SEP] 4, SoapBar, -0.388, 0.954, 2.843, 0, 0, 0, 24 [SEP] 5, SoapBottle, -0.388, 0.955, 2.772, 0, 0, 0, 24 [SEP] 6, SoapBottle, -0.388, 0.955, 2.948, 0, 0, 0, 24 [SEP] 7, HandTowel, -0.038, 1.619, 1.887, 0, 90, 0, 30 [SEP] 8, Towel, -1.082, 1.326, 1.302, 0, 0, 0, 27 [SEP] 9, SoapBar, -0.381, 0.075, 3.100, 0, 0, 0, 20 [SEP] 10, ToiletPaper, -0.117, 0.945, 1.629, 0, 0, 0, 32 [SEP] 11, Plunger, -0.112, -0.000, 1.848, 0, 0, 0, [SEP] 12, Candle, -0.331, 0.076, 2.654, 0, 0, 0, 21 [SEP] 13, ToiletPaper, -0.104, 0.950, 1.356, 0, 0, 0, 32 [SEP] 14, SprayBottle, -0.141, 0.955, 2.772, 0, 0, 0, 24 [SEP] 15, Cloth, -0.351, 0.946, 2.074, 0, 0, 0, 38 [SEP] 16, ScrubBrush, -0.322, 3.109, 1.950, 0, 0, 0, [SEP] 17, SoapBottle, -0.331, 0.077, 3.552, 0, 0, 0, 25 [SEP] 18, Mirror, -0.030, 1.544, 2.864, 0, 0, 0, [SEP] 19, Sink, -0.302, 0.799, 3.263, 0, 270, 0, [SEP] 20, Cabinet, -0.491, 0.404, 2.863, 0, 0, 0, [SEP] 21, Cabinet, -0.495, 0.384, 2.842, 0, 0, 0, [SEP] 22, ShowerDoor, -1.647, 1.017, 1.180, 0, 0, 0, [SEP] 23, ShowerGlass, -0.909, 0.788, 0.485, 0, 0, 0, [SEP] 24, CounterTop, -0.261, 0.927, 2.843, 0, 0, 0, [SEP] 25, Cabinet, -0.495, 0.384, 3.650, 0, 0, 0, [SEP] 26, Cabinet, -0.491, 0.404, 2.055, 0, 0, 0, [SEP] 27, TowelHolder, -1.082, 1.312, 1.195, 0, 0, 0, [SEP] 28, LightSwitch, -2.424, 1.447, 3.338, 0, 90, 0, [SEP] 29, ToiletPaperHanger, -0.266, 0.786, 2.043, 0, 180, 0, [SEP] 30, HandTowelHolder, 0.000, 1.721, 1.887, 0, 180, 0, [SEP] 31, HandTowelHolder, 0.000, 1.721, 3.799, 0, 180, 0, [SEP] 32, Toilet, -0.542, 3.109, 1.493, 0, 270, 0, [SEP] 33, GarbageCan, -2.159, -0.000, 3.756, 0, 0, 0, [SEP] 34, SinkBasin, -0.308, 0.820, 3.266, 0, 0, 0, [SEP] 35, ShowerHead, -0.134, 1.888, 0.564, 0, 90, 0, [SEP] 36, Faucet, 0.0, 1.009, 3.265, 0, 0, 0, [SEP] 37, Faucet, 0.0, 1.009, 2.421, 0, 0, 0, [SEP] 38, SinkBasin, -0.308, 0.820, 2.422, 0, 0, 0, [SEP] 39, Sink, -0.302, 0.799, 2.419, 0, 270, 0, [SEP] 40, NorthWall, , , , , , , [SEP] 41, SouthWall, , , , , , , [SEP] 42, SouthWall, , , , , , , ", "output": ["STEP 1: Turn right and walk to the sink. | STEP 2: Pick up the blue rag to the right of the sink. | STEP 3: Take a step left to the sink. | STEP 4: Wash the rag in the sink. | STEP 5: Take a step back. | STEP 6: Place the rag in left cabinet underneath the sink. | END"]} +{"id": "trial_T20190908_112034_166152-0", "input": "Put a green cup with a fork in 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, -3.0, 0.900, -1.25, 0, 90, 0, [SEP] 1, Potato, 0.688, 0.941, -0.381, 0, 0, 0, 63 [SEP] 2, CreditCard, 0.834, 0.491, -0.607, 0, 270, 0, 66 [SEP] 3, CreditCard, -1.674, 0.878, 2.746, 0, 0, 0, 89 [SEP] 4, CellPhone, 0.875, 0.699, -0.607, 0, 270, 0, 60 [SEP] 5, CellPhone, 0.773, 0.908, -0.555, 0, 0, 0, 63 [SEP] 6, ButterKnife, 0.859, 0.911, -0.729, 0, 0, 0, 63 [SEP] 7, Glassbottle, 0.964, 0.121, 0.349, 0, 270, 0, 57 [SEP] 8, Fork, 1.114, 0.911, -0.729, 0, 0, 0, 63 [SEP] 9, Fork, -1.104, 0.934, -0.905, 0, 0, 0, 62 [SEP] 10, Fork, -0.697, 0.777, -0.745, 0, 0, 0, 83 [SEP] 11, Spatula, 0.915, 0.717, -0.731, 0, 0, 0, 60 [SEP] 12, Spatula, -0.550, 0.948, -1.463, 0, 0, 0, 62 [SEP] 13, Egg, 1.028, 1.833, -1.132, 0, 270, 0, 84 [SEP] 14, Cup, 1.026, 1.640, 1.158, 0, 270, 0, 85 [SEP] 15, Cup, -0.587, 0.777, -0.659, 0, 90, 0, 83 [SEP] 16, Plate, 0.811, 0.111, -2.132, 0, 0, 0, 67 [SEP] 17, Plate, -1.363, 0.557, 2.718, 0, 0, 0, 88 [SEP] 18, Tomato, -0.642, 0.817, -0.832, 0, 90, 0, 83 [SEP] 19, SoapBottle, 1.199, 0.911, -0.381, 0, 0, 0, 63 [SEP] 20, SoapBottle, 0.773, 0.911, -1.793, 0, 0, 0, 68 [SEP] 21, SaltShaker, 1.199, 0.907, 0.139, 0, 0, 0, 63 [SEP] 22, Lettuce, -1.229, 1.010, 0.144, 0, 0, 0, 62 [SEP] 23, Lettuce, 0.905, 0.940, 1.254, 0, 270, 0, 85 [SEP] 24, Bread, 0.944, 0.992, 0.139, 0, 0, 0, 63 [SEP] 25, Bread, -0.846, 1.014, -1.540, 0, 0, 0, 62 [SEP] 26, Mug, 0.966, 1.129, 1.349, 0, 270, 0, 85 [SEP] 27, Apple, -0.808, 0.830, -0.659, 0, 90, 0, 83 [SEP] 28, Statue, -1.229, 0.936, -0.118, 0, 0, 0, 62 [SEP] 29, Glassbottle, 1.101, 1.667, -2.029, 0, 270, 0, 61 [SEP] 30, Bread, 1.026, 1.482, 1.349, 0, 270, 0, 85 [SEP] 31, CreditCard, 0.794, 0.492, -0.731, 0, 270, 0, 66 [SEP] 32, CellPhone, 1.029, 0.908, -0.208, 0, 0, 0, 63 [SEP] 33, Potato, -0.808, 0.811, -0.486, 0, 90, 0, 83 [SEP] 34, Knife, -0.772, 0.957, 0.086, 0, 0, 0, 62 [SEP] 35, Fork, 1.029, 0.911, -0.555, 0, 0, 0, 63 [SEP] 36, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 56 [SEP] 37, Lettuce, -0.550, 1.010, 0.086, 0, 0, 0, 62 [SEP] 38, Plate, 0.844, 1.405, 1.158, 0, 270, 0, 85 [SEP] 39, Apple, -1.007, 0.227, 0.608, 0, 180, 0, 82 [SEP] 40, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 58 [SEP] 41, Spatula, 1.114, 0.926, -0.381, 0, 0, 0, 63 [SEP] 42, PaperTowelRoll, -1.570, 0.658, 2.874, 0, 0, 0, 88 [SEP] 43, Tomato, 0.905, 1.683, 1.349, 0, 270, 0, 85 [SEP] 44, Egg, 0.773, 0.949, -2.308, 0, 0, 0, 68 [SEP] 45, SaltShaker, 1.193, 1.662, 0.153, 0, 270, 0, 70 [SEP] 46, PepperShaker, 0.915, 0.491, -0.565, 0, 270, 0, 66 [SEP] 47, Vase, -1.292, 0.933, -0.643, 0, 0, 0, 62 [SEP] 48, ButterKnife, 0.773, 0.911, 0.313, 0, 0, 0, 63 [SEP] 49, SoapBottle, -0.865, 0.177, 0.608, 0, 180, 0, 82 [SEP] 50, Vase, -1.881, 0.555, 2.615, 0, 0, 0, 88 [SEP] 51, Bowl, 1.148, 1.669, -0.465, 0, 270, 0, 71 [SEP] 52, DishSponge, 0.793, 0.153, -0.650, 0, 270, 0, 65 [SEP] 53, Spoon, -1.241, 0.919, -1.209, 0, 0, 0, 62 [SEP] 54, Cup, 1.126, 1.792, -1.132, 0, 270, 0, 84 [SEP] 55, Mug, 0.811, 0.115, 0.374, 0, 270, 0, 57 [SEP] 56, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 57, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 58, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 59, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 60, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 61, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 62, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 63, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 64, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 65, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 66, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 67, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 68, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 69, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 70, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 71, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 72, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 73, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 74, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 75, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 76, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 77, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 78, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 79, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 80, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 81, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 82, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 83, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 84, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 85, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 86, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 87, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 88, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 89, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 90, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 91, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 92, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 93, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 94, NorthWall, , , , , , , [SEP] 95, EastWall, , , , , , , [SEP] 96, SouthWall, , , , , , , [SEP] 97, WestWall, , , , , , , ", "output": ["STEP 1: Walk over to the kitchen sink that is in the kitchen island. | STEP 2: Pick up the metal fork out of the sink basin. | STEP 3: Look down into the sink. | STEP 4: Put the metal fork in the green cup that is in the sink. | STEP 5: Pick up the green cup with the metal fork in it. | STEP 6: Turn right and walk forward, then turn right and walk up to the counter. | STEP 7: Put the green cup with the fork in it on the counter in front of the loaf of bread. | END"]} +{"id": "trial_T20190908_112034_166152-1", "input": "Move fork into mug, move both on 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, -1.25, 0, 90, 0, [SEP] 1, Potato, 0.688, 0.941, -0.381, 0, 0, 0, 63 [SEP] 2, CreditCard, 0.834, 0.491, -0.607, 0, 270, 0, 66 [SEP] 3, CreditCard, -1.674, 0.878, 2.746, 0, 0, 0, 89 [SEP] 4, CellPhone, 0.875, 0.699, -0.607, 0, 270, 0, 60 [SEP] 5, CellPhone, 0.773, 0.908, -0.555, 0, 0, 0, 63 [SEP] 6, ButterKnife, 0.859, 0.911, -0.729, 0, 0, 0, 63 [SEP] 7, Glassbottle, 0.964, 0.121, 0.349, 0, 270, 0, 57 [SEP] 8, Fork, 1.114, 0.911, -0.729, 0, 0, 0, 63 [SEP] 9, Fork, -1.104, 0.934, -0.905, 0, 0, 0, 62 [SEP] 10, Fork, -0.697, 0.777, -0.745, 0, 0, 0, 83 [SEP] 11, Spatula, 0.915, 0.717, -0.731, 0, 0, 0, 60 [SEP] 12, Spatula, -0.550, 0.948, -1.463, 0, 0, 0, 62 [SEP] 13, Egg, 1.028, 1.833, -1.132, 0, 270, 0, 84 [SEP] 14, Cup, 1.026, 1.640, 1.158, 0, 270, 0, 85 [SEP] 15, Cup, -0.587, 0.777, -0.659, 0, 90, 0, 83 [SEP] 16, Plate, 0.811, 0.111, -2.132, 0, 0, 0, 67 [SEP] 17, Plate, -1.363, 0.557, 2.718, 0, 0, 0, 88 [SEP] 18, Tomato, -0.642, 0.817, -0.832, 0, 90, 0, 83 [SEP] 19, SoapBottle, 1.199, 0.911, -0.381, 0, 0, 0, 63 [SEP] 20, SoapBottle, 0.773, 0.911, -1.793, 0, 0, 0, 68 [SEP] 21, SaltShaker, 1.199, 0.907, 0.139, 0, 0, 0, 63 [SEP] 22, Lettuce, -1.229, 1.010, 0.144, 0, 0, 0, 62 [SEP] 23, Lettuce, 0.905, 0.940, 1.254, 0, 270, 0, 85 [SEP] 24, Bread, 0.944, 0.992, 0.139, 0, 0, 0, 63 [SEP] 25, Bread, -0.846, 1.014, -1.540, 0, 0, 0, 62 [SEP] 26, Mug, 0.966, 1.129, 1.349, 0, 270, 0, 85 [SEP] 27, Apple, -0.808, 0.830, -0.659, 0, 90, 0, 83 [SEP] 28, Statue, -1.229, 0.936, -0.118, 0, 0, 0, 62 [SEP] 29, Glassbottle, 1.101, 1.667, -2.029, 0, 270, 0, 61 [SEP] 30, Bread, 1.026, 1.482, 1.349, 0, 270, 0, 85 [SEP] 31, CreditCard, 0.794, 0.492, -0.731, 0, 270, 0, 66 [SEP] 32, CellPhone, 1.029, 0.908, -0.208, 0, 0, 0, 63 [SEP] 33, Potato, -0.808, 0.811, -0.486, 0, 90, 0, 83 [SEP] 34, Knife, -0.772, 0.957, 0.086, 0, 0, 0, 62 [SEP] 35, Fork, 1.029, 0.911, -0.555, 0, 0, 0, 63 [SEP] 36, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 56 [SEP] 37, Lettuce, -0.550, 1.010, 0.086, 0, 0, 0, 62 [SEP] 38, Plate, 0.844, 1.405, 1.158, 0, 270, 0, 85 [SEP] 39, Apple, -1.007, 0.227, 0.608, 0, 180, 0, 82 [SEP] 40, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 58 [SEP] 41, Spatula, 1.114, 0.926, -0.381, 0, 0, 0, 63 [SEP] 42, PaperTowelRoll, -1.570, 0.658, 2.874, 0, 0, 0, 88 [SEP] 43, Tomato, 0.905, 1.683, 1.349, 0, 270, 0, 85 [SEP] 44, Egg, 0.773, 0.949, -2.308, 0, 0, 0, 68 [SEP] 45, SaltShaker, 1.193, 1.662, 0.153, 0, 270, 0, 70 [SEP] 46, PepperShaker, 0.915, 0.491, -0.565, 0, 270, 0, 66 [SEP] 47, Vase, -1.292, 0.933, -0.643, 0, 0, 0, 62 [SEP] 48, ButterKnife, 0.773, 0.911, 0.313, 0, 0, 0, 63 [SEP] 49, SoapBottle, -0.865, 0.177, 0.608, 0, 180, 0, 82 [SEP] 50, Vase, -1.881, 0.555, 2.615, 0, 0, 0, 88 [SEP] 51, Bowl, 1.148, 1.669, -0.465, 0, 270, 0, 71 [SEP] 52, DishSponge, 0.793, 0.153, -0.650, 0, 270, 0, 65 [SEP] 53, Spoon, -1.241, 0.919, -1.209, 0, 0, 0, 62 [SEP] 54, Cup, 1.126, 1.792, -1.132, 0, 270, 0, 84 [SEP] 55, Mug, 0.811, 0.115, 0.374, 0, 270, 0, 57 [SEP] 56, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 57, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 58, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 59, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 60, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 61, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 62, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 63, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 64, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 65, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 66, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 67, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 68, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 69, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 70, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 71, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 72, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 73, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 74, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 75, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 76, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 77, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 78, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 79, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 80, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 81, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 82, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 83, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 84, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 85, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 86, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 87, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 88, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 89, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 90, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 91, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 92, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 93, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 94, NorthWall, , , , , , , [SEP] 95, EastWall, , , , , , , [SEP] 96, SouthWall, , , , , , , [SEP] 97, WestWall, , , , , , , ", "output": ["STEP 1: Go ahead until reach counter with coffee maker. Turn left until reach sink on left. Turn left to face sink. | STEP 2: Pick up fork from sink, behind tomato. | STEP 3: Face sink in front of you. | STEP 4: Place fork in green mug in front part of sink. | STEP 5: Pick up fork and mug from sink. | STEP 6: Turn around, face counter over dishwasher. | STEP 7: Put mug and fork on counter in front of bread. | END"]} +{"id": "trial_T20190908_112034_166152-2", "input": "Put the fork in the green cup, put the cup 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, -3.0, 0.900, -1.25, 0, 90, 0, [SEP] 1, Potato, 0.688, 0.941, -0.381, 0, 0, 0, 63 [SEP] 2, CreditCard, 0.834, 0.491, -0.607, 0, 270, 0, 66 [SEP] 3, CreditCard, -1.674, 0.878, 2.746, 0, 0, 0, 89 [SEP] 4, CellPhone, 0.875, 0.699, -0.607, 0, 270, 0, 60 [SEP] 5, CellPhone, 0.773, 0.908, -0.555, 0, 0, 0, 63 [SEP] 6, ButterKnife, 0.859, 0.911, -0.729, 0, 0, 0, 63 [SEP] 7, Glassbottle, 0.964, 0.121, 0.349, 0, 270, 0, 57 [SEP] 8, Fork, 1.114, 0.911, -0.729, 0, 0, 0, 63 [SEP] 9, Fork, -1.104, 0.934, -0.905, 0, 0, 0, 62 [SEP] 10, Fork, -0.697, 0.777, -0.745, 0, 0, 0, 83 [SEP] 11, Spatula, 0.915, 0.717, -0.731, 0, 0, 0, 60 [SEP] 12, Spatula, -0.550, 0.948, -1.463, 0, 0, 0, 62 [SEP] 13, Egg, 1.028, 1.833, -1.132, 0, 270, 0, 84 [SEP] 14, Cup, 1.026, 1.640, 1.158, 0, 270, 0, 85 [SEP] 15, Cup, -0.587, 0.777, -0.659, 0, 90, 0, 83 [SEP] 16, Plate, 0.811, 0.111, -2.132, 0, 0, 0, 67 [SEP] 17, Plate, -1.363, 0.557, 2.718, 0, 0, 0, 88 [SEP] 18, Tomato, -0.642, 0.817, -0.832, 0, 90, 0, 83 [SEP] 19, SoapBottle, 1.199, 0.911, -0.381, 0, 0, 0, 63 [SEP] 20, SoapBottle, 0.773, 0.911, -1.793, 0, 0, 0, 68 [SEP] 21, SaltShaker, 1.199, 0.907, 0.139, 0, 0, 0, 63 [SEP] 22, Lettuce, -1.229, 1.010, 0.144, 0, 0, 0, 62 [SEP] 23, Lettuce, 0.905, 0.940, 1.254, 0, 270, 0, 85 [SEP] 24, Bread, 0.944, 0.992, 0.139, 0, 0, 0, 63 [SEP] 25, Bread, -0.846, 1.014, -1.540, 0, 0, 0, 62 [SEP] 26, Mug, 0.966, 1.129, 1.349, 0, 270, 0, 85 [SEP] 27, Apple, -0.808, 0.830, -0.659, 0, 90, 0, 83 [SEP] 28, Statue, -1.229, 0.936, -0.118, 0, 0, 0, 62 [SEP] 29, Glassbottle, 1.101, 1.667, -2.029, 0, 270, 0, 61 [SEP] 30, Bread, 1.026, 1.482, 1.349, 0, 270, 0, 85 [SEP] 31, CreditCard, 0.794, 0.492, -0.731, 0, 270, 0, 66 [SEP] 32, CellPhone, 1.029, 0.908, -0.208, 0, 0, 0, 63 [SEP] 33, Potato, -0.808, 0.811, -0.486, 0, 90, 0, 83 [SEP] 34, Knife, -0.772, 0.957, 0.086, 0, 0, 0, 62 [SEP] 35, Fork, 1.029, 0.911, -0.555, 0, 0, 0, 63 [SEP] 36, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 56 [SEP] 37, Lettuce, -0.550, 1.010, 0.086, 0, 0, 0, 62 [SEP] 38, Plate, 0.844, 1.405, 1.158, 0, 270, 0, 85 [SEP] 39, Apple, -1.007, 0.227, 0.608, 0, 180, 0, 82 [SEP] 40, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 58 [SEP] 41, Spatula, 1.114, 0.926, -0.381, 0, 0, 0, 63 [SEP] 42, PaperTowelRoll, -1.570, 0.658, 2.874, 0, 0, 0, 88 [SEP] 43, Tomato, 0.905, 1.683, 1.349, 0, 270, 0, 85 [SEP] 44, Egg, 0.773, 0.949, -2.308, 0, 0, 0, 68 [SEP] 45, SaltShaker, 1.193, 1.662, 0.153, 0, 270, 0, 70 [SEP] 46, PepperShaker, 0.915, 0.491, -0.565, 0, 270, 0, 66 [SEP] 47, Vase, -1.292, 0.933, -0.643, 0, 0, 0, 62 [SEP] 48, ButterKnife, 0.773, 0.911, 0.313, 0, 0, 0, 63 [SEP] 49, SoapBottle, -0.865, 0.177, 0.608, 0, 180, 0, 82 [SEP] 50, Vase, -1.881, 0.555, 2.615, 0, 0, 0, 88 [SEP] 51, Bowl, 1.148, 1.669, -0.465, 0, 270, 0, 71 [SEP] 52, DishSponge, 0.793, 0.153, -0.650, 0, 270, 0, 65 [SEP] 53, Spoon, -1.241, 0.919, -1.209, 0, 0, 0, 62 [SEP] 54, Cup, 1.126, 1.792, -1.132, 0, 270, 0, 84 [SEP] 55, Mug, 0.811, 0.115, 0.374, 0, 270, 0, 57 [SEP] 56, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 57, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 58, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 59, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 60, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 61, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 62, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 63, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 64, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 65, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 66, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 67, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 68, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 69, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 70, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 71, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 72, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 73, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 74, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 75, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 76, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 77, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 78, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 79, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 80, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 81, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 82, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 83, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 84, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 85, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 86, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 87, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 88, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 89, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 90, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 91, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 92, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 93, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 94, NorthWall, , , , , , , [SEP] 95, EastWall, , , , , , , [SEP] 96, SouthWall, , , , , , , [SEP] 97, WestWall, , , , , , , ", "output": ["STEP 1: Turn to the right, take a couple steps, turn to the left | STEP 2: Head across the kitchen to the sink | STEP 3: Take the fork out of the sink | STEP 4: Put the fork in the green cup | STEP 5: Take the green cup out of the sink | STEP 6: Turn around, face the counter | STEP 7: Put the green cup on the counter | END"]} +{"id": "trial_T20190907_133935_066606-0", "input": "Examine a bowl 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, -0.75, 0.900, 0.5, 0, 180, 0, [SEP] 1, Bowl, -0.483, 0.861, -1.702, 0, 0, 0, 36 [SEP] 2, CD, -0.399, 0.857, -1.183, 0, 0, 0, 36 [SEP] 3, CellPhone, -1.995, 0.669, 0.721, 0, 0, 0, 47 [SEP] 4, Pen, -1.939, 1.355, 0.530, 0, 0, 0, 38 [SEP] 5, Pencil, -1.918, 0.882, 0.498, 0, 0, 0, 39 [SEP] 6, Pencil, -1.339, 1.727, 0.448, 0, 270, 0, 40 [SEP] 7, CreditCard, -0.483, 0.857, -1.356, 0, 0, 0, 36 [SEP] 8, CreditCard, -1.339, 1.350, 0.366, 0, 0, 0, 43 [SEP] 9, KeyChain, -2.235, 0.386, 0.608, 0, 90, 0, 48 [SEP] 10, Book, 0.800, 0.783, 0.787, 0, 0, 0, 27 [SEP] 11, Pillow, 1.612, 0.918, 2.524, 0, 0, 0, 27 [SEP] 12, AlarmClock, -1.179, 1.724, 0.448, 0, 0, 0, 40 [SEP] 13, Book, -0.511, 0.083, -0.692, 0, 0, 0, 35 [SEP] 14, AlarmClock, -1.224, 0.879, 0.832, 0, 0, 0, 46 [SEP] 15, BasketBall, 1.976, 0.120, 0.211, 0, 331.076, 0, [SEP] 16, Pen, -0.473, 0.089, -0.933, 0, 0, 0, 35 [SEP] 17, Laptop, 0.800, 0.781, 1.945, 0, 0, 0, 27 [SEP] 18, BaseballBat, 1.953, 0.659, -1.81, 346.388, 0, 0, [SEP] 19, Bowl, -0.483, 0.861, -0.836, 0, 0, 0, 36 [SEP] 20, Pillow, 1.003, 0.918, 1.076, 0, 0, 0, 27 [SEP] 21, KeyChain, -2.187, 0.039, 2.629, 0, 180, 0, 51 [SEP] 22, CreditCard, -1.914, 0.104, 0.683, 0, 0, 0, 49 [SEP] 23, CellPhone, -2.240, 0.040, 2.522, 0, 180, 0, 51 [SEP] 24, CD, -0.651, 0.857, -0.836, 0, 0, 0, 36 [SEP] 25, Pencil, -1.834, 1.727, 0.489, 0, 0, 0, 41 [SEP] 26, Mug, -1.744, 0.876, 0.832, 0, 0, 0, 46 [SEP] 27, Bed, 1.227, -0.002, 1.664, 0, 0, 0, [SEP] 28, LightSwitch, 2.151, 1.233, -0.518, 0, 270, 0, [SEP] 29, GarbageCan, -0.747, 0.014, -0.327, 0, 0, 0, [SEP] 30, Mirror, -1.358, 1.427, 2.855, 0, 0, 0, [SEP] 31, DeskLamp, -2.296, 0.858, 0.750, 0, 0, 0, [SEP] 32, Window, -0.421, 1.534, -1.947, 90, 0, 0, [SEP] 33, Window, 0.579, 1.534, -1.947, 90, 0, 0, [SEP] 34, Drawer, -0.491, 0.739, -0.855, 0, 90, 0, [SEP] 35, Drawer, -0.491, 0.204, -0.855, 0, 90, 0, [SEP] 36, Desk, -0.639, 0.009, -1.187, 0, 90, 0, [SEP] 37, Drawer, -0.491, 0.487, -0.855, 0, 90, 0, [SEP] 38, Shelf, -1.965, 1.514, 0.416, 0, 0, 0, [SEP] 39, Shelf, -1.965, 1.092, 0.416, 0, 0, 0, [SEP] 40, Shelf, -1.312, 1.888, 0.416, 0, 0, 0, [SEP] 41, Shelf, -1.965, 1.888, 0.416, 0, 0, 0, [SEP] 42, Shelf, -1.312, 1.092, 0.416, 0, 0, 0, [SEP] 43, Shelf, -1.312, 1.514, 0.416, 0, 0, 0, [SEP] 44, Blinds, 0.601, 2.161, -1.916, 0, 0, 0, [SEP] 45, Blinds, -0.402, 2.161, -1.916, 0, 0, 0, [SEP] 46, Desk, -1.726, 0.001, 0.575, 0, 0, 0, [SEP] 47, Drawer, -2.058, 0.733, 0.734, 0, 0, 0, [SEP] 48, Drawer, -2.058, 0.482, 0.734, 0, 0, 0, [SEP] 49, Drawer, -2.058, 0.198, 0.735, 0, 0, 0, [SEP] 50, Chair, -0.137, 0.000, -1.587, 0, 315, 0, [SEP] 51, Safe, -2.183, -7.748, 2.576, 0, 180, 0, [SEP] 52, Chair, -1.433, 0.009, 0.780, 357.672, 206.726, 0, [SEP] 53, LaundryHamper, 0.163, 0.003, 2.635, 0, 86.390, 0, [SEP] 54, NorthWall, , , , , , , [SEP] 55, EastWall, , , , , , , [SEP] 56, SouthWall, , , , , , , [SEP] 57, WestWall, , , , , , , ", "output": ["STEP 1: Walk to the left side of the desk in front of you. | STEP 2: Pick up the bowl from the desk. | STEP 3: Turn right and walk in front of the lamp that is on the desk to the left of the bed. | STEP 4: Turn on the lamp. | END"]} +{"id": "trial_T20190907_133935_066606-1", "input": "Turn on the lamp while holding a bowl. 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, Bowl, -0.483, 0.861, -1.702, 0, 0, 0, 36 [SEP] 2, CD, -0.399, 0.857, -1.183, 0, 0, 0, 36 [SEP] 3, CellPhone, -1.995, 0.669, 0.721, 0, 0, 0, 47 [SEP] 4, Pen, -1.939, 1.355, 0.530, 0, 0, 0, 38 [SEP] 5, Pencil, -1.918, 0.882, 0.498, 0, 0, 0, 39 [SEP] 6, Pencil, -1.339, 1.727, 0.448, 0, 270, 0, 40 [SEP] 7, CreditCard, -0.483, 0.857, -1.356, 0, 0, 0, 36 [SEP] 8, CreditCard, -1.339, 1.350, 0.366, 0, 0, 0, 43 [SEP] 9, KeyChain, -2.235, 0.386, 0.608, 0, 90, 0, 48 [SEP] 10, Book, 0.800, 0.783, 0.787, 0, 0, 0, 27 [SEP] 11, Pillow, 1.612, 0.918, 2.524, 0, 0, 0, 27 [SEP] 12, AlarmClock, -1.179, 1.724, 0.448, 0, 0, 0, 40 [SEP] 13, Book, -0.511, 0.083, -0.692, 0, 0, 0, 35 [SEP] 14, AlarmClock, -1.224, 0.879, 0.832, 0, 0, 0, 46 [SEP] 15, BasketBall, 1.976, 0.120, 0.211, 0, 331.076, 0, [SEP] 16, Pen, -0.473, 0.089, -0.933, 0, 0, 0, 35 [SEP] 17, Laptop, 0.800, 0.781, 1.945, 0, 0, 0, 27 [SEP] 18, BaseballBat, 1.953, 0.659, -1.81, 346.388, 0, 0, [SEP] 19, Bowl, -0.483, 0.861, -0.836, 0, 0, 0, 36 [SEP] 20, Pillow, 1.003, 0.918, 1.076, 0, 0, 0, 27 [SEP] 21, KeyChain, -2.187, 0.039, 2.629, 0, 180, 0, 51 [SEP] 22, CreditCard, -1.914, 0.104, 0.683, 0, 0, 0, 49 [SEP] 23, CellPhone, -2.240, 0.040, 2.522, 0, 180, 0, 51 [SEP] 24, CD, -0.651, 0.857, -0.836, 0, 0, 0, 36 [SEP] 25, Pencil, -1.834, 1.727, 0.489, 0, 0, 0, 41 [SEP] 26, Mug, -1.744, 0.876, 0.832, 0, 0, 0, 46 [SEP] 27, Bed, 1.227, -0.002, 1.664, 0, 0, 0, [SEP] 28, LightSwitch, 2.151, 1.233, -0.518, 0, 270, 0, [SEP] 29, GarbageCan, -0.747, 0.014, -0.327, 0, 0, 0, [SEP] 30, Mirror, -1.358, 1.427, 2.855, 0, 0, 0, [SEP] 31, DeskLamp, -2.296, 0.858, 0.750, 0, 0, 0, [SEP] 32, Window, -0.421, 1.534, -1.947, 90, 0, 0, [SEP] 33, Window, 0.579, 1.534, -1.947, 90, 0, 0, [SEP] 34, Drawer, -0.491, 0.739, -0.855, 0, 90, 0, [SEP] 35, Drawer, -0.491, 0.204, -0.855, 0, 90, 0, [SEP] 36, Desk, -0.639, 0.009, -1.187, 0, 90, 0, [SEP] 37, Drawer, -0.491, 0.487, -0.855, 0, 90, 0, [SEP] 38, Shelf, -1.965, 1.514, 0.416, 0, 0, 0, [SEP] 39, Shelf, -1.965, 1.092, 0.416, 0, 0, 0, [SEP] 40, Shelf, -1.312, 1.888, 0.416, 0, 0, 0, [SEP] 41, Shelf, -1.965, 1.888, 0.416, 0, 0, 0, [SEP] 42, Shelf, -1.312, 1.092, 0.416, 0, 0, 0, [SEP] 43, Shelf, -1.312, 1.514, 0.416, 0, 0, 0, [SEP] 44, Blinds, 0.601, 2.161, -1.916, 0, 0, 0, [SEP] 45, Blinds, -0.402, 2.161, -1.916, 0, 0, 0, [SEP] 46, Desk, -1.726, 0.001, 0.575, 0, 0, 0, [SEP] 47, Drawer, -2.058, 0.733, 0.734, 0, 0, 0, [SEP] 48, Drawer, -2.058, 0.482, 0.734, 0, 0, 0, [SEP] 49, Drawer, -2.058, 0.198, 0.735, 0, 0, 0, [SEP] 50, Chair, -0.137, 0.000, -1.587, 0, 315, 0, [SEP] 51, Safe, -2.183, -7.748, 2.576, 0, 180, 0, [SEP] 52, Chair, -1.433, 0.009, 0.780, 357.672, 206.726, 0, [SEP] 53, LaundryHamper, 0.163, 0.003, 2.635, 0, 86.390, 0, [SEP] 54, NorthWall, , , , , , , [SEP] 55, EastWall, , , , , , , [SEP] 56, SouthWall, , , , , , , [SEP] 57, WestWall, , , , , , , ", "output": ["STEP 1: Walk around to the front of the desk by the chair. | STEP 2: Pick up the bowl that is closest to the window. | STEP 3: Turn right and walk towards the bed, turn left and walk to the other desk, then turn to face it. | STEP 4: Turn on the lamp on the desk. | END"]} +{"id": "trial_T20190907_133935_066606-2", "input": "Examine a bowl 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, -0.75, 0.900, 0.5, 0, 180, 0, [SEP] 1, Bowl, -0.483, 0.861, -1.702, 0, 0, 0, 36 [SEP] 2, CD, -0.399, 0.857, -1.183, 0, 0, 0, 36 [SEP] 3, CellPhone, -1.995, 0.669, 0.721, 0, 0, 0, 47 [SEP] 4, Pen, -1.939, 1.355, 0.530, 0, 0, 0, 38 [SEP] 5, Pencil, -1.918, 0.882, 0.498, 0, 0, 0, 39 [SEP] 6, Pencil, -1.339, 1.727, 0.448, 0, 270, 0, 40 [SEP] 7, CreditCard, -0.483, 0.857, -1.356, 0, 0, 0, 36 [SEP] 8, CreditCard, -1.339, 1.350, 0.366, 0, 0, 0, 43 [SEP] 9, KeyChain, -2.235, 0.386, 0.608, 0, 90, 0, 48 [SEP] 10, Book, 0.800, 0.783, 0.787, 0, 0, 0, 27 [SEP] 11, Pillow, 1.612, 0.918, 2.524, 0, 0, 0, 27 [SEP] 12, AlarmClock, -1.179, 1.724, 0.448, 0, 0, 0, 40 [SEP] 13, Book, -0.511, 0.083, -0.692, 0, 0, 0, 35 [SEP] 14, AlarmClock, -1.224, 0.879, 0.832, 0, 0, 0, 46 [SEP] 15, BasketBall, 1.976, 0.120, 0.211, 0, 331.076, 0, [SEP] 16, Pen, -0.473, 0.089, -0.933, 0, 0, 0, 35 [SEP] 17, Laptop, 0.800, 0.781, 1.945, 0, 0, 0, 27 [SEP] 18, BaseballBat, 1.953, 0.659, -1.81, 346.388, 0, 0, [SEP] 19, Bowl, -0.483, 0.861, -0.836, 0, 0, 0, 36 [SEP] 20, Pillow, 1.003, 0.918, 1.076, 0, 0, 0, 27 [SEP] 21, KeyChain, -2.187, 0.039, 2.629, 0, 180, 0, 51 [SEP] 22, CreditCard, -1.914, 0.104, 0.683, 0, 0, 0, 49 [SEP] 23, CellPhone, -2.240, 0.040, 2.522, 0, 180, 0, 51 [SEP] 24, CD, -0.651, 0.857, -0.836, 0, 0, 0, 36 [SEP] 25, Pencil, -1.834, 1.727, 0.489, 0, 0, 0, 41 [SEP] 26, Mug, -1.744, 0.876, 0.832, 0, 0, 0, 46 [SEP] 27, Bed, 1.227, -0.002, 1.664, 0, 0, 0, [SEP] 28, LightSwitch, 2.151, 1.233, -0.518, 0, 270, 0, [SEP] 29, GarbageCan, -0.747, 0.014, -0.327, 0, 0, 0, [SEP] 30, Mirror, -1.358, 1.427, 2.855, 0, 0, 0, [SEP] 31, DeskLamp, -2.296, 0.858, 0.750, 0, 0, 0, [SEP] 32, Window, -0.421, 1.534, -1.947, 90, 0, 0, [SEP] 33, Window, 0.579, 1.534, -1.947, 90, 0, 0, [SEP] 34, Drawer, -0.491, 0.739, -0.855, 0, 90, 0, [SEP] 35, Drawer, -0.491, 0.204, -0.855, 0, 90, 0, [SEP] 36, Desk, -0.639, 0.009, -1.187, 0, 90, 0, [SEP] 37, Drawer, -0.491, 0.487, -0.855, 0, 90, 0, [SEP] 38, Shelf, -1.965, 1.514, 0.416, 0, 0, 0, [SEP] 39, Shelf, -1.965, 1.092, 0.416, 0, 0, 0, [SEP] 40, Shelf, -1.312, 1.888, 0.416, 0, 0, 0, [SEP] 41, Shelf, -1.965, 1.888, 0.416, 0, 0, 0, [SEP] 42, Shelf, -1.312, 1.092, 0.416, 0, 0, 0, [SEP] 43, Shelf, -1.312, 1.514, 0.416, 0, 0, 0, [SEP] 44, Blinds, 0.601, 2.161, -1.916, 0, 0, 0, [SEP] 45, Blinds, -0.402, 2.161, -1.916, 0, 0, 0, [SEP] 46, Desk, -1.726, 0.001, 0.575, 0, 0, 0, [SEP] 47, Drawer, -2.058, 0.733, 0.734, 0, 0, 0, [SEP] 48, Drawer, -2.058, 0.482, 0.734, 0, 0, 0, [SEP] 49, Drawer, -2.058, 0.198, 0.735, 0, 0, 0, [SEP] 50, Chair, -0.137, 0.000, -1.587, 0, 315, 0, [SEP] 51, Safe, -2.183, -7.748, 2.576, 0, 180, 0, [SEP] 52, Chair, -1.433, 0.009, 0.780, 357.672, 206.726, 0, [SEP] 53, LaundryHamper, 0.163, 0.003, 2.635, 0, 86.390, 0, [SEP] 54, NorthWall, , , , , , , [SEP] 55, EastWall, , , , , , , [SEP] 56, SouthWall, , , , , , , [SEP] 57, WestWall, , , , , , , ", "output": ["STEP 1: Walk to the window and face the desk. | STEP 2: Pick up the bowl on the desk. | STEP 3: Walk to the second desk on the other side of the room. | STEP 4: Turn on the lamp. | END"]} +{"id": "trial_T20190907_040233_171346-0", "input": "Place chilled lettuce into a sink SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.75, 0.900, 2.5, 0, 180, 0, [SEP] 1, Statue, -0.846, 0.936, -1.231, 0, 0, 0, 56 [SEP] 2, Vase, 0.944, 0.912, -0.555, 0, 0, 0, 57 [SEP] 3, CreditCard, 0.859, 0.908, -0.208, 0, 0, 0, 57 [SEP] 4, CreditCard, -1.778, 0.551, 2.770, 0, 0, 0, 82 [SEP] 5, DishSponge, 1.082, 2.207, -1.299, 0, 270, 0, 63 [SEP] 6, Spoon, -0.698, 0.934, -1.386, 0, 0, 0, 56 [SEP] 7, Spoon, -0.772, 0.934, -1.540, 0, 0, 0, 56 [SEP] 8, Spatula, -1.104, 0.948, -0.380, 0, 0, 0, 56 [SEP] 9, Spatula, 0.944, 0.926, -0.208, 0, 0, 0, 57 [SEP] 10, Egg, 0.995, 1.833, -1.339, 0, 270, 0, 78 [SEP] 11, Egg, 1.026, 1.680, 1.540, 0, 270, 0, 79 [SEP] 12, Cup, -1.355, 0.930, -1.167, 0, 0, 0, 56 [SEP] 13, Cup, -1.363, 0.551, 2.615, 0, 0, 0, 82 [SEP] 14, Plate, -0.753, 0.783, -0.659, 0, 90, 0, 77 [SEP] 15, Tomato, 0.688, 0.952, 0.139, 0, 0, 0, 57 [SEP] 16, SoapBottle, -0.477, 0.933, 0.239, 0, 0, 0, 56 [SEP] 17, SoapBottle, -0.912, 0.179, 0.576, 0, 180, 0, 76 [SEP] 18, Bowl, 1.026, 0.866, 0.967, 0, 270, 0, 79 [SEP] 19, PepperShaker, 0.956, 0.698, -0.731, 0, 270, 0, 54 [SEP] 20, PepperShaker, 0.915, 0.490, -0.648, 0, 270, 0, 60 [SEP] 21, Lettuce, -1.229, 1.010, -0.118, 0, 0, 0, 56 [SEP] 22, Statue, -1.167, 0.936, -0.643, 0, 0, 0, 56 [SEP] 23, Glassbottle, -1.570, 0.554, 2.667, 0, 0, 0, 82 [SEP] 24, Bread, 0.905, 0.944, 1.349, 0, 270, 0, 79 [SEP] 25, CreditCard, 0.773, 0.908, -0.729, 0, 0, 0, 57 [SEP] 26, CellPhone, -0.550, 0.930, -1.231, 0, 0, 0, 56 [SEP] 27, Potato, 0.905, 1.673, 1.540, 0, 270, 0, 79 [SEP] 28, Knife, -1.167, 0.957, 0.144, 0, 90, 0, 56 [SEP] 29, Fork, -0.624, 0.934, -1.618, 0, 0, 0, 56 [SEP] 30, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 50 [SEP] 31, Lettuce, 1.029, 0.988, 0.139, 0, 0, 0, 57 [SEP] 32, Plate, 0.966, 1.405, 1.349, 0, 270, 0, 79 [SEP] 33, Apple, 0.944, 0.961, -1.879, 0, 0, 0, 62 [SEP] 34, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 52 [SEP] 35, Spatula, -0.846, 0.948, 0.009, 0, 270, 0, 56 [SEP] 36, PaperTowelRoll, -0.818, 0.281, 0.575, 0, 270, 0, 76 [SEP] 37, Tomato, -1.054, 0.217, 0.576, 0, 180, 0, 76 [SEP] 38, Egg, -0.808, 0.818, -0.832, 0, 90, 0, 77 [SEP] 39, SaltShaker, 0.944, 0.907, -0.729, 0, 0, 0, 57 [SEP] 40, PepperShaker, 0.773, 0.907, -1.879, 0, 0, 0, 62 [SEP] 41, Vase, 1.193, 1.666, 0.280, 0, 270, 0, 64 [SEP] 42, ButterKnife, -0.550, 0.933, -1.308, 0, 0, 0, 56 [SEP] 43, SoapBottle, 0.964, 0.121, 0.374, 0, 270, 0, 51 [SEP] 44, Vase, 1.114, 0.912, -0.381, 0, 0, 0, 57 [SEP] 45, Bowl, 0.905, 1.138, 1.349, 0, 270, 0, 79 [SEP] 46, DishSponge, -1.355, 0.933, -0.118, 0, 0, 0, 56 [SEP] 47, Spoon, 0.875, 0.495, -0.607, 0, 90, 0, 60 [SEP] 48, Cup, 0.710, 0.118, 0.349, 0, 270, 0, 51 [SEP] 49, Mug, 1.194, 1.661, -0.529, 0, 270, 0, 65 [SEP] 50, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 51, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 52, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 53, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 54, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 55, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 56, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 57, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 58, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 59, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 60, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 61, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 62, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 63, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 64, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 65, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 66, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 67, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 68, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 69, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 70, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 71, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 72, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 73, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 74, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 75, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 76, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 77, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 78, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 79, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 80, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 81, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 82, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 83, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 84, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 85, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 86, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 87, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 88, NorthWall, , , , , , , [SEP] 89, EastWall, , , , , , , [SEP] 90, SouthWall, , , , , , , [SEP] 91, WestWall, , , , , , , ", "output": ["STEP 1: Turn to your right and step forward then turn left and and walk to the counter that is on your left past the fridge | STEP 2: Pick up the lettuce that is sitting on the counter | STEP 3: Turn around and take a step from the counter then turn right and walk to the fridge that is on your right. | STEP 4: Open the fridge and place the lettuce on the middle shelf then close the door. Open the fridge and pick up the lettuce from the middle shelf | STEP 5: Turn left and walk to the sink on your right | STEP 6: Place the lettuce into the sink | END"]} +{"id": "trial_T20190907_040233_171346-1", "input": "Place the cooled 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, 0.75, 0.900, 2.5, 0, 180, 0, [SEP] 1, Statue, -0.846, 0.936, -1.231, 0, 0, 0, 56 [SEP] 2, Vase, 0.944, 0.912, -0.555, 0, 0, 0, 57 [SEP] 3, CreditCard, 0.859, 0.908, -0.208, 0, 0, 0, 57 [SEP] 4, CreditCard, -1.778, 0.551, 2.770, 0, 0, 0, 82 [SEP] 5, DishSponge, 1.082, 2.207, -1.299, 0, 270, 0, 63 [SEP] 6, Spoon, -0.698, 0.934, -1.386, 0, 0, 0, 56 [SEP] 7, Spoon, -0.772, 0.934, -1.540, 0, 0, 0, 56 [SEP] 8, Spatula, -1.104, 0.948, -0.380, 0, 0, 0, 56 [SEP] 9, Spatula, 0.944, 0.926, -0.208, 0, 0, 0, 57 [SEP] 10, Egg, 0.995, 1.833, -1.339, 0, 270, 0, 78 [SEP] 11, Egg, 1.026, 1.680, 1.540, 0, 270, 0, 79 [SEP] 12, Cup, -1.355, 0.930, -1.167, 0, 0, 0, 56 [SEP] 13, Cup, -1.363, 0.551, 2.615, 0, 0, 0, 82 [SEP] 14, Plate, -0.753, 0.783, -0.659, 0, 90, 0, 77 [SEP] 15, Tomato, 0.688, 0.952, 0.139, 0, 0, 0, 57 [SEP] 16, SoapBottle, -0.477, 0.933, 0.239, 0, 0, 0, 56 [SEP] 17, SoapBottle, -0.912, 0.179, 0.576, 0, 180, 0, 76 [SEP] 18, Bowl, 1.026, 0.866, 0.967, 0, 270, 0, 79 [SEP] 19, PepperShaker, 0.956, 0.698, -0.731, 0, 270, 0, 54 [SEP] 20, PepperShaker, 0.915, 0.490, -0.648, 0, 270, 0, 60 [SEP] 21, Lettuce, -1.229, 1.010, -0.118, 0, 0, 0, 56 [SEP] 22, Statue, -1.167, 0.936, -0.643, 0, 0, 0, 56 [SEP] 23, Glassbottle, -1.570, 0.554, 2.667, 0, 0, 0, 82 [SEP] 24, Bread, 0.905, 0.944, 1.349, 0, 270, 0, 79 [SEP] 25, CreditCard, 0.773, 0.908, -0.729, 0, 0, 0, 57 [SEP] 26, CellPhone, -0.550, 0.930, -1.231, 0, 0, 0, 56 [SEP] 27, Potato, 0.905, 1.673, 1.540, 0, 270, 0, 79 [SEP] 28, Knife, -1.167, 0.957, 0.144, 0, 90, 0, 56 [SEP] 29, Fork, -0.624, 0.934, -1.618, 0, 0, 0, 56 [SEP] 30, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 50 [SEP] 31, Lettuce, 1.029, 0.988, 0.139, 0, 0, 0, 57 [SEP] 32, Plate, 0.966, 1.405, 1.349, 0, 270, 0, 79 [SEP] 33, Apple, 0.944, 0.961, -1.879, 0, 0, 0, 62 [SEP] 34, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 52 [SEP] 35, Spatula, -0.846, 0.948, 0.009, 0, 270, 0, 56 [SEP] 36, PaperTowelRoll, -0.818, 0.281, 0.575, 0, 270, 0, 76 [SEP] 37, Tomato, -1.054, 0.217, 0.576, 0, 180, 0, 76 [SEP] 38, Egg, -0.808, 0.818, -0.832, 0, 90, 0, 77 [SEP] 39, SaltShaker, 0.944, 0.907, -0.729, 0, 0, 0, 57 [SEP] 40, PepperShaker, 0.773, 0.907, -1.879, 0, 0, 0, 62 [SEP] 41, Vase, 1.193, 1.666, 0.280, 0, 270, 0, 64 [SEP] 42, ButterKnife, -0.550, 0.933, -1.308, 0, 0, 0, 56 [SEP] 43, SoapBottle, 0.964, 0.121, 0.374, 0, 270, 0, 51 [SEP] 44, Vase, 1.114, 0.912, -0.381, 0, 0, 0, 57 [SEP] 45, Bowl, 0.905, 1.138, 1.349, 0, 270, 0, 79 [SEP] 46, DishSponge, -1.355, 0.933, -0.118, 0, 0, 0, 56 [SEP] 47, Spoon, 0.875, 0.495, -0.607, 0, 90, 0, 60 [SEP] 48, Cup, 0.710, 0.118, 0.349, 0, 270, 0, 51 [SEP] 49, Mug, 1.194, 1.661, -0.529, 0, 270, 0, 65 [SEP] 50, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 51, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 52, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 53, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 54, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 55, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 56, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 57, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 58, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 59, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 60, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 61, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 62, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 63, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 64, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 65, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 66, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 67, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 68, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 69, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 70, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 71, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 72, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 73, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 74, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 75, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 76, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 77, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 78, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 79, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 80, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 81, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 82, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 83, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 84, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 85, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 86, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 87, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 88, NorthWall, , , , , , , [SEP] 89, EastWall, , , , , , , [SEP] 90, SouthWall, , , , , , , [SEP] 91, WestWall, , , , , , , ", "output": ["STEP 1: Turn right, take several steps, and then turn left to find the toaster on the counter to your left. | STEP 2: Pick up the lettuce next to the toaster. | STEP 3: Take a step to the left to face the fridge. | STEP 4: Place the lettuce in the fridge, let it cool, and take it back out. | STEP 5: Turn right and walk towards the sink on your right. | STEP 6: Place the lettuce in the sink. | END"]} +{"id": "trial_T20190907_040233_171346-2", "input": "Put chilled 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, 0.75, 0.900, 2.5, 0, 180, 0, [SEP] 1, Statue, -0.846, 0.936, -1.231, 0, 0, 0, 56 [SEP] 2, Vase, 0.944, 0.912, -0.555, 0, 0, 0, 57 [SEP] 3, CreditCard, 0.859, 0.908, -0.208, 0, 0, 0, 57 [SEP] 4, CreditCard, -1.778, 0.551, 2.770, 0, 0, 0, 82 [SEP] 5, DishSponge, 1.082, 2.207, -1.299, 0, 270, 0, 63 [SEP] 6, Spoon, -0.698, 0.934, -1.386, 0, 0, 0, 56 [SEP] 7, Spoon, -0.772, 0.934, -1.540, 0, 0, 0, 56 [SEP] 8, Spatula, -1.104, 0.948, -0.380, 0, 0, 0, 56 [SEP] 9, Spatula, 0.944, 0.926, -0.208, 0, 0, 0, 57 [SEP] 10, Egg, 0.995, 1.833, -1.339, 0, 270, 0, 78 [SEP] 11, Egg, 1.026, 1.680, 1.540, 0, 270, 0, 79 [SEP] 12, Cup, -1.355, 0.930, -1.167, 0, 0, 0, 56 [SEP] 13, Cup, -1.363, 0.551, 2.615, 0, 0, 0, 82 [SEP] 14, Plate, -0.753, 0.783, -0.659, 0, 90, 0, 77 [SEP] 15, Tomato, 0.688, 0.952, 0.139, 0, 0, 0, 57 [SEP] 16, SoapBottle, -0.477, 0.933, 0.239, 0, 0, 0, 56 [SEP] 17, SoapBottle, -0.912, 0.179, 0.576, 0, 180, 0, 76 [SEP] 18, Bowl, 1.026, 0.866, 0.967, 0, 270, 0, 79 [SEP] 19, PepperShaker, 0.956, 0.698, -0.731, 0, 270, 0, 54 [SEP] 20, PepperShaker, 0.915, 0.490, -0.648, 0, 270, 0, 60 [SEP] 21, Lettuce, -1.229, 1.010, -0.118, 0, 0, 0, 56 [SEP] 22, Statue, -1.167, 0.936, -0.643, 0, 0, 0, 56 [SEP] 23, Glassbottle, -1.570, 0.554, 2.667, 0, 0, 0, 82 [SEP] 24, Bread, 0.905, 0.944, 1.349, 0, 270, 0, 79 [SEP] 25, CreditCard, 0.773, 0.908, -0.729, 0, 0, 0, 57 [SEP] 26, CellPhone, -0.550, 0.930, -1.231, 0, 0, 0, 56 [SEP] 27, Potato, 0.905, 1.673, 1.540, 0, 270, 0, 79 [SEP] 28, Knife, -1.167, 0.957, 0.144, 0, 90, 0, 56 [SEP] 29, Fork, -0.624, 0.934, -1.618, 0, 0, 0, 56 [SEP] 30, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 50 [SEP] 31, Lettuce, 1.029, 0.988, 0.139, 0, 0, 0, 57 [SEP] 32, Plate, 0.966, 1.405, 1.349, 0, 270, 0, 79 [SEP] 33, Apple, 0.944, 0.961, -1.879, 0, 0, 0, 62 [SEP] 34, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 52 [SEP] 35, Spatula, -0.846, 0.948, 0.009, 0, 270, 0, 56 [SEP] 36, PaperTowelRoll, -0.818, 0.281, 0.575, 0, 270, 0, 76 [SEP] 37, Tomato, -1.054, 0.217, 0.576, 0, 180, 0, 76 [SEP] 38, Egg, -0.808, 0.818, -0.832, 0, 90, 0, 77 [SEP] 39, SaltShaker, 0.944, 0.907, -0.729, 0, 0, 0, 57 [SEP] 40, PepperShaker, 0.773, 0.907, -1.879, 0, 0, 0, 62 [SEP] 41, Vase, 1.193, 1.666, 0.280, 0, 270, 0, 64 [SEP] 42, ButterKnife, -0.550, 0.933, -1.308, 0, 0, 0, 56 [SEP] 43, SoapBottle, 0.964, 0.121, 0.374, 0, 270, 0, 51 [SEP] 44, Vase, 1.114, 0.912, -0.381, 0, 0, 0, 57 [SEP] 45, Bowl, 0.905, 1.138, 1.349, 0, 270, 0, 79 [SEP] 46, DishSponge, -1.355, 0.933, -0.118, 0, 0, 0, 56 [SEP] 47, Spoon, 0.875, 0.495, -0.607, 0, 90, 0, 60 [SEP] 48, Cup, 0.710, 0.118, 0.349, 0, 270, 0, 51 [SEP] 49, Mug, 1.194, 1.661, -0.529, 0, 270, 0, 65 [SEP] 50, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 51, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 52, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 53, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 54, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 55, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 56, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 57, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 58, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 59, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 60, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 61, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 62, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 63, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 64, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 65, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 66, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 67, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 68, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 69, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 70, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 71, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 72, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 73, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 74, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 75, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 76, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 77, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 78, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 79, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 80, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 81, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 82, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 83, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 84, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 85, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 86, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 87, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 88, NorthWall, , , , , , , [SEP] 89, EastWall, , , , , , , [SEP] 90, SouthWall, , , , , , , [SEP] 91, WestWall, , , , , , , ", "output": ["STEP 1: Go to the left around the fridge and head to the counter right of the fridge. | STEP 2: Pick up the lettuce on the counter. | STEP 3: Bring the lettuce to the fridge on the left. | STEP 4: Chill the lettuce in the fridge. | STEP 5: Head right with the chilled lettuce and go to the sink on the right. | STEP 6: Put the chilled lettuce in the sink. | END"]} +{"id": "trial_T20190908_215019_162873-0", "input": "put a rinse off bar of soap in 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, -1.0, 0.901, 2.0, 0, 180, 0, [SEP] 1, SprayBottle, -2.202, 0.018, 3.807, 0, 0, 0, 34 [SEP] 2, SprayBottle, -0.141, 0.955, 2.913, 0, 0, 0, 25 [SEP] 3, Candle, -0.079, 0.954, 2.948, 0, 0, 0, 25 [SEP] 4, Candle, -0.381, 0.075, 2.112, 0, 0, 0, 27 [SEP] 5, SoapBottle, -0.330, 0.076, 2.247, 0, 0, 0, 27 [SEP] 6, SoapBottle, -0.326, 0.955, 2.737, 0, 0, 0, 25 [SEP] 7, HandTowel, -0.038, 1.619, 3.799, 0, 90, 0, 32 [SEP] 8, HandTowel, -0.038, 1.619, 1.887, 0, 90, 0, 31 [SEP] 9, Towel, -1.082, 1.326, 1.302, 0, 0, 0, 28 [SEP] 10, SoapBar, -0.051, 0.953, 1.669, 0, 0, 0, 33 [SEP] 11, ToiletPaper, -0.141, 0.951, 2.772, 0, 0, 0, 25 [SEP] 12, Plunger, -0.112, -0.000, 1.848, 0, 0, 0, [SEP] 13, Candle, -0.450, 0.954, 2.807, 0, 0, 0, 25 [SEP] 14, ToiletPaper, -0.280, 0.654, 1.985, 0, 180, 90, 30 [SEP] 15, SprayBottle, -0.077, 0.954, 1.544, 0, 0, 0, 33 [SEP] 16, Cloth, -0.279, 0.075, 3.100, 0, 0, 0, 21 [SEP] 17, ScrubBrush, -0.322, 3.109, 1.950, 0, 0, 0, [SEP] 18, SoapBottle, -0.331, 0.077, 3.462, 0, 0, 0, 26 [SEP] 19, Mirror, -0.030, 1.544, 2.864, 0, 0, 0, [SEP] 20, Sink, -0.302, 0.799, 3.263, 0, 270, 0, [SEP] 21, Cabinet, -0.491, 0.404, 2.863, 0, 0, 0, [SEP] 22, Cabinet, -0.495, 0.384, 2.842, 0, 0, 0, [SEP] 23, ShowerDoor, -1.647, 1.017, 1.180, 0, 0, 0, [SEP] 24, ShowerGlass, -0.909, 0.788, 0.485, 0, 0, 0, [SEP] 25, CounterTop, -0.261, 0.927, 2.843, 0, 0, 0, [SEP] 26, Cabinet, -0.495, 0.384, 3.650, 0, 0, 0, [SEP] 27, Cabinet, -0.491, 0.404, 2.055, 0, 0, 0, [SEP] 28, TowelHolder, -1.082, 1.312, 1.195, 0, 0, 0, [SEP] 29, LightSwitch, -2.424, 1.447, 3.338, 0, 90, 0, [SEP] 30, ToiletPaperHanger, -0.266, 0.786, 2.043, 0, 180, 0, [SEP] 31, HandTowelHolder, 0.000, 1.721, 1.887, 0, 180, 0, [SEP] 32, HandTowelHolder, 0.000, 1.721, 3.799, 0, 180, 0, [SEP] 33, Toilet, -0.542, 3.109, 1.493, 0, 270, 0, [SEP] 34, GarbageCan, -2.159, -0.000, 3.756, 0, 0, 0, [SEP] 35, SinkBasin, -0.308, 0.820, 3.266, 0, 0, 0, [SEP] 36, ShowerHead, -0.134, 1.888, 0.564, 0, 90, 0, [SEP] 37, Faucet, 0.0, 1.009, 3.265, 0, 0, 0, [SEP] 38, Faucet, 0.0, 1.009, 2.421, 0, 0, 0, [SEP] 39, SinkBasin, -0.308, 0.820, 2.422, 0, 0, 0, [SEP] 40, Sink, -0.302, 0.799, 2.419, 0, 270, 0, [SEP] 41, NorthWall, , , , , , , [SEP] 42, SouthWall, , , , , , , [SEP] 43, SouthWall, , , , , , , ", "output": ["STEP 1: turn to the left to face the toilet | STEP 2: pick up the bar of soap from the back of the toilet | STEP 3: move to the left to face the sink to the left of the toilet | STEP 4: put the bar of soap in to the sink, turn on the faucet to rinse off the soap, pick up the soap out of the sink | STEP 5: move back slightly from the sink | STEP 6: open the left cabinet door below the sink on the right, put the bar of soap in to the cabinet and close the door | END"]} +{"id": "trial_T20190908_215019_162873-1", "input": "Put a clean bar of soap 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, 2.0, 0, 180, 0, [SEP] 1, SprayBottle, -2.202, 0.018, 3.807, 0, 0, 0, 34 [SEP] 2, SprayBottle, -0.141, 0.955, 2.913, 0, 0, 0, 25 [SEP] 3, Candle, -0.079, 0.954, 2.948, 0, 0, 0, 25 [SEP] 4, Candle, -0.381, 0.075, 2.112, 0, 0, 0, 27 [SEP] 5, SoapBottle, -0.330, 0.076, 2.247, 0, 0, 0, 27 [SEP] 6, SoapBottle, -0.326, 0.955, 2.737, 0, 0, 0, 25 [SEP] 7, HandTowel, -0.038, 1.619, 3.799, 0, 90, 0, 32 [SEP] 8, HandTowel, -0.038, 1.619, 1.887, 0, 90, 0, 31 [SEP] 9, Towel, -1.082, 1.326, 1.302, 0, 0, 0, 28 [SEP] 10, SoapBar, -0.051, 0.953, 1.669, 0, 0, 0, 33 [SEP] 11, ToiletPaper, -0.141, 0.951, 2.772, 0, 0, 0, 25 [SEP] 12, Plunger, -0.112, -0.000, 1.848, 0, 0, 0, [SEP] 13, Candle, -0.450, 0.954, 2.807, 0, 0, 0, 25 [SEP] 14, ToiletPaper, -0.280, 0.654, 1.985, 0, 180, 90, 30 [SEP] 15, SprayBottle, -0.077, 0.954, 1.544, 0, 0, 0, 33 [SEP] 16, Cloth, -0.279, 0.075, 3.100, 0, 0, 0, 21 [SEP] 17, ScrubBrush, -0.322, 3.109, 1.950, 0, 0, 0, [SEP] 18, SoapBottle, -0.331, 0.077, 3.462, 0, 0, 0, 26 [SEP] 19, Mirror, -0.030, 1.544, 2.864, 0, 0, 0, [SEP] 20, Sink, -0.302, 0.799, 3.263, 0, 270, 0, [SEP] 21, Cabinet, -0.491, 0.404, 2.863, 0, 0, 0, [SEP] 22, Cabinet, -0.495, 0.384, 2.842, 0, 0, 0, [SEP] 23, ShowerDoor, -1.647, 1.017, 1.180, 0, 0, 0, [SEP] 24, ShowerGlass, -0.909, 0.788, 0.485, 0, 0, 0, [SEP] 25, CounterTop, -0.261, 0.927, 2.843, 0, 0, 0, [SEP] 26, Cabinet, -0.495, 0.384, 3.650, 0, 0, 0, [SEP] 27, Cabinet, -0.491, 0.404, 2.055, 0, 0, 0, [SEP] 28, TowelHolder, -1.082, 1.312, 1.195, 0, 0, 0, [SEP] 29, LightSwitch, -2.424, 1.447, 3.338, 0, 90, 0, [SEP] 30, ToiletPaperHanger, -0.266, 0.786, 2.043, 0, 180, 0, [SEP] 31, HandTowelHolder, 0.000, 1.721, 1.887, 0, 180, 0, [SEP] 32, HandTowelHolder, 0.000, 1.721, 3.799, 0, 180, 0, [SEP] 33, Toilet, -0.542, 3.109, 1.493, 0, 270, 0, [SEP] 34, GarbageCan, -2.159, -0.000, 3.756, 0, 0, 0, [SEP] 35, SinkBasin, -0.308, 0.820, 3.266, 0, 0, 0, [SEP] 36, ShowerHead, -0.134, 1.888, 0.564, 0, 90, 0, [SEP] 37, Faucet, 0.0, 1.009, 3.265, 0, 0, 0, [SEP] 38, Faucet, 0.0, 1.009, 2.421, 0, 0, 0, [SEP] 39, SinkBasin, -0.308, 0.820, 2.422, 0, 0, 0, [SEP] 40, Sink, -0.302, 0.799, 2.419, 0, 270, 0, [SEP] 41, NorthWall, , , , , , , [SEP] 42, SouthWall, , , , , , , [SEP] 43, SouthWall, , , , , , , ", "output": ["STEP 1: Turn to the left and face the toilet. | STEP 2: Pick the soap up from the back of the toilet. | STEP 3: Go to the left and face the sink on the right. | STEP 4: Put the soap in the sink and turn the water on and then off and pick up the soap again. | STEP 5: Move back and turn to face the cabinets under the sink. | STEP 6: Put the soap in the cabinet under the sink and on the left. | END"]} +{"id": "trial_T20190908_215019_162873-2", "input": "Put a wet bar of soap 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, -1.0, 0.901, 2.0, 0, 180, 0, [SEP] 1, SprayBottle, -2.202, 0.018, 3.807, 0, 0, 0, 34 [SEP] 2, SprayBottle, -0.141, 0.955, 2.913, 0, 0, 0, 25 [SEP] 3, Candle, -0.079, 0.954, 2.948, 0, 0, 0, 25 [SEP] 4, Candle, -0.381, 0.075, 2.112, 0, 0, 0, 27 [SEP] 5, SoapBottle, -0.330, 0.076, 2.247, 0, 0, 0, 27 [SEP] 6, SoapBottle, -0.326, 0.955, 2.737, 0, 0, 0, 25 [SEP] 7, HandTowel, -0.038, 1.619, 3.799, 0, 90, 0, 32 [SEP] 8, HandTowel, -0.038, 1.619, 1.887, 0, 90, 0, 31 [SEP] 9, Towel, -1.082, 1.326, 1.302, 0, 0, 0, 28 [SEP] 10, SoapBar, -0.051, 0.953, 1.669, 0, 0, 0, 33 [SEP] 11, ToiletPaper, -0.141, 0.951, 2.772, 0, 0, 0, 25 [SEP] 12, Plunger, -0.112, -0.000, 1.848, 0, 0, 0, [SEP] 13, Candle, -0.450, 0.954, 2.807, 0, 0, 0, 25 [SEP] 14, ToiletPaper, -0.280, 0.654, 1.985, 0, 180, 90, 30 [SEP] 15, SprayBottle, -0.077, 0.954, 1.544, 0, 0, 0, 33 [SEP] 16, Cloth, -0.279, 0.075, 3.100, 0, 0, 0, 21 [SEP] 17, ScrubBrush, -0.322, 3.109, 1.950, 0, 0, 0, [SEP] 18, SoapBottle, -0.331, 0.077, 3.462, 0, 0, 0, 26 [SEP] 19, Mirror, -0.030, 1.544, 2.864, 0, 0, 0, [SEP] 20, Sink, -0.302, 0.799, 3.263, 0, 270, 0, [SEP] 21, Cabinet, -0.491, 0.404, 2.863, 0, 0, 0, [SEP] 22, Cabinet, -0.495, 0.384, 2.842, 0, 0, 0, [SEP] 23, ShowerDoor, -1.647, 1.017, 1.180, 0, 0, 0, [SEP] 24, ShowerGlass, -0.909, 0.788, 0.485, 0, 0, 0, [SEP] 25, CounterTop, -0.261, 0.927, 2.843, 0, 0, 0, [SEP] 26, Cabinet, -0.495, 0.384, 3.650, 0, 0, 0, [SEP] 27, Cabinet, -0.491, 0.404, 2.055, 0, 0, 0, [SEP] 28, TowelHolder, -1.082, 1.312, 1.195, 0, 0, 0, [SEP] 29, LightSwitch, -2.424, 1.447, 3.338, 0, 90, 0, [SEP] 30, ToiletPaperHanger, -0.266, 0.786, 2.043, 0, 180, 0, [SEP] 31, HandTowelHolder, 0.000, 1.721, 1.887, 0, 180, 0, [SEP] 32, HandTowelHolder, 0.000, 1.721, 3.799, 0, 180, 0, [SEP] 33, Toilet, -0.542, 3.109, 1.493, 0, 270, 0, [SEP] 34, GarbageCan, -2.159, -0.000, 3.756, 0, 0, 0, [SEP] 35, SinkBasin, -0.308, 0.820, 3.266, 0, 0, 0, [SEP] 36, ShowerHead, -0.134, 1.888, 0.564, 0, 90, 0, [SEP] 37, Faucet, 0.0, 1.009, 3.265, 0, 0, 0, [SEP] 38, Faucet, 0.0, 1.009, 2.421, 0, 0, 0, [SEP] 39, SinkBasin, -0.308, 0.820, 2.422, 0, 0, 0, [SEP] 40, Sink, -0.302, 0.799, 2.419, 0, 270, 0, [SEP] 41, NorthWall, , , , , , , [SEP] 42, SouthWall, , , , , , , [SEP] 43, SouthWall, , , , , , , ", "output": ["STEP 1: Turn left and walk to the sink. | STEP 2: Pick up the bar of soap that's in front of you to the right on the back of the toilet. | STEP 3: Take a step to your left then a step backwards. | STEP 4: Get the soap wet in the sink and then pick it back up and shut off the water. | STEP 5: Back up a step so you can use the cupboards under the sink. | STEP 6: Open the cupboard below the left side of the right sink and put the soap down there and close the door. | END"]} +{"id": "trial_T20190907_004351_281384-0", "input": "Place the green bottle on the toilet baisin. 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, 180, 0, [SEP] 1, Cloth, -0.280, 0.076, 3.417, 0, 0, 0, 25 [SEP] 2, Candle, -0.450, 0.954, 2.737, 0, 0, 0, 24 [SEP] 3, Candle, -0.330, 0.075, 3.055, 0, 0, 0, 21 [SEP] 4, SoapBar, -0.330, 0.075, 3.145, 0, 0, 0, 20 [SEP] 5, SoapBottle, -0.326, 0.955, 2.913, 0, 0, 0, 24 [SEP] 6, HandTowel, -0.038, 1.619, 3.799, 0, 90, 0, 31 [SEP] 7, HandTowel, -0.038, 1.619, 1.887, 0, 90, 0, 30 [SEP] 8, Towel, -1.082, 1.326, 1.302, 0, 0, 0, 27 [SEP] 9, SoapBar, -0.432, 0.075, 2.336, 0, 0, 0, 26 [SEP] 10, ToiletPaper, -0.280, 0.654, 1.985, 0, 180, 90, 29 [SEP] 11, Plunger, -0.112, -0.000, 1.848, 0, 0, 0, [SEP] 12, Candle, -0.432, 0.076, 3.372, 0, 0, 0, 25 [SEP] 13, ToiletPaper, -0.141, 0.951, 2.772, 0, 0, 0, 24 [SEP] 14, SprayBottle, -0.077, 0.954, 1.419, 0, 0, 0, 32 [SEP] 15, Cloth, -0.351, 0.946, 2.074, 0, 0, 0, 38 [SEP] 16, ScrubBrush, -0.322, 3.109, 1.950, 0, 0, 0, [SEP] 17, SoapBottle, -0.381, 0.076, 2.157, 0, 0, 0, 26 [SEP] 18, Mirror, -0.030, 1.544, 2.864, 0, 0, 0, [SEP] 19, Sink, -0.302, 0.799, 3.263, 0, 270, 0, [SEP] 20, Cabinet, -0.491, 0.404, 2.863, 0, 0, 0, [SEP] 21, Cabinet, -0.495, 0.384, 2.842, 0, 0, 0, [SEP] 22, ShowerDoor, -1.647, 1.017, 1.180, 0, 0, 0, [SEP] 23, ShowerGlass, -0.909, 0.788, 0.485, 0, 0, 0, [SEP] 24, CounterTop, -0.261, 0.927, 2.843, 0, 0, 0, [SEP] 25, Cabinet, -0.495, 0.384, 3.650, 0, 0, 0, [SEP] 26, Cabinet, -0.491, 0.404, 2.055, 0, 0, 0, [SEP] 27, TowelHolder, -1.082, 1.312, 1.195, 0, 0, 0, [SEP] 28, LightSwitch, -2.424, 1.447, 3.338, 0, 90, 0, [SEP] 29, ToiletPaperHanger, -0.266, 0.786, 2.043, 0, 180, 0, [SEP] 30, HandTowelHolder, 0.000, 1.721, 1.887, 0, 180, 0, [SEP] 31, HandTowelHolder, 0.000, 1.721, 3.799, 0, 180, 0, [SEP] 32, Toilet, -0.542, 3.109, 1.493, 0, 270, 0, [SEP] 33, GarbageCan, -2.159, -0.000, 3.756, 0, 0, 0, [SEP] 34, SinkBasin, -0.308, 0.820, 3.266, 0, 0, 0, [SEP] 35, ShowerHead, -0.134, 1.888, 0.564, 0, 90, 0, [SEP] 36, Faucet, 0.0, 1.009, 3.265, 0, 0, 0, [SEP] 37, Faucet, 0.0, 1.009, 2.421, 0, 0, 0, [SEP] 38, SinkBasin, -0.308, 0.820, 2.422, 0, 0, 0, [SEP] 39, Sink, -0.302, 0.799, 2.419, 0, 270, 0, [SEP] 40, NorthWall, , , , , , , [SEP] 41, SouthWall, , , , , , , [SEP] 42, SouthWall, , , , , , , ", "output": ["STEP 1: Turn left towards the sink. | STEP 2: Pick up the green bottle in between the two faucets. | STEP 3: Turn right towards the toilet. | STEP 4: Place the bottle on the toilet basin. | END"]} +{"id": "trial_T20190907_004351_281384-1", "input": "Move the green bottle on the vanity 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, -2.0, 0.901, 2.5, 0, 180, 0, [SEP] 1, Cloth, -0.280, 0.076, 3.417, 0, 0, 0, 25 [SEP] 2, Candle, -0.450, 0.954, 2.737, 0, 0, 0, 24 [SEP] 3, Candle, -0.330, 0.075, 3.055, 0, 0, 0, 21 [SEP] 4, SoapBar, -0.330, 0.075, 3.145, 0, 0, 0, 20 [SEP] 5, SoapBottle, -0.326, 0.955, 2.913, 0, 0, 0, 24 [SEP] 6, HandTowel, -0.038, 1.619, 3.799, 0, 90, 0, 31 [SEP] 7, HandTowel, -0.038, 1.619, 1.887, 0, 90, 0, 30 [SEP] 8, Towel, -1.082, 1.326, 1.302, 0, 0, 0, 27 [SEP] 9, SoapBar, -0.432, 0.075, 2.336, 0, 0, 0, 26 [SEP] 10, ToiletPaper, -0.280, 0.654, 1.985, 0, 180, 90, 29 [SEP] 11, Plunger, -0.112, -0.000, 1.848, 0, 0, 0, [SEP] 12, Candle, -0.432, 0.076, 3.372, 0, 0, 0, 25 [SEP] 13, ToiletPaper, -0.141, 0.951, 2.772, 0, 0, 0, 24 [SEP] 14, SprayBottle, -0.077, 0.954, 1.419, 0, 0, 0, 32 [SEP] 15, Cloth, -0.351, 0.946, 2.074, 0, 0, 0, 38 [SEP] 16, ScrubBrush, -0.322, 3.109, 1.950, 0, 0, 0, [SEP] 17, SoapBottle, -0.381, 0.076, 2.157, 0, 0, 0, 26 [SEP] 18, Mirror, -0.030, 1.544, 2.864, 0, 0, 0, [SEP] 19, Sink, -0.302, 0.799, 3.263, 0, 270, 0, [SEP] 20, Cabinet, -0.491, 0.404, 2.863, 0, 0, 0, [SEP] 21, Cabinet, -0.495, 0.384, 2.842, 0, 0, 0, [SEP] 22, ShowerDoor, -1.647, 1.017, 1.180, 0, 0, 0, [SEP] 23, ShowerGlass, -0.909, 0.788, 0.485, 0, 0, 0, [SEP] 24, CounterTop, -0.261, 0.927, 2.843, 0, 0, 0, [SEP] 25, Cabinet, -0.495, 0.384, 3.650, 0, 0, 0, [SEP] 26, Cabinet, -0.491, 0.404, 2.055, 0, 0, 0, [SEP] 27, TowelHolder, -1.082, 1.312, 1.195, 0, 0, 0, [SEP] 28, LightSwitch, -2.424, 1.447, 3.338, 0, 90, 0, [SEP] 29, ToiletPaperHanger, -0.266, 0.786, 2.043, 0, 180, 0, [SEP] 30, HandTowelHolder, 0.000, 1.721, 1.887, 0, 180, 0, [SEP] 31, HandTowelHolder, 0.000, 1.721, 3.799, 0, 180, 0, [SEP] 32, Toilet, -0.542, 3.109, 1.493, 0, 270, 0, [SEP] 33, GarbageCan, -2.159, -0.000, 3.756, 0, 0, 0, [SEP] 34, SinkBasin, -0.308, 0.820, 3.266, 0, 0, 0, [SEP] 35, ShowerHead, -0.134, 1.888, 0.564, 0, 90, 0, [SEP] 36, Faucet, 0.0, 1.009, 3.265, 0, 0, 0, [SEP] 37, Faucet, 0.0, 1.009, 2.421, 0, 0, 0, [SEP] 38, SinkBasin, -0.308, 0.820, 2.422, 0, 0, 0, [SEP] 39, Sink, -0.302, 0.799, 2.419, 0, 270, 0, [SEP] 40, NorthWall, , , , , , , [SEP] 41, SouthWall, , , , , , , [SEP] 42, SouthWall, , , , , , , ", "output": ["STEP 1: Turn left, walk to the sink | STEP 2: Grab the green bottle in between sinks | STEP 3: Turn right, walk to the toilet | STEP 4: Put the green bottle by the white bottle on the toilet, near the wall | END"]} +{"id": "trial_T20190907_004351_281384-2", "input": "Put soap on 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, -2.0, 0.901, 2.5, 0, 180, 0, [SEP] 1, Cloth, -0.280, 0.076, 3.417, 0, 0, 0, 25 [SEP] 2, Candle, -0.450, 0.954, 2.737, 0, 0, 0, 24 [SEP] 3, Candle, -0.330, 0.075, 3.055, 0, 0, 0, 21 [SEP] 4, SoapBar, -0.330, 0.075, 3.145, 0, 0, 0, 20 [SEP] 5, SoapBottle, -0.326, 0.955, 2.913, 0, 0, 0, 24 [SEP] 6, HandTowel, -0.038, 1.619, 3.799, 0, 90, 0, 31 [SEP] 7, HandTowel, -0.038, 1.619, 1.887, 0, 90, 0, 30 [SEP] 8, Towel, -1.082, 1.326, 1.302, 0, 0, 0, 27 [SEP] 9, SoapBar, -0.432, 0.075, 2.336, 0, 0, 0, 26 [SEP] 10, ToiletPaper, -0.280, 0.654, 1.985, 0, 180, 90, 29 [SEP] 11, Plunger, -0.112, -0.000, 1.848, 0, 0, 0, [SEP] 12, Candle, -0.432, 0.076, 3.372, 0, 0, 0, 25 [SEP] 13, ToiletPaper, -0.141, 0.951, 2.772, 0, 0, 0, 24 [SEP] 14, SprayBottle, -0.077, 0.954, 1.419, 0, 0, 0, 32 [SEP] 15, Cloth, -0.351, 0.946, 2.074, 0, 0, 0, 38 [SEP] 16, ScrubBrush, -0.322, 3.109, 1.950, 0, 0, 0, [SEP] 17, SoapBottle, -0.381, 0.076, 2.157, 0, 0, 0, 26 [SEP] 18, Mirror, -0.030, 1.544, 2.864, 0, 0, 0, [SEP] 19, Sink, -0.302, 0.799, 3.263, 0, 270, 0, [SEP] 20, Cabinet, -0.491, 0.404, 2.863, 0, 0, 0, [SEP] 21, Cabinet, -0.495, 0.384, 2.842, 0, 0, 0, [SEP] 22, ShowerDoor, -1.647, 1.017, 1.180, 0, 0, 0, [SEP] 23, ShowerGlass, -0.909, 0.788, 0.485, 0, 0, 0, [SEP] 24, CounterTop, -0.261, 0.927, 2.843, 0, 0, 0, [SEP] 25, Cabinet, -0.495, 0.384, 3.650, 0, 0, 0, [SEP] 26, Cabinet, -0.491, 0.404, 2.055, 0, 0, 0, [SEP] 27, TowelHolder, -1.082, 1.312, 1.195, 0, 0, 0, [SEP] 28, LightSwitch, -2.424, 1.447, 3.338, 0, 90, 0, [SEP] 29, ToiletPaperHanger, -0.266, 0.786, 2.043, 0, 180, 0, [SEP] 30, HandTowelHolder, 0.000, 1.721, 1.887, 0, 180, 0, [SEP] 31, HandTowelHolder, 0.000, 1.721, 3.799, 0, 180, 0, [SEP] 32, Toilet, -0.542, 3.109, 1.493, 0, 270, 0, [SEP] 33, GarbageCan, -2.159, -0.000, 3.756, 0, 0, 0, [SEP] 34, SinkBasin, -0.308, 0.820, 3.266, 0, 0, 0, [SEP] 35, ShowerHead, -0.134, 1.888, 0.564, 0, 90, 0, [SEP] 36, Faucet, 0.0, 1.009, 3.265, 0, 0, 0, [SEP] 37, Faucet, 0.0, 1.009, 2.421, 0, 0, 0, [SEP] 38, SinkBasin, -0.308, 0.820, 2.422, 0, 0, 0, [SEP] 39, Sink, -0.302, 0.799, 2.419, 0, 270, 0, [SEP] 40, NorthWall, , , , , , , [SEP] 41, SouthWall, , , , , , , [SEP] 42, SouthWall, , , , , , , ", "output": ["STEP 1: Move to the sink. | STEP 2: Pick up the soap from the sink. | STEP 3: Bring the soap to the toilet. | STEP 4: Put the soap on the toilet tank lid. | END"]} +{"id": "trial_T20190908_025158_582174-0", "input": "slice and cook a piece of bread , put it on the counter top 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, 0, 0, [SEP] 1, Statue, -1.292, 0.936, -1.167, 0, 0, 0, 59 [SEP] 2, CellPhone, 0.688, 0.908, -0.729, 0, 0, 0, 60 [SEP] 3, DishSponge, 0.688, 0.910, 0.313, 0, 0, 0, 60 [SEP] 4, DishSponge, -0.697, 0.780, -0.832, 0, 90, 0, 80 [SEP] 5, ButterKnife, -0.772, 0.933, 0.315, 0, 0, 0, 59 [SEP] 6, Glassbottle, 0.861, 0.109, -2.052, 0, 0, 0, 64 [SEP] 7, Glassbottle, 1.039, 2.208, -1.082, 0, 270, 0, 66 [SEP] 8, Fork, 0.794, 0.702, -0.731, 0, 180, 0, 57 [SEP] 9, Spoon, -0.772, 0.934, -0.143, 0, 0, 0, 59 [SEP] 10, Knife, -0.550, 0.957, 0.086, 0, 0, 0, 59 [SEP] 11, Knife, 1.029, 0.934, -0.208, 0, 0, 0, 60 [SEP] 12, Egg, -1.101, 0.214, 0.510, 0, 180, 0, 79 [SEP] 13, Cup, -0.808, 0.773, -0.832, 0, 90, 0, 80 [SEP] 14, Cup, -0.624, 0.930, -1.154, 0, 0, 0, 59 [SEP] 15, Plate, 0.844, 1.138, 1.349, 0, 270, 0, 82 [SEP] 16, Tomato, -0.772, 0.974, 0.086, 0, 0, 0, 59 [SEP] 17, Tomato, -0.865, 0.219, 0.608, 0, 180, 0, 79 [SEP] 18, SoapBottle, -1.054, 0.179, 0.608, 0, 180, 0, 79 [SEP] 19, SaltShaker, 1.101, 1.662, -2.097, 0, 270, 0, 58 [SEP] 20, Bread, 0.966, 1.482, 1.158, 0, 270, 0, 82 [SEP] 21, Bread, -1.355, 1.014, -0.905, 0, 0, 0, 59 [SEP] 22, Mug, 0.859, 0.906, -0.381, 0, 0, 0, 60 [SEP] 23, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 78 [SEP] 24, Apple, 0.688, 0.961, -1.879, 0, 0, 0, 65 [SEP] 25, Statue, -1.229, 0.936, -0.380, 0, 0, 0, 59 [SEP] 26, Glassbottle, 1.169, 2.208, -1.517, 0, 270, 0, 66 [SEP] 27, Bread, 1.114, 0.992, -0.208, 0, 0, 0, 60 [SEP] 28, CreditCard, 0.794, 0.492, -0.731, 0, 270, 0, 63 [SEP] 29, CellPhone, -0.477, 0.930, -1.463, 0, 0, 0, 59 [SEP] 30, Potato, -0.698, 0.807, -0.400, 0, 90, 0, 80 [SEP] 31, Knife, 0.773, 0.934, -1.879, 0, 270, 0, 65 [SEP] 32, Fork, 0.874, 0.154, -0.531, 0, 0, 0, 62 [SEP] 33, Pan, 0.966, 0.860, 1.349, 0, 0, 0, 82 [SEP] 34, Lettuce, 0.773, 0.988, -0.555, 0, 180, 0, 60 [SEP] 35, Plate, 0.966, 1.405, 1.349, 0, 270, 0, 82 [SEP] 36, Apple, 0.783, 1.693, 0.967, 0, 270, 0, 82 [SEP] 37, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 55 [SEP] 38, Spatula, -0.642, 0.795, -0.486, 0, 0, 0, 80 [SEP] 39, PaperTowelRoll, -1.674, 0.986, 2.665, 0, 0, 0, 86 [SEP] 40, Tomato, 0.966, 1.175, 0.967, 0, 270, 0, 82 [SEP] 41, Egg, -0.818, 0.214, 0.510, 0, 180, 0, 79 [SEP] 42, SaltShaker, 0.753, 0.150, -0.650, 0, 270, 0, 62 [SEP] 43, PepperShaker, 0.754, 0.699, -0.524, 0, 270, 0, 57 [SEP] 44, Vase, 1.102, 1.666, -0.593, 0, 270, 0, 68 [SEP] 45, ButterKnife, -0.772, 0.933, -1.308, 0, 0, 0, 59 [SEP] 46, SoapBottle, 0.862, 0.121, 0.374, 0, 270, 0, 54 [SEP] 47, Vase, -1.355, 0.934, -0.118, 0, 0, 0, 59 [SEP] 48, Bowl, -1.467, 0.557, 2.615, 0, 0, 0, 85 [SEP] 49, DishSponge, -1.467, 0.553, 2.822, 0, 0, 0, 85 [SEP] 50, Spoon, -0.772, 0.934, -1.154, 0, 0, 0, 80 [SEP] 51, Cup, 0.711, 0.105, -1.972, 0, 0, 0, 64 [SEP] 52, Mug, 1.060, 1.790, -1.132, 0, 270, 0, 81 [SEP] 53, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 54, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 55, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 56, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 57, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 58, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 59, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 60, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 61, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 62, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 63, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 64, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 65, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 66, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 67, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 68, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 69, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 70, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 71, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 72, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 73, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 74, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 75, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 76, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 77, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 78, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 79, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 80, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 81, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 82, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 83, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 84, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 85, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 86, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 87, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 88, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 89, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 90, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 91, NorthWall, , , , , , , [SEP] 92, EastWall, , , , , , , [SEP] 93, SouthWall, , , , , , , [SEP] 94, WestWall, , , , , , , ", "output": ["STEP 1: turn around, go to your left to the counter that is to the right of the white fridge | STEP 2: pick up the loaf of bread that is on the very rear of the counter | STEP 3: place it to the front of the counter | STEP 4: pick up the knife with the yellow handle | STEP 5: cut the bread into several slices | STEP 6: continue cutting the bread | STEP 7: place the knife back on the counter next to the lettuce | STEP 8: pick up a slice of the bread that you cut | STEP 9: take the bread to the stove top that is to the right of the counter | STEP 10: place the bread in the microwave, cook it and remove the bread | STEP 11: take the bread to the counter top to the right of the stove | STEP 12: place the bread on the counter top next to the green pepper | END"]} +{"id": "trial_T20190908_025158_582174-1", "input": "Putting a slice of bread 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, -3.25, 0.900, 2.5, 0, 0, 0, [SEP] 1, Statue, -1.292, 0.936, -1.167, 0, 0, 0, 59 [SEP] 2, CellPhone, 0.688, 0.908, -0.729, 0, 0, 0, 60 [SEP] 3, DishSponge, 0.688, 0.910, 0.313, 0, 0, 0, 60 [SEP] 4, DishSponge, -0.697, 0.780, -0.832, 0, 90, 0, 80 [SEP] 5, ButterKnife, -0.772, 0.933, 0.315, 0, 0, 0, 59 [SEP] 6, Glassbottle, 0.861, 0.109, -2.052, 0, 0, 0, 64 [SEP] 7, Glassbottle, 1.039, 2.208, -1.082, 0, 270, 0, 66 [SEP] 8, Fork, 0.794, 0.702, -0.731, 0, 180, 0, 57 [SEP] 9, Spoon, -0.772, 0.934, -0.143, 0, 0, 0, 59 [SEP] 10, Knife, -0.550, 0.957, 0.086, 0, 0, 0, 59 [SEP] 11, Knife, 1.029, 0.934, -0.208, 0, 0, 0, 60 [SEP] 12, Egg, -1.101, 0.214, 0.510, 0, 180, 0, 79 [SEP] 13, Cup, -0.808, 0.773, -0.832, 0, 90, 0, 80 [SEP] 14, Cup, -0.624, 0.930, -1.154, 0, 0, 0, 59 [SEP] 15, Plate, 0.844, 1.138, 1.349, 0, 270, 0, 82 [SEP] 16, Tomato, -0.772, 0.974, 0.086, 0, 0, 0, 59 [SEP] 17, Tomato, -0.865, 0.219, 0.608, 0, 180, 0, 79 [SEP] 18, SoapBottle, -1.054, 0.179, 0.608, 0, 180, 0, 79 [SEP] 19, SaltShaker, 1.101, 1.662, -2.097, 0, 270, 0, 58 [SEP] 20, Bread, 0.966, 1.482, 1.158, 0, 270, 0, 82 [SEP] 21, Bread, -1.355, 1.014, -0.905, 0, 0, 0, 59 [SEP] 22, Mug, 0.859, 0.906, -0.381, 0, 0, 0, 60 [SEP] 23, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 78 [SEP] 24, Apple, 0.688, 0.961, -1.879, 0, 0, 0, 65 [SEP] 25, Statue, -1.229, 0.936, -0.380, 0, 0, 0, 59 [SEP] 26, Glassbottle, 1.169, 2.208, -1.517, 0, 270, 0, 66 [SEP] 27, Bread, 1.114, 0.992, -0.208, 0, 0, 0, 60 [SEP] 28, CreditCard, 0.794, 0.492, -0.731, 0, 270, 0, 63 [SEP] 29, CellPhone, -0.477, 0.930, -1.463, 0, 0, 0, 59 [SEP] 30, Potato, -0.698, 0.807, -0.400, 0, 90, 0, 80 [SEP] 31, Knife, 0.773, 0.934, -1.879, 0, 270, 0, 65 [SEP] 32, Fork, 0.874, 0.154, -0.531, 0, 0, 0, 62 [SEP] 33, Pan, 0.966, 0.860, 1.349, 0, 0, 0, 82 [SEP] 34, Lettuce, 0.773, 0.988, -0.555, 0, 180, 0, 60 [SEP] 35, Plate, 0.966, 1.405, 1.349, 0, 270, 0, 82 [SEP] 36, Apple, 0.783, 1.693, 0.967, 0, 270, 0, 82 [SEP] 37, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 55 [SEP] 38, Spatula, -0.642, 0.795, -0.486, 0, 0, 0, 80 [SEP] 39, PaperTowelRoll, -1.674, 0.986, 2.665, 0, 0, 0, 86 [SEP] 40, Tomato, 0.966, 1.175, 0.967, 0, 270, 0, 82 [SEP] 41, Egg, -0.818, 0.214, 0.510, 0, 180, 0, 79 [SEP] 42, SaltShaker, 0.753, 0.150, -0.650, 0, 270, 0, 62 [SEP] 43, PepperShaker, 0.754, 0.699, -0.524, 0, 270, 0, 57 [SEP] 44, Vase, 1.102, 1.666, -0.593, 0, 270, 0, 68 [SEP] 45, ButterKnife, -0.772, 0.933, -1.308, 0, 0, 0, 59 [SEP] 46, SoapBottle, 0.862, 0.121, 0.374, 0, 270, 0, 54 [SEP] 47, Vase, -1.355, 0.934, -0.118, 0, 0, 0, 59 [SEP] 48, Bowl, -1.467, 0.557, 2.615, 0, 0, 0, 85 [SEP] 49, DishSponge, -1.467, 0.553, 2.822, 0, 0, 0, 85 [SEP] 50, Spoon, -0.772, 0.934, -1.154, 0, 0, 0, 80 [SEP] 51, Cup, 0.711, 0.105, -1.972, 0, 0, 0, 64 [SEP] 52, Mug, 1.060, 1.790, -1.132, 0, 270, 0, 81 [SEP] 53, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 54, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 55, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 56, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 57, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 58, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 59, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 60, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 61, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 62, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 63, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 64, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 65, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 66, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 67, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 68, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 69, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 70, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 71, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 72, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 73, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 74, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 75, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 76, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 77, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 78, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 79, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 80, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 81, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 82, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 83, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 84, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 85, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 86, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 87, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 88, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 89, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 90, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 91, NorthWall, , , , , , , [SEP] 92, EastWall, , , , , , , [SEP] 93, SouthWall, , , , , , , [SEP] 94, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and go to the counter to the right of the fridge | STEP 2: Grab the loaf of bread off of the counter | STEP 3: Look down at the counter | STEP 4: Put the bread down on the counter | STEP 5: Grab the knife off of the counter | STEP 6: Cut the bread on the counter into slices | STEP 7: Put the knife on the counter | STEP 8: Grab a slice of bread | STEP 9: Turn right and stop at the microwave | STEP 10: Heat the bread in the microwave and then take it out | STEP 11: Turn right and stop at the counter | STEP 12: Place the bread on the counter | END"]} +{"id": "trial_T20190908_025158_582174-2", "input": "Put a warm slice of bread 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, -3.25, 0.900, 2.5, 0, 0, 0, [SEP] 1, Statue, -1.292, 0.936, -1.167, 0, 0, 0, 59 [SEP] 2, CellPhone, 0.688, 0.908, -0.729, 0, 0, 0, 60 [SEP] 3, DishSponge, 0.688, 0.910, 0.313, 0, 0, 0, 60 [SEP] 4, DishSponge, -0.697, 0.780, -0.832, 0, 90, 0, 80 [SEP] 5, ButterKnife, -0.772, 0.933, 0.315, 0, 0, 0, 59 [SEP] 6, Glassbottle, 0.861, 0.109, -2.052, 0, 0, 0, 64 [SEP] 7, Glassbottle, 1.039, 2.208, -1.082, 0, 270, 0, 66 [SEP] 8, Fork, 0.794, 0.702, -0.731, 0, 180, 0, 57 [SEP] 9, Spoon, -0.772, 0.934, -0.143, 0, 0, 0, 59 [SEP] 10, Knife, -0.550, 0.957, 0.086, 0, 0, 0, 59 [SEP] 11, Knife, 1.029, 0.934, -0.208, 0, 0, 0, 60 [SEP] 12, Egg, -1.101, 0.214, 0.510, 0, 180, 0, 79 [SEP] 13, Cup, -0.808, 0.773, -0.832, 0, 90, 0, 80 [SEP] 14, Cup, -0.624, 0.930, -1.154, 0, 0, 0, 59 [SEP] 15, Plate, 0.844, 1.138, 1.349, 0, 270, 0, 82 [SEP] 16, Tomato, -0.772, 0.974, 0.086, 0, 0, 0, 59 [SEP] 17, Tomato, -0.865, 0.219, 0.608, 0, 180, 0, 79 [SEP] 18, SoapBottle, -1.054, 0.179, 0.608, 0, 180, 0, 79 [SEP] 19, SaltShaker, 1.101, 1.662, -2.097, 0, 270, 0, 58 [SEP] 20, Bread, 0.966, 1.482, 1.158, 0, 270, 0, 82 [SEP] 21, Bread, -1.355, 1.014, -0.905, 0, 0, 0, 59 [SEP] 22, Mug, 0.859, 0.906, -0.381, 0, 0, 0, 60 [SEP] 23, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 78 [SEP] 24, Apple, 0.688, 0.961, -1.879, 0, 0, 0, 65 [SEP] 25, Statue, -1.229, 0.936, -0.380, 0, 0, 0, 59 [SEP] 26, Glassbottle, 1.169, 2.208, -1.517, 0, 270, 0, 66 [SEP] 27, Bread, 1.114, 0.992, -0.208, 0, 0, 0, 60 [SEP] 28, CreditCard, 0.794, 0.492, -0.731, 0, 270, 0, 63 [SEP] 29, CellPhone, -0.477, 0.930, -1.463, 0, 0, 0, 59 [SEP] 30, Potato, -0.698, 0.807, -0.400, 0, 90, 0, 80 [SEP] 31, Knife, 0.773, 0.934, -1.879, 0, 270, 0, 65 [SEP] 32, Fork, 0.874, 0.154, -0.531, 0, 0, 0, 62 [SEP] 33, Pan, 0.966, 0.860, 1.349, 0, 0, 0, 82 [SEP] 34, Lettuce, 0.773, 0.988, -0.555, 0, 180, 0, 60 [SEP] 35, Plate, 0.966, 1.405, 1.349, 0, 270, 0, 82 [SEP] 36, Apple, 0.783, 1.693, 0.967, 0, 270, 0, 82 [SEP] 37, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 55 [SEP] 38, Spatula, -0.642, 0.795, -0.486, 0, 0, 0, 80 [SEP] 39, PaperTowelRoll, -1.674, 0.986, 2.665, 0, 0, 0, 86 [SEP] 40, Tomato, 0.966, 1.175, 0.967, 0, 270, 0, 82 [SEP] 41, Egg, -0.818, 0.214, 0.510, 0, 180, 0, 79 [SEP] 42, SaltShaker, 0.753, 0.150, -0.650, 0, 270, 0, 62 [SEP] 43, PepperShaker, 0.754, 0.699, -0.524, 0, 270, 0, 57 [SEP] 44, Vase, 1.102, 1.666, -0.593, 0, 270, 0, 68 [SEP] 45, ButterKnife, -0.772, 0.933, -1.308, 0, 0, 0, 59 [SEP] 46, SoapBottle, 0.862, 0.121, 0.374, 0, 270, 0, 54 [SEP] 47, Vase, -1.355, 0.934, -0.118, 0, 0, 0, 59 [SEP] 48, Bowl, -1.467, 0.557, 2.615, 0, 0, 0, 85 [SEP] 49, DishSponge, -1.467, 0.553, 2.822, 0, 0, 0, 85 [SEP] 50, Spoon, -0.772, 0.934, -1.154, 0, 0, 0, 80 [SEP] 51, Cup, 0.711, 0.105, -1.972, 0, 0, 0, 64 [SEP] 52, Mug, 1.060, 1.790, -1.132, 0, 270, 0, 81 [SEP] 53, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 54, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 55, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 56, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 57, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 58, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 59, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 60, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 61, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 62, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 63, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 64, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 65, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 66, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 67, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 68, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 69, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 70, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 71, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 72, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 73, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 74, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 75, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 76, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 77, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 78, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 79, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 80, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 81, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 82, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 83, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 84, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 85, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 86, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 87, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 88, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 89, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 90, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 91, NorthWall, , , , , , , [SEP] 92, EastWall, , , , , , , [SEP] 93, SouthWall, , , , , , , [SEP] 94, WestWall, , , , , , , ", "output": ["STEP 1: Turn to your left and go to the refrigerator, then make a right and turn to the counter on your left, above the dishwasher. | STEP 2: Pick up the loaf of bread, on the counter, behind the knife. | STEP 3: Take a few steps back, away from the counter. | STEP 4: Place the loaf of bread back on the counter, but near the edge closest to you. | STEP 5: Pick up the knife on the counter, behind the bread. | STEP 6: Cut the bread on the counter into slices. | STEP 7: Put the knife back on the counter, to the right of the loaf of bread. | STEP 8: Pick up the end bread slice from the counter. | STEP 9: Turn to your right and go to the microwave, above the stove, on your left. | STEP 10: Place the slice of bread in the microwave, warm it up, then remove it from the microwave. | STEP 11: Step back from the microwave, then turn to your right and go to the counter with the coffee maker on it, to your left. | STEP 12: Place the slice of bread on the counter, to the right of the apple. | END"]} +{"id": "trial_T20190908_062352_374890-0", "input": "Move a bowl and egg 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, -3.75, 0.900, -0.25, 0, 180, 0, [SEP] 1, Statue, 0.944, 0.914, -0.729, 0, 0, 0, 65 [SEP] 2, Potato, 1.060, 1.814, -1.236, 0, 270, 0, 86 [SEP] 3, Potato, 0.844, 1.432, 1.540, 0, 270, 0, 87 [SEP] 4, CellPhone, 0.944, 0.908, -1.879, 0, 0, 0, 70 [SEP] 5, ButterKnife, 1.114, 0.911, -0.555, 0, 0, 0, 65 [SEP] 6, ButterKnife, -0.772, 0.933, -0.143, 0, 180, 0, 64 [SEP] 7, Glassbottle, 0.964, 0.121, 0.398, 0, 270, 0, 59 [SEP] 8, Glassbottle, 0.688, 0.912, -0.555, 0, 0, 0, 65 [SEP] 9, Fork, 0.793, 0.154, -0.769, 0, 180, 0, 67 [SEP] 10, Spatula, 0.754, 0.717, -0.648, 0, 180, 0, 62 [SEP] 11, Spatula, -0.697, 0.795, -0.573, 0, 270, 0, 85 [SEP] 12, Knife, -1.041, 0.957, -0.380, 0, 90, 0, 64 [SEP] 13, Knife, -0.550, 0.957, -0.067, 0, 0, 0, 64 [SEP] 14, Egg, 0.859, 0.949, 0.139, 0, 0, 0, 65 [SEP] 15, Egg, 0.844, 0.900, 1.158, 0, 270, 0, 87 [SEP] 16, Egg, 0.965, 1.439, 1.540, 0, 270, 0, 87 [SEP] 17, Cup, -1.981, 0.879, 2.692, 0, 0, 0, 91 [SEP] 18, Cup, -0.550, 0.930, 0.162, 0, 0, 0, 64 [SEP] 19, Plate, -0.772, 0.936, -1.386, 0, 0, 0, 64 [SEP] 20, Tomato, 0.944, 0.952, -0.208, 0, 0, 0, 65 [SEP] 21, Tomato, 0.965, 0.903, 1.540, 0, 270, 0, 87 [SEP] 22, SoapBottle, 1.056, 1.666, -0.529, 0, 270, 0, 73 [SEP] 23, SoapBottle, -0.912, 0.179, 0.576, 0, 180, 0, 84 [SEP] 24, SaltShaker, 0.754, 0.491, -0.565, 0, 270, 0, 68 [SEP] 25, SaltShaker, 0.859, 0.907, -0.555, 0, 0, 0, 65 [SEP] 26, Lettuce, 0.965, 1.212, 1.444, 0, 270, 0, 87 [SEP] 27, Bread, 1.029, 0.992, 0.139, 0, 0, 0, 65 [SEP] 28, Bread, 1.026, 0.944, 1.349, 0, 270, 0, 87 [SEP] 29, Mug, -1.355, 0.928, -0.905, 0, 0, 0, 64 [SEP] 30, Statue, -1.167, 0.936, -0.643, 0, 0, 0, 64 [SEP] 31, Glassbottle, 0.811, 0.121, 0.398, 0, 270, 0, 59 [SEP] 32, Bread, 0.905, 1.482, 1.158, 0, 270, 0, 87 [SEP] 33, CreditCard, -1.467, 0.551, 2.874, 0, 0, 0, 90 [SEP] 34, CellPhone, 1.199, 0.908, -0.729, 0, 0, 0, 65 [SEP] 35, Potato, 1.026, 1.165, 0.967, 0, 270, 0, 87 [SEP] 36, Knife, 1.114, 0.934, -0.207, 0, 0, 0, 65 [SEP] 37, Fork, -0.550, 0.934, -1.618, 0, 0, 0, 64 [SEP] 38, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 58 [SEP] 39, Lettuce, -0.697, 0.857, -0.832, 0, 90, 0, 85 [SEP] 40, Plate, 0.844, 1.138, 1.254, 0, 270, 0, 87 [SEP] 41, Apple, 0.966, 1.185, 1.063, 0, 270, 0, 87 [SEP] 42, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 60 [SEP] 43, Spatula, -0.642, 0.791, -0.918, 0, 0, 0, 85 [SEP] 44, PaperTowelRoll, -1.878, 0.986, 2.719, 0, 0, 0, 91 [SEP] 45, Tomato, 0.905, 1.683, 1.254, 0, 270, 0, 87 [SEP] 46, Egg, 1.199, 0.949, 0.139, 0, 0, 0, 65 [SEP] 47, SaltShaker, 0.794, 0.490, -0.690, 0, 270, 0, 68 [SEP] 48, PepperShaker, 1.199, 0.907, 0.313, 0, 0, 0, 65 [SEP] 49, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 90 [SEP] 50, ButterKnife, -0.624, 0.933, -1.154, 0, 0, 0, 64 [SEP] 51, SoapBottle, -1.054, 0.179, 0.576, 0, 180, 0, 84 [SEP] 52, Vase, -1.985, 0.555, 2.718, 0, 0, 0, 90 [SEP] 53, Bowl, 0.910, 0.111, -2.052, 0, 0, 0, 69 [SEP] 54, DishSponge, 0.793, 0.153, -0.611, 0, 270, 0, 67 [SEP] 55, Spoon, 0.773, 0.912, 0.313, 0, 0, 0, 65 [SEP] 56, Cup, 0.773, 0.908, -0.729, 0, 0, 0, 65 [SEP] 57, Mug, 1.240, 1.661, -2.097, 0, 0, 0, 63 [SEP] 58, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 59, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 60, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 61, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 62, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 63, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 64, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 65, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 66, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 67, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 68, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 69, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 70, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 71, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 72, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 73, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 74, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 75, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 76, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 77, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 78, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 79, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 80, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 81, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 82, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 83, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 84, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 85, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 86, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 87, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 88, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 89, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 90, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 91, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 92, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 93, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 94, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 95, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 96, NorthWall, , , , , , , [SEP] 97, EastWall, , , , , , , [SEP] 98, SouthWall, , , , , , , [SEP] 99, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and then right to go around the far said of the island. Locate the toaster on the left side. | STEP 2: Pick up the egg from the counter in front of the bread. | STEP 3: Carry the egg to the right to the coffee machine. | STEP 4: Open the bottom cabinet and place the egg in a bowl. | STEP 5: Pick up the bowl from the cabinet and shut the door. | STEP 6: Bring the bowl up toward the counter. | STEP 7: Place the bowl and egg on the left side of the counter. | END"]} +{"id": "trial_T20190908_062352_374890-1", "input": "Put egg in bowl and 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, -3.75, 0.900, -0.25, 0, 180, 0, [SEP] 1, Statue, 0.944, 0.914, -0.729, 0, 0, 0, 65 [SEP] 2, Potato, 1.060, 1.814, -1.236, 0, 270, 0, 86 [SEP] 3, Potato, 0.844, 1.432, 1.540, 0, 270, 0, 87 [SEP] 4, CellPhone, 0.944, 0.908, -1.879, 0, 0, 0, 70 [SEP] 5, ButterKnife, 1.114, 0.911, -0.555, 0, 0, 0, 65 [SEP] 6, ButterKnife, -0.772, 0.933, -0.143, 0, 180, 0, 64 [SEP] 7, Glassbottle, 0.964, 0.121, 0.398, 0, 270, 0, 59 [SEP] 8, Glassbottle, 0.688, 0.912, -0.555, 0, 0, 0, 65 [SEP] 9, Fork, 0.793, 0.154, -0.769, 0, 180, 0, 67 [SEP] 10, Spatula, 0.754, 0.717, -0.648, 0, 180, 0, 62 [SEP] 11, Spatula, -0.697, 0.795, -0.573, 0, 270, 0, 85 [SEP] 12, Knife, -1.041, 0.957, -0.380, 0, 90, 0, 64 [SEP] 13, Knife, -0.550, 0.957, -0.067, 0, 0, 0, 64 [SEP] 14, Egg, 0.859, 0.949, 0.139, 0, 0, 0, 65 [SEP] 15, Egg, 0.844, 0.900, 1.158, 0, 270, 0, 87 [SEP] 16, Egg, 0.965, 1.439, 1.540, 0, 270, 0, 87 [SEP] 17, Cup, -1.981, 0.879, 2.692, 0, 0, 0, 91 [SEP] 18, Cup, -0.550, 0.930, 0.162, 0, 0, 0, 64 [SEP] 19, Plate, -0.772, 0.936, -1.386, 0, 0, 0, 64 [SEP] 20, Tomato, 0.944, 0.952, -0.208, 0, 0, 0, 65 [SEP] 21, Tomato, 0.965, 0.903, 1.540, 0, 270, 0, 87 [SEP] 22, SoapBottle, 1.056, 1.666, -0.529, 0, 270, 0, 73 [SEP] 23, SoapBottle, -0.912, 0.179, 0.576, 0, 180, 0, 84 [SEP] 24, SaltShaker, 0.754, 0.491, -0.565, 0, 270, 0, 68 [SEP] 25, SaltShaker, 0.859, 0.907, -0.555, 0, 0, 0, 65 [SEP] 26, Lettuce, 0.965, 1.212, 1.444, 0, 270, 0, 87 [SEP] 27, Bread, 1.029, 0.992, 0.139, 0, 0, 0, 65 [SEP] 28, Bread, 1.026, 0.944, 1.349, 0, 270, 0, 87 [SEP] 29, Mug, -1.355, 0.928, -0.905, 0, 0, 0, 64 [SEP] 30, Statue, -1.167, 0.936, -0.643, 0, 0, 0, 64 [SEP] 31, Glassbottle, 0.811, 0.121, 0.398, 0, 270, 0, 59 [SEP] 32, Bread, 0.905, 1.482, 1.158, 0, 270, 0, 87 [SEP] 33, CreditCard, -1.467, 0.551, 2.874, 0, 0, 0, 90 [SEP] 34, CellPhone, 1.199, 0.908, -0.729, 0, 0, 0, 65 [SEP] 35, Potato, 1.026, 1.165, 0.967, 0, 270, 0, 87 [SEP] 36, Knife, 1.114, 0.934, -0.207, 0, 0, 0, 65 [SEP] 37, Fork, -0.550, 0.934, -1.618, 0, 0, 0, 64 [SEP] 38, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 58 [SEP] 39, Lettuce, -0.697, 0.857, -0.832, 0, 90, 0, 85 [SEP] 40, Plate, 0.844, 1.138, 1.254, 0, 270, 0, 87 [SEP] 41, Apple, 0.966, 1.185, 1.063, 0, 270, 0, 87 [SEP] 42, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 60 [SEP] 43, Spatula, -0.642, 0.791, -0.918, 0, 0, 0, 85 [SEP] 44, PaperTowelRoll, -1.878, 0.986, 2.719, 0, 0, 0, 91 [SEP] 45, Tomato, 0.905, 1.683, 1.254, 0, 270, 0, 87 [SEP] 46, Egg, 1.199, 0.949, 0.139, 0, 0, 0, 65 [SEP] 47, SaltShaker, 0.794, 0.490, -0.690, 0, 270, 0, 68 [SEP] 48, PepperShaker, 1.199, 0.907, 0.313, 0, 0, 0, 65 [SEP] 49, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 90 [SEP] 50, ButterKnife, -0.624, 0.933, -1.154, 0, 0, 0, 64 [SEP] 51, SoapBottle, -1.054, 0.179, 0.576, 0, 180, 0, 84 [SEP] 52, Vase, -1.985, 0.555, 2.718, 0, 0, 0, 90 [SEP] 53, Bowl, 0.910, 0.111, -2.052, 0, 0, 0, 69 [SEP] 54, DishSponge, 0.793, 0.153, -0.611, 0, 270, 0, 67 [SEP] 55, Spoon, 0.773, 0.912, 0.313, 0, 0, 0, 65 [SEP] 56, Cup, 0.773, 0.908, -0.729, 0, 0, 0, 65 [SEP] 57, Mug, 1.240, 1.661, -2.097, 0, 0, 0, 63 [SEP] 58, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 59, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 60, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 61, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 62, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 63, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 64, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 65, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 66, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 67, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 68, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 69, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 70, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 71, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 72, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 73, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 74, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 75, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 76, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 77, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 78, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 79, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 80, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 81, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 82, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 83, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 84, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 85, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 86, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 87, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 88, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 89, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 90, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 91, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 92, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 93, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 94, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 95, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 96, NorthWall, , , , , , , [SEP] 97, EastWall, , , , , , , [SEP] 98, SouthWall, , , , , , , [SEP] 99, WestWall, , , , , , , ", "output": ["STEP 1: turn around and cross the room turning right into the kitchen | STEP 2: turn to the counter and pick up the egg | STEP 3: turn right and cross the kitchen turn right to the counter | STEP 4: open the cabinet and place egg in bowl | STEP 5: remove bowl in the cabinet | STEP 6: While holding the egg in the bowl close the cabinet doors | STEP 7: place the bowl on the counter | END"]} +{"id": "trial_T20190908_062352_374890-2", "input": "Place a bowl with a brown ball in it on the counter top 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, -0.25, 0, 180, 0, [SEP] 1, Statue, 0.944, 0.914, -0.729, 0, 0, 0, 65 [SEP] 2, Potato, 1.060, 1.814, -1.236, 0, 270, 0, 86 [SEP] 3, Potato, 0.844, 1.432, 1.540, 0, 270, 0, 87 [SEP] 4, CellPhone, 0.944, 0.908, -1.879, 0, 0, 0, 70 [SEP] 5, ButterKnife, 1.114, 0.911, -0.555, 0, 0, 0, 65 [SEP] 6, ButterKnife, -0.772, 0.933, -0.143, 0, 180, 0, 64 [SEP] 7, Glassbottle, 0.964, 0.121, 0.398, 0, 270, 0, 59 [SEP] 8, Glassbottle, 0.688, 0.912, -0.555, 0, 0, 0, 65 [SEP] 9, Fork, 0.793, 0.154, -0.769, 0, 180, 0, 67 [SEP] 10, Spatula, 0.754, 0.717, -0.648, 0, 180, 0, 62 [SEP] 11, Spatula, -0.697, 0.795, -0.573, 0, 270, 0, 85 [SEP] 12, Knife, -1.041, 0.957, -0.380, 0, 90, 0, 64 [SEP] 13, Knife, -0.550, 0.957, -0.067, 0, 0, 0, 64 [SEP] 14, Egg, 0.859, 0.949, 0.139, 0, 0, 0, 65 [SEP] 15, Egg, 0.844, 0.900, 1.158, 0, 270, 0, 87 [SEP] 16, Egg, 0.965, 1.439, 1.540, 0, 270, 0, 87 [SEP] 17, Cup, -1.981, 0.879, 2.692, 0, 0, 0, 91 [SEP] 18, Cup, -0.550, 0.930, 0.162, 0, 0, 0, 64 [SEP] 19, Plate, -0.772, 0.936, -1.386, 0, 0, 0, 64 [SEP] 20, Tomato, 0.944, 0.952, -0.208, 0, 0, 0, 65 [SEP] 21, Tomato, 0.965, 0.903, 1.540, 0, 270, 0, 87 [SEP] 22, SoapBottle, 1.056, 1.666, -0.529, 0, 270, 0, 73 [SEP] 23, SoapBottle, -0.912, 0.179, 0.576, 0, 180, 0, 84 [SEP] 24, SaltShaker, 0.754, 0.491, -0.565, 0, 270, 0, 68 [SEP] 25, SaltShaker, 0.859, 0.907, -0.555, 0, 0, 0, 65 [SEP] 26, Lettuce, 0.965, 1.212, 1.444, 0, 270, 0, 87 [SEP] 27, Bread, 1.029, 0.992, 0.139, 0, 0, 0, 65 [SEP] 28, Bread, 1.026, 0.944, 1.349, 0, 270, 0, 87 [SEP] 29, Mug, -1.355, 0.928, -0.905, 0, 0, 0, 64 [SEP] 30, Statue, -1.167, 0.936, -0.643, 0, 0, 0, 64 [SEP] 31, Glassbottle, 0.811, 0.121, 0.398, 0, 270, 0, 59 [SEP] 32, Bread, 0.905, 1.482, 1.158, 0, 270, 0, 87 [SEP] 33, CreditCard, -1.467, 0.551, 2.874, 0, 0, 0, 90 [SEP] 34, CellPhone, 1.199, 0.908, -0.729, 0, 0, 0, 65 [SEP] 35, Potato, 1.026, 1.165, 0.967, 0, 270, 0, 87 [SEP] 36, Knife, 1.114, 0.934, -0.207, 0, 0, 0, 65 [SEP] 37, Fork, -0.550, 0.934, -1.618, 0, 0, 0, 64 [SEP] 38, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 58 [SEP] 39, Lettuce, -0.697, 0.857, -0.832, 0, 90, 0, 85 [SEP] 40, Plate, 0.844, 1.138, 1.254, 0, 270, 0, 87 [SEP] 41, Apple, 0.966, 1.185, 1.063, 0, 270, 0, 87 [SEP] 42, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 60 [SEP] 43, Spatula, -0.642, 0.791, -0.918, 0, 0, 0, 85 [SEP] 44, PaperTowelRoll, -1.878, 0.986, 2.719, 0, 0, 0, 91 [SEP] 45, Tomato, 0.905, 1.683, 1.254, 0, 270, 0, 87 [SEP] 46, Egg, 1.199, 0.949, 0.139, 0, 0, 0, 65 [SEP] 47, SaltShaker, 0.794, 0.490, -0.690, 0, 270, 0, 68 [SEP] 48, PepperShaker, 1.199, 0.907, 0.313, 0, 0, 0, 65 [SEP] 49, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 90 [SEP] 50, ButterKnife, -0.624, 0.933, -1.154, 0, 0, 0, 64 [SEP] 51, SoapBottle, -1.054, 0.179, 0.576, 0, 180, 0, 84 [SEP] 52, Vase, -1.985, 0.555, 2.718, 0, 0, 0, 90 [SEP] 53, Bowl, 0.910, 0.111, -2.052, 0, 0, 0, 69 [SEP] 54, DishSponge, 0.793, 0.153, -0.611, 0, 270, 0, 67 [SEP] 55, Spoon, 0.773, 0.912, 0.313, 0, 0, 0, 65 [SEP] 56, Cup, 0.773, 0.908, -0.729, 0, 0, 0, 65 [SEP] 57, Mug, 1.240, 1.661, -2.097, 0, 0, 0, 63 [SEP] 58, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 59, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 60, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 61, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 62, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 63, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 64, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 65, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 66, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 67, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 68, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 69, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 70, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 71, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 72, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 73, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 74, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 75, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 76, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 77, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 78, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 79, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 80, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 81, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 82, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 83, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 84, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 85, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 86, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 87, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 88, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 89, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 90, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 91, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 92, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 93, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 94, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 95, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 96, NorthWall, , , , , , , [SEP] 97, EastWall, , , , , , , [SEP] 98, SouthWall, , , , , , , [SEP] 99, WestWall, , , , , , , ", "output": ["STEP 1: turn to the left twice and go forward a few steps and turn right and go to the refrigerator and turn to the right and take a few steps and turn to the left and go to the counter | STEP 2: pick up the brown ball from the counter top | STEP 3: turn to the right and go to the wall and turn to the left facing the counter | STEP 4: open up the counter cabinet doors and put the brown ball in the bowl in the cabinet | STEP 5: pick up the bowl with the brown ball in it and close the cabinet doors | STEP 6: look up to the counter top | STEP 7: put the bowl with the brown ball in it on the left bottom corner of the counter top | END"]} +{"id": "trial_T20190907_183853_958104-0", "input": "Cool a mug 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, -3.25, 0.900, 2.25, 0, 180, 0, [SEP] 1, Statue, -1.167, 0.936, -0.643, 0, 0, 0, 54 [SEP] 2, Potato, 0.966, 1.432, 1.349, 0, 270, 0, 77 [SEP] 3, CreditCard, 0.875, 0.491, -0.565, 0, 270, 0, 58 [SEP] 4, CellPhone, -1.167, 0.930, -1.167, 0, 0, 0, 54 [SEP] 5, CellPhone, -0.698, 0.930, -1.463, 0, 0, 0, 54 [SEP] 6, DishSponge, -0.587, 0.780, -0.486, 0, 90, 0, 75 [SEP] 7, Fork, -0.697, 0.780, -0.573, 0, 180, 0, 75 [SEP] 8, Spoon, 1.029, 0.912, -0.381, 0, 0, 0, 55 [SEP] 9, Spoon, 0.834, 0.495, -0.690, 0, 270, 0, 58 [SEP] 10, Spatula, 1.199, 0.926, -1.793, 0, 270, 0, 60 [SEP] 11, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 50 [SEP] 12, Egg, 0.783, 1.439, 1.158, 0, 270, 0, 77 [SEP] 13, Plate, 0.905, 0.866, 1.063, 0, 270, 0, 77 [SEP] 14, Bowl, -0.642, 0.779, -0.832, 0, 90, 0, 75 [SEP] 15, SaltShaker, 0.833, 0.150, -0.769, 0, 270, 0, 57 [SEP] 16, PepperShaker, 1.256, 2.204, -1.517, 0, 270, 0, 61 [SEP] 17, Lettuce, 0.966, 0.940, 1.254, 0, 270, 0, 77 [SEP] 18, Lettuce, 0.688, 0.988, -0.555, 0, 0, 0, 55 [SEP] 19, Mug, 1.148, 1.661, -0.529, 0, 270, 0, 63 [SEP] 20, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 54 [SEP] 21, Glassbottle, -1.041, 0.934, -0.380, 0, 0, 0, 54 [SEP] 22, Bread, -0.779, 0.996, 0.209, 0, 258.641, 0, 54 [SEP] 23, CreditCard, 0.773, 0.908, -1.965, 0, 0, 0, 60 [SEP] 24, CellPhone, 1.114, 0.908, -0.034, 0, 0, 0, 55 [SEP] 25, Potato, 0.965, 1.165, 1.540, 0, 270, 0, 77 [SEP] 26, Knife, -0.624, 0.957, 0.086, 0, 180, 0, 54 [SEP] 27, Fork, -0.642, 0.780, -0.659, 0, 0, 0, 75 [SEP] 28, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 48 [SEP] 29, Lettuce, 1.114, 0.988, -0.381, 0, 0, 0, 55 [SEP] 30, Plate, 1.101, 1.669, 0.153, 0, 270, 0, 62 [SEP] 31, Apple, 0.688, 0.961, -2.222, 0, 0, 0, 60 [SEP] 32, Pot, 0.859, 0.914, -0.208, 0, 0, 0, 55 [SEP] 33, Spatula, -1.104, 0.948, -1.430, 0, 90, 0, 54 [SEP] 34, PaperTowelRoll, -0.912, 0.281, 0.576, 0, 180, 0, 74 [SEP] 35, Tomato, 1.114, 0.952, 0.139, 0, 0, 0, 55 [SEP] 36, Egg, -1.007, 0.214, 0.608, 0, 180, 0, 74 [SEP] 37, SaltShaker, 1.010, 0.104, -1.892, 0, 0, 0, 59 [SEP] 38, PepperShaker, 0.773, 0.907, 0.139, 0, 0, 0, 55 [SEP] 39, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 80 [SEP] 40, ButterKnife, 1.029, 0.911, -0.729, 0, 90, 0, 55 [SEP] 41, SoapBottle, -1.571, 0.882, 2.692, 0, 0, 0, 81 [SEP] 42, Vase, -1.985, 0.555, 2.718, 0, 0, 0, 80 [SEP] 43, Bowl, -1.467, 0.557, 2.615, 0, 0, 0, 80 [SEP] 44, DishSponge, 1.194, 1.665, -2.234, 0, 270, 0, 53 [SEP] 45, Spoon, -1.104, 0.934, -0.905, 0, 0, 0, 54 [SEP] 46, Cup, -0.753, 0.777, -0.745, 0, 90, 0, 75 [SEP] 47, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 73 [SEP] 48, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 49, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 50, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 51, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 52, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 53, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 54, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 55, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 56, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 57, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 58, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 59, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 60, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 61, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 62, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 63, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 64, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 65, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 66, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 67, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 68, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 69, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 70, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 71, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 72, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 73, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 74, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 75, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 76, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 77, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 78, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 79, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 80, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 81, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 82, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 83, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 84, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 85, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 86, NorthWall, , , , , , , [SEP] 87, EastWall, , , , , , , [SEP] 88, SouthWall, , , , , , , [SEP] 89, WestWall, , , , , , , ", "output": ["STEP 1: Go forward a bit, turn left, go to the fridge, turn right, go to the end of the counter, turn left | STEP 2: Pick up the mug in the coffee maker | STEP 3: Turn left, go to the fridge, turn right | STEP 4: Open the fridge, put the cup in the fridge, close the fridge, wait, open the fridge, pick the cup, close the fridge | STEP 5: Turn right, go to the coffee maker, turn left | STEP 6: Put the cup into the coffee maker | END"]} +{"id": "trial_T20190907_183853_958104-1", "input": "Place a chilled mug under the coffee maker spout. 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, 2.25, 0, 180, 0, [SEP] 1, Statue, -1.167, 0.936, -0.643, 0, 0, 0, 54 [SEP] 2, Potato, 0.966, 1.432, 1.349, 0, 270, 0, 77 [SEP] 3, CreditCard, 0.875, 0.491, -0.565, 0, 270, 0, 58 [SEP] 4, CellPhone, -1.167, 0.930, -1.167, 0, 0, 0, 54 [SEP] 5, CellPhone, -0.698, 0.930, -1.463, 0, 0, 0, 54 [SEP] 6, DishSponge, -0.587, 0.780, -0.486, 0, 90, 0, 75 [SEP] 7, Fork, -0.697, 0.780, -0.573, 0, 180, 0, 75 [SEP] 8, Spoon, 1.029, 0.912, -0.381, 0, 0, 0, 55 [SEP] 9, Spoon, 0.834, 0.495, -0.690, 0, 270, 0, 58 [SEP] 10, Spatula, 1.199, 0.926, -1.793, 0, 270, 0, 60 [SEP] 11, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 50 [SEP] 12, Egg, 0.783, 1.439, 1.158, 0, 270, 0, 77 [SEP] 13, Plate, 0.905, 0.866, 1.063, 0, 270, 0, 77 [SEP] 14, Bowl, -0.642, 0.779, -0.832, 0, 90, 0, 75 [SEP] 15, SaltShaker, 0.833, 0.150, -0.769, 0, 270, 0, 57 [SEP] 16, PepperShaker, 1.256, 2.204, -1.517, 0, 270, 0, 61 [SEP] 17, Lettuce, 0.966, 0.940, 1.254, 0, 270, 0, 77 [SEP] 18, Lettuce, 0.688, 0.988, -0.555, 0, 0, 0, 55 [SEP] 19, Mug, 1.148, 1.661, -0.529, 0, 270, 0, 63 [SEP] 20, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 54 [SEP] 21, Glassbottle, -1.041, 0.934, -0.380, 0, 0, 0, 54 [SEP] 22, Bread, -0.779, 0.996, 0.209, 0, 258.641, 0, 54 [SEP] 23, CreditCard, 0.773, 0.908, -1.965, 0, 0, 0, 60 [SEP] 24, CellPhone, 1.114, 0.908, -0.034, 0, 0, 0, 55 [SEP] 25, Potato, 0.965, 1.165, 1.540, 0, 270, 0, 77 [SEP] 26, Knife, -0.624, 0.957, 0.086, 0, 180, 0, 54 [SEP] 27, Fork, -0.642, 0.780, -0.659, 0, 0, 0, 75 [SEP] 28, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 48 [SEP] 29, Lettuce, 1.114, 0.988, -0.381, 0, 0, 0, 55 [SEP] 30, Plate, 1.101, 1.669, 0.153, 0, 270, 0, 62 [SEP] 31, Apple, 0.688, 0.961, -2.222, 0, 0, 0, 60 [SEP] 32, Pot, 0.859, 0.914, -0.208, 0, 0, 0, 55 [SEP] 33, Spatula, -1.104, 0.948, -1.430, 0, 90, 0, 54 [SEP] 34, PaperTowelRoll, -0.912, 0.281, 0.576, 0, 180, 0, 74 [SEP] 35, Tomato, 1.114, 0.952, 0.139, 0, 0, 0, 55 [SEP] 36, Egg, -1.007, 0.214, 0.608, 0, 180, 0, 74 [SEP] 37, SaltShaker, 1.010, 0.104, -1.892, 0, 0, 0, 59 [SEP] 38, PepperShaker, 0.773, 0.907, 0.139, 0, 0, 0, 55 [SEP] 39, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 80 [SEP] 40, ButterKnife, 1.029, 0.911, -0.729, 0, 90, 0, 55 [SEP] 41, SoapBottle, -1.571, 0.882, 2.692, 0, 0, 0, 81 [SEP] 42, Vase, -1.985, 0.555, 2.718, 0, 0, 0, 80 [SEP] 43, Bowl, -1.467, 0.557, 2.615, 0, 0, 0, 80 [SEP] 44, DishSponge, 1.194, 1.665, -2.234, 0, 270, 0, 53 [SEP] 45, Spoon, -1.104, 0.934, -0.905, 0, 0, 0, 54 [SEP] 46, Cup, -0.753, 0.777, -0.745, 0, 90, 0, 75 [SEP] 47, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 73 [SEP] 48, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 49, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 50, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 51, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 52, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 53, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 54, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 55, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 56, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 57, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 58, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 59, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 60, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 61, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 62, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 63, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 64, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 65, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 66, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 67, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 68, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 69, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 70, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 71, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 72, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 73, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 74, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 75, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 76, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 77, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 78, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 79, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 80, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 81, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 82, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 83, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 84, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 85, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 86, NorthWall, , , , , , , [SEP] 87, EastWall, , , , , , , [SEP] 88, SouthWall, , , , , , , [SEP] 89, WestWall, , , , , , , ", "output": ["STEP 1: Turn left, hang a right at the fridge, and head towards the coffee maker sitting on the counter to your left. | STEP 2: Pick up the white mug on the coffee maker. | STEP 3: Turn to your left and head to the fridge that will be on your right. | STEP 4: Place the coffee mug in the fridge to chill before taking it back out. | STEP 5: Turn to your right and head back to the coffee maker. | STEP 6: Place the mug to where it is located under the coffee maker's spout. | END"]} +{"id": "trial_T20190907_183853_958104-2", "input": "Chill the mug and put it in 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, -3.25, 0.900, 2.25, 0, 180, 0, [SEP] 1, Statue, -1.167, 0.936, -0.643, 0, 0, 0, 54 [SEP] 2, Potato, 0.966, 1.432, 1.349, 0, 270, 0, 77 [SEP] 3, CreditCard, 0.875, 0.491, -0.565, 0, 270, 0, 58 [SEP] 4, CellPhone, -1.167, 0.930, -1.167, 0, 0, 0, 54 [SEP] 5, CellPhone, -0.698, 0.930, -1.463, 0, 0, 0, 54 [SEP] 6, DishSponge, -0.587, 0.780, -0.486, 0, 90, 0, 75 [SEP] 7, Fork, -0.697, 0.780, -0.573, 0, 180, 0, 75 [SEP] 8, Spoon, 1.029, 0.912, -0.381, 0, 0, 0, 55 [SEP] 9, Spoon, 0.834, 0.495, -0.690, 0, 270, 0, 58 [SEP] 10, Spatula, 1.199, 0.926, -1.793, 0, 270, 0, 60 [SEP] 11, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 50 [SEP] 12, Egg, 0.783, 1.439, 1.158, 0, 270, 0, 77 [SEP] 13, Plate, 0.905, 0.866, 1.063, 0, 270, 0, 77 [SEP] 14, Bowl, -0.642, 0.779, -0.832, 0, 90, 0, 75 [SEP] 15, SaltShaker, 0.833, 0.150, -0.769, 0, 270, 0, 57 [SEP] 16, PepperShaker, 1.256, 2.204, -1.517, 0, 270, 0, 61 [SEP] 17, Lettuce, 0.966, 0.940, 1.254, 0, 270, 0, 77 [SEP] 18, Lettuce, 0.688, 0.988, -0.555, 0, 0, 0, 55 [SEP] 19, Mug, 1.148, 1.661, -0.529, 0, 270, 0, 63 [SEP] 20, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 54 [SEP] 21, Glassbottle, -1.041, 0.934, -0.380, 0, 0, 0, 54 [SEP] 22, Bread, -0.779, 0.996, 0.209, 0, 258.641, 0, 54 [SEP] 23, CreditCard, 0.773, 0.908, -1.965, 0, 0, 0, 60 [SEP] 24, CellPhone, 1.114, 0.908, -0.034, 0, 0, 0, 55 [SEP] 25, Potato, 0.965, 1.165, 1.540, 0, 270, 0, 77 [SEP] 26, Knife, -0.624, 0.957, 0.086, 0, 180, 0, 54 [SEP] 27, Fork, -0.642, 0.780, -0.659, 0, 0, 0, 75 [SEP] 28, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 48 [SEP] 29, Lettuce, 1.114, 0.988, -0.381, 0, 0, 0, 55 [SEP] 30, Plate, 1.101, 1.669, 0.153, 0, 270, 0, 62 [SEP] 31, Apple, 0.688, 0.961, -2.222, 0, 0, 0, 60 [SEP] 32, Pot, 0.859, 0.914, -0.208, 0, 0, 0, 55 [SEP] 33, Spatula, -1.104, 0.948, -1.430, 0, 90, 0, 54 [SEP] 34, PaperTowelRoll, -0.912, 0.281, 0.576, 0, 180, 0, 74 [SEP] 35, Tomato, 1.114, 0.952, 0.139, 0, 0, 0, 55 [SEP] 36, Egg, -1.007, 0.214, 0.608, 0, 180, 0, 74 [SEP] 37, SaltShaker, 1.010, 0.104, -1.892, 0, 0, 0, 59 [SEP] 38, PepperShaker, 0.773, 0.907, 0.139, 0, 0, 0, 55 [SEP] 39, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 80 [SEP] 40, ButterKnife, 1.029, 0.911, -0.729, 0, 90, 0, 55 [SEP] 41, SoapBottle, -1.571, 0.882, 2.692, 0, 0, 0, 81 [SEP] 42, Vase, -1.985, 0.555, 2.718, 0, 0, 0, 80 [SEP] 43, Bowl, -1.467, 0.557, 2.615, 0, 0, 0, 80 [SEP] 44, DishSponge, 1.194, 1.665, -2.234, 0, 270, 0, 53 [SEP] 45, Spoon, -1.104, 0.934, -0.905, 0, 0, 0, 54 [SEP] 46, Cup, -0.753, 0.777, -0.745, 0, 90, 0, 75 [SEP] 47, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 73 [SEP] 48, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 49, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 50, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 51, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 52, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 53, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 54, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 55, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 56, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 57, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 58, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 59, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 60, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 61, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 62, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 63, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 64, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 65, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 66, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 67, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 68, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 69, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 70, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 71, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 72, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 73, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 74, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 75, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 76, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 77, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 78, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 79, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 80, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 81, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 82, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 83, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 84, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 85, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 86, NorthWall, , , , , , , [SEP] 87, EastWall, , , , , , , [SEP] 88, SouthWall, , , , , , , [SEP] 89, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and go to the fridge, then turn right and go to the coffee machine. | STEP 2: Pick up the mug from the coffee machine. | STEP 3: Turn left and go to the fridge. | STEP 4: Open the fridge, put the cup on the shelf for a little bit and take it out. | STEP 5: Turn right and go back to the coffee machine. | STEP 6: Set the mug in the coffee machine. | END"]} +{"id": "trial_T20190908_091747_866951-0", "input": "Cool some bread and the 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, -1.0, 0.900, 1.0, 0, 270, 0, [SEP] 1, Statue, -0.550, 0.936, -1.231, 0, 0, 0, 49 [SEP] 2, Potato, -0.808, 0.807, -0.745, 0, 90, 0, 70 [SEP] 3, Potato, -0.587, 0.811, -0.832, 0, 0, 0, 70 [SEP] 4, CreditCard, 0.875, 0.492, -0.731, 0, 270, 0, 53 [SEP] 5, CreditCard, 0.793, 0.150, -0.611, 0, 270, 0, 52 [SEP] 6, Pot, -1.229, 0.936, 0.144, 0, 0, 0, 49 [SEP] 7, Egg, -1.007, 0.216, 0.510, 0, 180, 0, 69 [SEP] 8, Egg, -0.818, 0.216, 0.608, 0, 180, 0, 69 [SEP] 9, Plate, 1.193, 1.669, 0.280, 0, 270, 0, 57 [SEP] 10, Plate, 1.126, 2.211, -1.299, 0, 270, 0, 56 [SEP] 11, SoapBottle, 1.194, 1.666, -2.166, 0, 270, 0, 48 [SEP] 12, Bowl, 1.055, 1.669, -1.961, 0, 270, 0, 48 [SEP] 13, Bowl, -1.467, 0.557, 2.718, 0, 0, 0, 75 [SEP] 14, PepperShaker, -0.920, 0.929, -1.463, 0, 0, 0, 49 [SEP] 15, Statue, -1.571, 0.884, 2.719, 0, 0, 0, 49 [SEP] 16, Glassbottle, -0.587, 0.781, -0.573, 0, 90, 0, 70 [SEP] 17, Bread, -0.779, 0.996, 0.21, 0, 258.641, 0, 49 [SEP] 18, CreditCard, 0.754, 0.492, -0.565, 0, 270, 0, 53 [SEP] 19, CellPhone, -1.292, 0.930, -0.643, 0, 0, 0, 49 [SEP] 20, Potato, 1.093, 1.825, -1.132, 0, 270, 0, 71 [SEP] 21, Knife, -1.041, 0.957, 0.144, 0, 90, 0, 49 [SEP] 22, Fork, 0.793, 0.154, -0.729, 0, 180, 0, 52 [SEP] 23, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 43 [SEP] 24, Lettuce, 0.866, 1.688, 1.209, 9.746, 11.116, 0, 72 [SEP] 25, Plate, 1.082, 2.211, -1.626, 0, 270, 0, 56 [SEP] 26, Apple, -1.292, 0.983, -1.167, 0, 0, 0, 49 [SEP] 27, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 45 [SEP] 28, Spatula, 1.098, 0.912, -0.629, 0, 0, 0, 50 [SEP] 29, PaperTowelRoll, -1.007, 0.283, 0.608, 0, 180, 0, 69 [SEP] 30, Tomato, -0.772, 0.974, -1.618, 0, 0, 0, 49 [SEP] 31, Egg, -0.865, 0.214, 0.510, 0, 180, 0, 69 [SEP] 32, SaltShaker, -1.418, 0.929, -0.118, 0, 0, 0, 49 [SEP] 33, PepperShaker, 0.956, 0.490, -0.731, 0, 270, 0, 53 [SEP] 34, Vase, -1.104, 0.933, -0.643, 0, 0, 0, 49 [SEP] 35, ButterKnife, -0.550, 0.933, -1.463, 0, 0, 0, 49 [SEP] 36, SoapBottle, 0.960, 0.108, -2.052, 0, 0, 0, 54 [SEP] 37, Vase, -0.846, 0.934, -1.308, 0, 0, 0, 49 [SEP] 38, Bowl, -0.550, 0.936, -0.067, 0, 0, 0, 49 [SEP] 39, DishSponge, 0.761, 0.107, -2.052, 0, 0, 0, 54 [SEP] 40, Spoon, -0.753, 0.781, -0.918, 0, 180, 0, 70 [SEP] 41, Cup, -0.587, 0.777, -0.918, 0, 90, 0, 70 [SEP] 42, Mug, -0.753, 0.775, -0.486, 0, 90, 0, 70 [SEP] 43, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 44, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 45, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 46, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 47, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 48, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 49, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 50, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 51, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 52, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 53, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 54, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 55, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 56, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 57, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 58, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 59, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 60, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 61, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 62, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 63, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 64, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 65, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 66, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 67, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 68, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 69, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 70, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 71, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 72, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 73, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 74, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 75, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 76, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 77, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 78, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 79, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 80, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 81, NorthWall, , , , , , , [SEP] 82, EastWall, , , , , , , [SEP] 83, SouthWall, , , , , , , [SEP] 84, WestWall, , , , , , , ", "output": ["STEP 1: Walk around the center table to face the right side of the sink. | STEP 2: Pick up the bread on the counter to the right of the sink. | STEP 3: Turn around and step to the left to face the fridge. | STEP 4: Cool the bread in the fridge and then remove it. | STEP 5: Take a step to the right to face the counter to the right of the fridge. | STEP 6: Place the bread on the counter. | END"]} +{"id": "trial_T20190908_091747_866951-1", "input": "Put a cold loaf of bread 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, 1.0, 0, 270, 0, [SEP] 1, Statue, -0.550, 0.936, -1.231, 0, 0, 0, 49 [SEP] 2, Potato, -0.808, 0.807, -0.745, 0, 90, 0, 70 [SEP] 3, Potato, -0.587, 0.811, -0.832, 0, 0, 0, 70 [SEP] 4, CreditCard, 0.875, 0.492, -0.731, 0, 270, 0, 53 [SEP] 5, CreditCard, 0.793, 0.150, -0.611, 0, 270, 0, 52 [SEP] 6, Pot, -1.229, 0.936, 0.144, 0, 0, 0, 49 [SEP] 7, Egg, -1.007, 0.216, 0.510, 0, 180, 0, 69 [SEP] 8, Egg, -0.818, 0.216, 0.608, 0, 180, 0, 69 [SEP] 9, Plate, 1.193, 1.669, 0.280, 0, 270, 0, 57 [SEP] 10, Plate, 1.126, 2.211, -1.299, 0, 270, 0, 56 [SEP] 11, SoapBottle, 1.194, 1.666, -2.166, 0, 270, 0, 48 [SEP] 12, Bowl, 1.055, 1.669, -1.961, 0, 270, 0, 48 [SEP] 13, Bowl, -1.467, 0.557, 2.718, 0, 0, 0, 75 [SEP] 14, PepperShaker, -0.920, 0.929, -1.463, 0, 0, 0, 49 [SEP] 15, Statue, -1.571, 0.884, 2.719, 0, 0, 0, 49 [SEP] 16, Glassbottle, -0.587, 0.781, -0.573, 0, 90, 0, 70 [SEP] 17, Bread, -0.779, 0.996, 0.21, 0, 258.641, 0, 49 [SEP] 18, CreditCard, 0.754, 0.492, -0.565, 0, 270, 0, 53 [SEP] 19, CellPhone, -1.292, 0.930, -0.643, 0, 0, 0, 49 [SEP] 20, Potato, 1.093, 1.825, -1.132, 0, 270, 0, 71 [SEP] 21, Knife, -1.041, 0.957, 0.144, 0, 90, 0, 49 [SEP] 22, Fork, 0.793, 0.154, -0.729, 0, 180, 0, 52 [SEP] 23, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 43 [SEP] 24, Lettuce, 0.866, 1.688, 1.209, 9.746, 11.116, 0, 72 [SEP] 25, Plate, 1.082, 2.211, -1.626, 0, 270, 0, 56 [SEP] 26, Apple, -1.292, 0.983, -1.167, 0, 0, 0, 49 [SEP] 27, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 45 [SEP] 28, Spatula, 1.098, 0.912, -0.629, 0, 0, 0, 50 [SEP] 29, PaperTowelRoll, -1.007, 0.283, 0.608, 0, 180, 0, 69 [SEP] 30, Tomato, -0.772, 0.974, -1.618, 0, 0, 0, 49 [SEP] 31, Egg, -0.865, 0.214, 0.510, 0, 180, 0, 69 [SEP] 32, SaltShaker, -1.418, 0.929, -0.118, 0, 0, 0, 49 [SEP] 33, PepperShaker, 0.956, 0.490, -0.731, 0, 270, 0, 53 [SEP] 34, Vase, -1.104, 0.933, -0.643, 0, 0, 0, 49 [SEP] 35, ButterKnife, -0.550, 0.933, -1.463, 0, 0, 0, 49 [SEP] 36, SoapBottle, 0.960, 0.108, -2.052, 0, 0, 0, 54 [SEP] 37, Vase, -0.846, 0.934, -1.308, 0, 0, 0, 49 [SEP] 38, Bowl, -0.550, 0.936, -0.067, 0, 0, 0, 49 [SEP] 39, DishSponge, 0.761, 0.107, -2.052, 0, 0, 0, 54 [SEP] 40, Spoon, -0.753, 0.781, -0.918, 0, 180, 0, 70 [SEP] 41, Cup, -0.587, 0.777, -0.918, 0, 90, 0, 70 [SEP] 42, Mug, -0.753, 0.775, -0.486, 0, 90, 0, 70 [SEP] 43, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 44, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 45, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 46, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 47, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 48, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 49, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 50, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 51, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 52, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 53, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 54, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 55, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 56, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 57, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 58, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 59, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 60, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 61, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 62, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 63, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 64, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 65, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 66, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 67, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 68, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 69, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 70, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 71, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 72, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 73, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 74, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 75, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 76, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 77, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 78, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 79, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 80, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 81, NorthWall, , , , , , , [SEP] 82, EastWall, , , , , , , [SEP] 83, SouthWall, , , , , , , [SEP] 84, WestWall, , , , , , , ", "output": ["STEP 1: Turn around, walk to the fridge, turn left, and walk to the counter. | STEP 2: Pick up the bread. | STEP 3: Turn right, walk to the fridge, and turn right. | STEP 4: Open the fridge, put the bread in the fridge, close the fridge, open the fridge, get the bread, and close the fridge. | STEP 5: Turn right, walk to the counter, and turn left. | STEP 6: Put the bread on the counter. | END"]} +{"id": "trial_T20190908_091747_866951-2", "input": "Put chilled bread 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, 1.0, 0, 270, 0, [SEP] 1, Statue, -0.550, 0.936, -1.231, 0, 0, 0, 49 [SEP] 2, Potato, -0.808, 0.807, -0.745, 0, 90, 0, 70 [SEP] 3, Potato, -0.587, 0.811, -0.832, 0, 0, 0, 70 [SEP] 4, CreditCard, 0.875, 0.492, -0.731, 0, 270, 0, 53 [SEP] 5, CreditCard, 0.793, 0.150, -0.611, 0, 270, 0, 52 [SEP] 6, Pot, -1.229, 0.936, 0.144, 0, 0, 0, 49 [SEP] 7, Egg, -1.007, 0.216, 0.510, 0, 180, 0, 69 [SEP] 8, Egg, -0.818, 0.216, 0.608, 0, 180, 0, 69 [SEP] 9, Plate, 1.193, 1.669, 0.280, 0, 270, 0, 57 [SEP] 10, Plate, 1.126, 2.211, -1.299, 0, 270, 0, 56 [SEP] 11, SoapBottle, 1.194, 1.666, -2.166, 0, 270, 0, 48 [SEP] 12, Bowl, 1.055, 1.669, -1.961, 0, 270, 0, 48 [SEP] 13, Bowl, -1.467, 0.557, 2.718, 0, 0, 0, 75 [SEP] 14, PepperShaker, -0.920, 0.929, -1.463, 0, 0, 0, 49 [SEP] 15, Statue, -1.571, 0.884, 2.719, 0, 0, 0, 49 [SEP] 16, Glassbottle, -0.587, 0.781, -0.573, 0, 90, 0, 70 [SEP] 17, Bread, -0.779, 0.996, 0.21, 0, 258.641, 0, 49 [SEP] 18, CreditCard, 0.754, 0.492, -0.565, 0, 270, 0, 53 [SEP] 19, CellPhone, -1.292, 0.930, -0.643, 0, 0, 0, 49 [SEP] 20, Potato, 1.093, 1.825, -1.132, 0, 270, 0, 71 [SEP] 21, Knife, -1.041, 0.957, 0.144, 0, 90, 0, 49 [SEP] 22, Fork, 0.793, 0.154, -0.729, 0, 180, 0, 52 [SEP] 23, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 43 [SEP] 24, Lettuce, 0.866, 1.688, 1.209, 9.746, 11.116, 0, 72 [SEP] 25, Plate, 1.082, 2.211, -1.626, 0, 270, 0, 56 [SEP] 26, Apple, -1.292, 0.983, -1.167, 0, 0, 0, 49 [SEP] 27, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 45 [SEP] 28, Spatula, 1.098, 0.912, -0.629, 0, 0, 0, 50 [SEP] 29, PaperTowelRoll, -1.007, 0.283, 0.608, 0, 180, 0, 69 [SEP] 30, Tomato, -0.772, 0.974, -1.618, 0, 0, 0, 49 [SEP] 31, Egg, -0.865, 0.214, 0.510, 0, 180, 0, 69 [SEP] 32, SaltShaker, -1.418, 0.929, -0.118, 0, 0, 0, 49 [SEP] 33, PepperShaker, 0.956, 0.490, -0.731, 0, 270, 0, 53 [SEP] 34, Vase, -1.104, 0.933, -0.643, 0, 0, 0, 49 [SEP] 35, ButterKnife, -0.550, 0.933, -1.463, 0, 0, 0, 49 [SEP] 36, SoapBottle, 0.960, 0.108, -2.052, 0, 0, 0, 54 [SEP] 37, Vase, -0.846, 0.934, -1.308, 0, 0, 0, 49 [SEP] 38, Bowl, -0.550, 0.936, -0.067, 0, 0, 0, 49 [SEP] 39, DishSponge, 0.761, 0.107, -2.052, 0, 0, 0, 54 [SEP] 40, Spoon, -0.753, 0.781, -0.918, 0, 180, 0, 70 [SEP] 41, Cup, -0.587, 0.777, -0.918, 0, 90, 0, 70 [SEP] 42, Mug, -0.753, 0.775, -0.486, 0, 90, 0, 70 [SEP] 43, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 44, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 45, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 46, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 47, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 48, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 49, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 50, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 51, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 52, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 53, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 54, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 55, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 56, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 57, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 58, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 59, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 60, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 61, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 62, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 63, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 64, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 65, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 66, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 67, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 68, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 69, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 70, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 71, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 72, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 73, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 74, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 75, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 76, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 77, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 78, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 79, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 80, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 81, NorthWall, , , , , , , [SEP] 82, EastWall, , , , , , , [SEP] 83, SouthWall, , , , , , , [SEP] 84, WestWall, , , , , , , ", "output": ["STEP 1: Move to your left and face the counter, right of the sink. | STEP 2: Pick up the bread on the counter. | STEP 3: Bring the bread to the fridge behind you to the right. | STEP 4: Chill the bread in the fridge. | STEP 5: Bring the cold bread to the counter, next to the fridge on the right. | STEP 6: Put the cold bread on the counter right of the fridge. | END"]} +{"id": "trial_T20190907_144232_616550-0", "input": "Put a green glass containing a fork 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, 0.0, 0.900, 0.0, 0, 180, 0, [SEP] 1, Pan, -1.167, 0.931, 0.144, 0, 0, 0, 60 [SEP] 2, Statue, -1.292, 0.936, -1.167, 0, 0, 0, 60 [SEP] 3, Vase, 1.082, 2.209, -1.626, 0, 270, 0, 67 [SEP] 4, Potato, 0.688, 0.941, -1.879, 0, 0, 0, 66 [SEP] 5, Potato, 1.093, 1.825, -1.132, 0, 270, 0, 82 [SEP] 6, CreditCard, 1.029, 0.908, -1.879, 0, 0, 0, 66 [SEP] 7, CellPhone, -1.041, 0.930, -1.167, 0, 0, 0, 60 [SEP] 8, DishSponge, -1.054, 0.178, 0.576, 0, 180, 0, 80 [SEP] 9, DishSponge, -1.229, 0.933, -0.380, 0, 0, 0, 60 [SEP] 10, ButterKnife, 1.114, 0.911, -0.208, 0, 0, 0, 61 [SEP] 11, Fork, 0.834, 0.494, -0.607, 0, 270, 0, 64 [SEP] 12, Spoon, 1.114, 0.912, -0.208, 0, 0, 0, 61 [SEP] 13, Spatula, -0.550, 0.948, -1.540, 0, 0, 0, 60 [SEP] 14, Spatula, -1.104, 0.948, -0.905, 0, 0, 0, 60 [SEP] 15, Cup, 1.239, 1.663, 0.216, 0, 270, 0, 68 [SEP] 16, Cup, 1.199, 0.908, -1.879, 0, 0, 0, 66 [SEP] 17, Cup, -0.846, 0.930, -0.067, 0, 0, 0, 60 [SEP] 18, Plate, 1.101, 1.669, 0.025, 0, 270, 0, 68 [SEP] 19, Plate, 0.859, 0.914, -0.381, 0, 0, 0, 61 [SEP] 20, Tomato, -0.912, 0.219, 0.608, 0, 180, 0, 80 [SEP] 21, Tomato, -1.355, 0.974, -0.905, 0, 0, 0, 60 [SEP] 22, Bowl, -1.363, 0.557, 2.822, 0, 0, 0, 86 [SEP] 23, Bowl, 1.055, 1.669, -2.166, 0, 270, 0, 59 [SEP] 24, PepperShaker, 0.773, 0.907, -0.729, 0, 0, 0, 61 [SEP] 25, Apple, -0.808, 0.830, -0.573, 0, 90, 0, 81 [SEP] 26, Statue, -0.698, 0.936, 0.009, 0, 0, 0, 60 [SEP] 27, Glassbottle, 1.056, 1.667, -0.337, 0, 270, 0, 69 [SEP] 28, Bread, 0.773, 0.992, 0.139, 0, 0, 0, 61 [SEP] 29, CreditCard, -1.467, 0.551, 2.563, 0, 0, 0, 86 [SEP] 30, CellPhone, 1.199, 0.908, -0.381, 0, 0, 0, 61 [SEP] 31, Potato, -0.642, 0.811, -0.486, 0, 90, 0, 81 [SEP] 32, Knife, 0.868, 0.700, -0.600, 90, 315, 0, 58 [SEP] 33, Fork, -0.624, 0.934, -1.231, 0, 0, 0, 60 [SEP] 34, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 54 [SEP] 35, Lettuce, -0.697, 0.857, -0.832, 0, 90, 0, 81 [SEP] 36, Plate, 0.844, 1.405, 1.158, 0, 270, 0, 83 [SEP] 37, Apple, 1.087, 1.693, 0.967, 0, 270, 0, 83 [SEP] 38, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 56 [SEP] 39, Spatula, 0.915, 0.509, -0.690, 0, 0, 0, 64 [SEP] 40, PaperTowelRoll, -1.363, 0.658, 2.563, 0, 0, 0, 86 [SEP] 41, Tomato, 1.026, 0.903, 1.349, 0, 270, 0, 83 [SEP] 42, Egg, -0.698, 0.971, -1.308, 0, 0, 0, 60 [SEP] 43, SaltShaker, 0.915, 0.699, -0.690, 0, 270, 0, 58 [SEP] 44, PepperShaker, 0.753, 0.150, -0.531, 0, 270, 0, 63 [SEP] 45, Vase, 1.194, 1.666, -0.593, 0, 270, 0, 69 [SEP] 46, ButterKnife, 1.029, 0.911, -0.034, 0, 0, 0, 61 [SEP] 47, SoapBottle, 1.169, 2.208, -0.973, 0, 270, 0, 67 [SEP] 48, Vase, -1.355, 0.934, -0.643, 0, 0, 0, 60 [SEP] 49, Bowl, 0.761, 0.111, -2.052, 0, 0, 0, 65 [SEP] 50, DishSponge, 0.833, 0.153, -0.690, 0, 270, 0, 63 [SEP] 51, Spoon, 1.029, 0.912, -0.729, 0, 0, 0, 61 [SEP] 52, Cup, 0.783, 0.860, 1.349, 0, 270, 0, 83 [SEP] 53, Mug, 1.028, 1.790, -1.339, 0, 270, 0, 82 [SEP] 54, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 55, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 56, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 57, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 58, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 59, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 60, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 61, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 62, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 63, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 64, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 65, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 66, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 67, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 68, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 69, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 70, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 71, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 72, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 73, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 74, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 75, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 76, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 77, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 78, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 79, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 80, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 81, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 82, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 83, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 84, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 85, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 86, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 87, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 88, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 89, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 90, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 91, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 92, NorthWall, , , , , , , [SEP] 93, EastWall, , , , , , , [SEP] 94, SouthWall, , , , , , , [SEP] 95, WestWall, , , , , , , ", "output": ["STEP 1: Go forward to the counter on your right, to the left of the sink, and face the counter. | STEP 2: Pick up the fork that is to the left of the sink. | STEP 3: Carry the fork to the counter on the right side of the sink. | STEP 4: Put the fork, handle-first, into the green glass on the counter. | STEP 5: Pick up the glass with the fork in it. | STEP 6: Take the glass with the fork to the sink. | STEP 7: Put the glass with the fork in the left front corner of the sink. | END"]} +{"id": "trial_T20190907_144232_616550-1", "input": "Put a cup with a fork 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, 0.0, 0.900, 0.0, 0, 180, 0, [SEP] 1, Pan, -1.167, 0.931, 0.144, 0, 0, 0, 60 [SEP] 2, Statue, -1.292, 0.936, -1.167, 0, 0, 0, 60 [SEP] 3, Vase, 1.082, 2.209, -1.626, 0, 270, 0, 67 [SEP] 4, Potato, 0.688, 0.941, -1.879, 0, 0, 0, 66 [SEP] 5, Potato, 1.093, 1.825, -1.132, 0, 270, 0, 82 [SEP] 6, CreditCard, 1.029, 0.908, -1.879, 0, 0, 0, 66 [SEP] 7, CellPhone, -1.041, 0.930, -1.167, 0, 0, 0, 60 [SEP] 8, DishSponge, -1.054, 0.178, 0.576, 0, 180, 0, 80 [SEP] 9, DishSponge, -1.229, 0.933, -0.380, 0, 0, 0, 60 [SEP] 10, ButterKnife, 1.114, 0.911, -0.208, 0, 0, 0, 61 [SEP] 11, Fork, 0.834, 0.494, -0.607, 0, 270, 0, 64 [SEP] 12, Spoon, 1.114, 0.912, -0.208, 0, 0, 0, 61 [SEP] 13, Spatula, -0.550, 0.948, -1.540, 0, 0, 0, 60 [SEP] 14, Spatula, -1.104, 0.948, -0.905, 0, 0, 0, 60 [SEP] 15, Cup, 1.239, 1.663, 0.216, 0, 270, 0, 68 [SEP] 16, Cup, 1.199, 0.908, -1.879, 0, 0, 0, 66 [SEP] 17, Cup, -0.846, 0.930, -0.067, 0, 0, 0, 60 [SEP] 18, Plate, 1.101, 1.669, 0.025, 0, 270, 0, 68 [SEP] 19, Plate, 0.859, 0.914, -0.381, 0, 0, 0, 61 [SEP] 20, Tomato, -0.912, 0.219, 0.608, 0, 180, 0, 80 [SEP] 21, Tomato, -1.355, 0.974, -0.905, 0, 0, 0, 60 [SEP] 22, Bowl, -1.363, 0.557, 2.822, 0, 0, 0, 86 [SEP] 23, Bowl, 1.055, 1.669, -2.166, 0, 270, 0, 59 [SEP] 24, PepperShaker, 0.773, 0.907, -0.729, 0, 0, 0, 61 [SEP] 25, Apple, -0.808, 0.830, -0.573, 0, 90, 0, 81 [SEP] 26, Statue, -0.698, 0.936, 0.009, 0, 0, 0, 60 [SEP] 27, Glassbottle, 1.056, 1.667, -0.337, 0, 270, 0, 69 [SEP] 28, Bread, 0.773, 0.992, 0.139, 0, 0, 0, 61 [SEP] 29, CreditCard, -1.467, 0.551, 2.563, 0, 0, 0, 86 [SEP] 30, CellPhone, 1.199, 0.908, -0.381, 0, 0, 0, 61 [SEP] 31, Potato, -0.642, 0.811, -0.486, 0, 90, 0, 81 [SEP] 32, Knife, 0.868, 0.700, -0.600, 90, 315, 0, 58 [SEP] 33, Fork, -0.624, 0.934, -1.231, 0, 0, 0, 60 [SEP] 34, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 54 [SEP] 35, Lettuce, -0.697, 0.857, -0.832, 0, 90, 0, 81 [SEP] 36, Plate, 0.844, 1.405, 1.158, 0, 270, 0, 83 [SEP] 37, Apple, 1.087, 1.693, 0.967, 0, 270, 0, 83 [SEP] 38, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 56 [SEP] 39, Spatula, 0.915, 0.509, -0.690, 0, 0, 0, 64 [SEP] 40, PaperTowelRoll, -1.363, 0.658, 2.563, 0, 0, 0, 86 [SEP] 41, Tomato, 1.026, 0.903, 1.349, 0, 270, 0, 83 [SEP] 42, Egg, -0.698, 0.971, -1.308, 0, 0, 0, 60 [SEP] 43, SaltShaker, 0.915, 0.699, -0.690, 0, 270, 0, 58 [SEP] 44, PepperShaker, 0.753, 0.150, -0.531, 0, 270, 0, 63 [SEP] 45, Vase, 1.194, 1.666, -0.593, 0, 270, 0, 69 [SEP] 46, ButterKnife, 1.029, 0.911, -0.034, 0, 0, 0, 61 [SEP] 47, SoapBottle, 1.169, 2.208, -0.973, 0, 270, 0, 67 [SEP] 48, Vase, -1.355, 0.934, -0.643, 0, 0, 0, 60 [SEP] 49, Bowl, 0.761, 0.111, -2.052, 0, 0, 0, 65 [SEP] 50, DishSponge, 0.833, 0.153, -0.690, 0, 270, 0, 63 [SEP] 51, Spoon, 1.029, 0.912, -0.729, 0, 0, 0, 61 [SEP] 52, Cup, 0.783, 0.860, 1.349, 0, 270, 0, 83 [SEP] 53, Mug, 1.028, 1.790, -1.339, 0, 270, 0, 82 [SEP] 54, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 55, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 56, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 57, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 58, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 59, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 60, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 61, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 62, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 63, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 64, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 65, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 66, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 67, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 68, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 69, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 70, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 71, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 72, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 73, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 74, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 75, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 76, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 77, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 78, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 79, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 80, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 81, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 82, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 83, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 84, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 85, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 86, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 87, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 88, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 89, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 90, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 91, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 92, NorthWall, , , , , , , [SEP] 93, EastWall, , , , , , , [SEP] 94, SouthWall, , , , , , , [SEP] 95, WestWall, , , , , , , ", "output": ["STEP 1: Go right and stand at the counter to the left of the sink. | STEP 2: Pick the fork up off of the counter. | STEP 3: Go right and stand in front of the counter to the right of the sink and pick the fork up. | STEP 4: Put the fork in the green cup. | STEP 5: Pick the cup up from the counter. | STEP 6: Go left and stand in front of the sink. | STEP 7: Put the cup in the sink. | END"]} +{"id": "trial_T20190907_144232_616550-2", "input": "Put a green cup with a metal fork in it 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, 0.0, 0.900, 0.0, 0, 180, 0, [SEP] 1, Pan, -1.167, 0.931, 0.144, 0, 0, 0, 60 [SEP] 2, Statue, -1.292, 0.936, -1.167, 0, 0, 0, 60 [SEP] 3, Vase, 1.082, 2.209, -1.626, 0, 270, 0, 67 [SEP] 4, Potato, 0.688, 0.941, -1.879, 0, 0, 0, 66 [SEP] 5, Potato, 1.093, 1.825, -1.132, 0, 270, 0, 82 [SEP] 6, CreditCard, 1.029, 0.908, -1.879, 0, 0, 0, 66 [SEP] 7, CellPhone, -1.041, 0.930, -1.167, 0, 0, 0, 60 [SEP] 8, DishSponge, -1.054, 0.178, 0.576, 0, 180, 0, 80 [SEP] 9, DishSponge, -1.229, 0.933, -0.380, 0, 0, 0, 60 [SEP] 10, ButterKnife, 1.114, 0.911, -0.208, 0, 0, 0, 61 [SEP] 11, Fork, 0.834, 0.494, -0.607, 0, 270, 0, 64 [SEP] 12, Spoon, 1.114, 0.912, -0.208, 0, 0, 0, 61 [SEP] 13, Spatula, -0.550, 0.948, -1.540, 0, 0, 0, 60 [SEP] 14, Spatula, -1.104, 0.948, -0.905, 0, 0, 0, 60 [SEP] 15, Cup, 1.239, 1.663, 0.216, 0, 270, 0, 68 [SEP] 16, Cup, 1.199, 0.908, -1.879, 0, 0, 0, 66 [SEP] 17, Cup, -0.846, 0.930, -0.067, 0, 0, 0, 60 [SEP] 18, Plate, 1.101, 1.669, 0.025, 0, 270, 0, 68 [SEP] 19, Plate, 0.859, 0.914, -0.381, 0, 0, 0, 61 [SEP] 20, Tomato, -0.912, 0.219, 0.608, 0, 180, 0, 80 [SEP] 21, Tomato, -1.355, 0.974, -0.905, 0, 0, 0, 60 [SEP] 22, Bowl, -1.363, 0.557, 2.822, 0, 0, 0, 86 [SEP] 23, Bowl, 1.055, 1.669, -2.166, 0, 270, 0, 59 [SEP] 24, PepperShaker, 0.773, 0.907, -0.729, 0, 0, 0, 61 [SEP] 25, Apple, -0.808, 0.830, -0.573, 0, 90, 0, 81 [SEP] 26, Statue, -0.698, 0.936, 0.009, 0, 0, 0, 60 [SEP] 27, Glassbottle, 1.056, 1.667, -0.337, 0, 270, 0, 69 [SEP] 28, Bread, 0.773, 0.992, 0.139, 0, 0, 0, 61 [SEP] 29, CreditCard, -1.467, 0.551, 2.563, 0, 0, 0, 86 [SEP] 30, CellPhone, 1.199, 0.908, -0.381, 0, 0, 0, 61 [SEP] 31, Potato, -0.642, 0.811, -0.486, 0, 90, 0, 81 [SEP] 32, Knife, 0.868, 0.700, -0.600, 90, 315, 0, 58 [SEP] 33, Fork, -0.624, 0.934, -1.231, 0, 0, 0, 60 [SEP] 34, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 54 [SEP] 35, Lettuce, -0.697, 0.857, -0.832, 0, 90, 0, 81 [SEP] 36, Plate, 0.844, 1.405, 1.158, 0, 270, 0, 83 [SEP] 37, Apple, 1.087, 1.693, 0.967, 0, 270, 0, 83 [SEP] 38, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 56 [SEP] 39, Spatula, 0.915, 0.509, -0.690, 0, 0, 0, 64 [SEP] 40, PaperTowelRoll, -1.363, 0.658, 2.563, 0, 0, 0, 86 [SEP] 41, Tomato, 1.026, 0.903, 1.349, 0, 270, 0, 83 [SEP] 42, Egg, -0.698, 0.971, -1.308, 0, 0, 0, 60 [SEP] 43, SaltShaker, 0.915, 0.699, -0.690, 0, 270, 0, 58 [SEP] 44, PepperShaker, 0.753, 0.150, -0.531, 0, 270, 0, 63 [SEP] 45, Vase, 1.194, 1.666, -0.593, 0, 270, 0, 69 [SEP] 46, ButterKnife, 1.029, 0.911, -0.034, 0, 0, 0, 61 [SEP] 47, SoapBottle, 1.169, 2.208, -0.973, 0, 270, 0, 67 [SEP] 48, Vase, -1.355, 0.934, -0.643, 0, 0, 0, 60 [SEP] 49, Bowl, 0.761, 0.111, -2.052, 0, 0, 0, 65 [SEP] 50, DishSponge, 0.833, 0.153, -0.690, 0, 270, 0, 63 [SEP] 51, Spoon, 1.029, 0.912, -0.729, 0, 0, 0, 61 [SEP] 52, Cup, 0.783, 0.860, 1.349, 0, 270, 0, 83 [SEP] 53, Mug, 1.028, 1.790, -1.339, 0, 270, 0, 82 [SEP] 54, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 55, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 56, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 57, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 58, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 59, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 60, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 61, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 62, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 63, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 64, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 65, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 66, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 67, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 68, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 69, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 70, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 71, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 72, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 73, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 74, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 75, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 76, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 77, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 78, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 79, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 80, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 81, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 82, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 83, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 84, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 85, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 86, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 87, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 88, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 89, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 90, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 91, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 92, NorthWall, , , , , , , [SEP] 93, EastWall, , , , , , , [SEP] 94, SouthWall, , , , , , , [SEP] 95, WestWall, , , , , , , ", "output": ["STEP 1: Begin walking across the room, then turn right to face the end of the kitchen island. | STEP 2: Pick up the metal fork that is on the kitchen island. | STEP 3: Turn right and walk to the other side of the kitchen island where the golden statue is resting. | STEP 4: Place the metal fork into the green cup that is to the left of the golden statue. | STEP 5: Pick up the green cup with the metal fork in it. | STEP 6: Turn left and walk over to the sink that is in the middle of the kitchen island. | STEP 7: Place the green cup with the metal fork in it into the sink basin. | END"]} +{"id": "trial_T20190909_123133_763972-0", "input": "chill the lettuce then 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, -3.0, 0.900, 2.25, 0, 0, 0, [SEP] 1, Potato, -1.054, 0.209, 0.608, 0, 180, 0, 78 [SEP] 2, CreditCard, 1.029, 0.908, -0.034, 0, 0, 0, 59 [SEP] 3, CreditCard, 0.944, 0.908, 0.139, 0, 0, 0, 59 [SEP] 4, CellPhone, 0.874, 0.150, -0.611, 0, 270, 0, 61 [SEP] 5, ButterKnife, -0.772, 0.933, -1.463, 0, 0, 0, 58 [SEP] 6, Glassbottle, -0.550, 0.934, -0.067, 0, 0, 0, 58 [SEP] 7, Glassbottle, -1.981, 0.882, 2.746, 0, 0, 0, 85 [SEP] 8, Spoon, -1.355, 0.934, -1.167, 0, 0, 0, 58 [SEP] 9, Spoon, 1.114, 0.912, -1.879, 0, 90, 0, 64 [SEP] 10, Spatula, 0.859, 0.926, -0.208, 0, 180, 0, 59 [SEP] 11, Knife, -0.624, 0.957, 0.315, 0, 0, 0, 58 [SEP] 12, Egg, -0.642, 0.818, -0.659, 0, 90, 0, 79 [SEP] 13, Egg, 0.773, 0.949, -1.965, 0, 0, 0, 64 [SEP] 14, Plate, 0.773, 0.914, -0.381, 0, 0, 0, 59 [SEP] 15, Plate, -1.229, 0.936, 0.144, 0, 0, 0, 58 [SEP] 16, Tomato, 0.944, 0.952, -1.793, 0, 0, 0, 64 [SEP] 17, Tomato, 0.844, 1.175, 1.349, 0, 270, 0, 81 [SEP] 18, SoapBottle, -0.912, 0.179, 0.543, 0, 180, 0, 78 [SEP] 19, SaltShaker, 0.875, 0.699, -0.731, 0, 270, 0, 56 [SEP] 20, SaltShaker, 0.713, 0.150, -0.650, 0, 270, 0, 61 [SEP] 21, PepperShaker, 0.954, 0.150, -0.690, 0, 270, 0, 61 [SEP] 22, Bread, -0.624, 1.014, -1.231, 0, 0, 0, 58 [SEP] 23, Mug, -1.363, 0.549, 2.822, 0, 0, 0, 84 [SEP] 24, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 58 [SEP] 25, Glassbottle, 1.126, 2.208, -1.408, 0, 270, 0, 65 [SEP] 26, Bread, 0.905, 1.482, 1.444, 0, 270, 0, 81 [SEP] 27, CreditCard, 0.875, 0.699, -0.648, 0, 270, 0, 56 [SEP] 28, CellPhone, 0.875, 0.491, -0.648, 0, 270, 0, 62 [SEP] 29, Potato, 0.966, 1.165, 1.158, 0, 270, 0, 81 [SEP] 30, Knife, 0.859, 0.934, -0.729, 0, 0, 0, 59 [SEP] 31, Fork, 0.794, 0.703, -0.524, 0, 180, 0, 56 [SEP] 32, Pan, 1.148, 1.664, -0.529, 0, 180, 0, 67 [SEP] 33, Lettuce, 1.029, 0.988, -0.555, 0, 0, 0, 59 [SEP] 34, Plate, 0.844, 0.866, 1.063, 0, 270, 0, 81 [SEP] 35, Apple, 0.844, 1.185, 1.063, 0, 270, 0, 81 [SEP] 36, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 54 [SEP] 37, Spatula, -0.642, 0.791, -0.573, 0, 0, 0, 79 [SEP] 38, PaperTowelRoll, -0.818, 0.281, 0.575, 0, 270, 0, 78 [SEP] 39, Tomato, -0.753, 0.821, -0.745, 0, 90, 0, 79 [SEP] 40, Egg, 1.028, 1.821, -1.236, 0, 270, 0, 80 [SEP] 41, SaltShaker, 0.956, 0.699, -0.772, 0, 270, 0, 56 [SEP] 42, PepperShaker, 0.862, 0.117, 0.349, 0, 270, 0, 59 [SEP] 43, Vase, 0.688, 0.911, -1.793, 0, 0, 0, 64 [SEP] 44, ButterKnife, 1.029, 0.911, -0.381, 0, 0, 0, 59 [SEP] 45, SoapBottle, 1.101, 1.666, 0.153, 0, 270, 0, 66 [SEP] 46, Vase, -1.985, 0.555, 2.667, 0, 0, 0, 84 [SEP] 47, Bowl, 0.960, 0.111, -2.132, 0, 0, 0, 63 [SEP] 48, DishSponge, -1.778, 0.553, 2.718, 0, 0, 0, 84 [SEP] 49, Spoon, -0.753, 0.781, -0.832, 0, 180, 0, 79 [SEP] 50, Cup, 1.199, 0.908, 0.139, 0, 0, 0, 59 [SEP] 51, Mug, 1.194, 1.661, -1.893, 0, 270, 0, 57 [SEP] 52, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 53, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 54, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 55, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 56, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 57, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 58, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 59, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 60, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 61, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 62, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 63, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 64, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 65, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 66, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 67, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 68, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 69, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 70, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 71, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 72, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 73, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 74, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 75, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 76, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 77, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 78, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 79, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 80, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 81, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 82, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 83, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 84, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 85, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 86, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 87, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 88, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 89, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 90, NorthWall, , , , , , , [SEP] 91, EastWall, , , , , , , [SEP] 92, SouthWall, , , , , , , [SEP] 93, WestWall, , , , , , , ", "output": ["STEP 1: go to the counter to the left of the stove | STEP 2: pick up the lettuce from the counter | STEP 3: take the lettuce to the fridge | STEP 4: put in the fridge then remove | STEP 5: take the chilled lettuce back to the counter | STEP 6: put the lettuce back on the counter | END"]} +{"id": "trial_T20190909_123133_763972-1", "input": "Place a chilled head of lettuce on a plate 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, -3.0, 0.900, 2.25, 0, 0, 0, [SEP] 1, Potato, -1.054, 0.209, 0.608, 0, 180, 0, 78 [SEP] 2, CreditCard, 1.029, 0.908, -0.034, 0, 0, 0, 59 [SEP] 3, CreditCard, 0.944, 0.908, 0.139, 0, 0, 0, 59 [SEP] 4, CellPhone, 0.874, 0.150, -0.611, 0, 270, 0, 61 [SEP] 5, ButterKnife, -0.772, 0.933, -1.463, 0, 0, 0, 58 [SEP] 6, Glassbottle, -0.550, 0.934, -0.067, 0, 0, 0, 58 [SEP] 7, Glassbottle, -1.981, 0.882, 2.746, 0, 0, 0, 85 [SEP] 8, Spoon, -1.355, 0.934, -1.167, 0, 0, 0, 58 [SEP] 9, Spoon, 1.114, 0.912, -1.879, 0, 90, 0, 64 [SEP] 10, Spatula, 0.859, 0.926, -0.208, 0, 180, 0, 59 [SEP] 11, Knife, -0.624, 0.957, 0.315, 0, 0, 0, 58 [SEP] 12, Egg, -0.642, 0.818, -0.659, 0, 90, 0, 79 [SEP] 13, Egg, 0.773, 0.949, -1.965, 0, 0, 0, 64 [SEP] 14, Plate, 0.773, 0.914, -0.381, 0, 0, 0, 59 [SEP] 15, Plate, -1.229, 0.936, 0.144, 0, 0, 0, 58 [SEP] 16, Tomato, 0.944, 0.952, -1.793, 0, 0, 0, 64 [SEP] 17, Tomato, 0.844, 1.175, 1.349, 0, 270, 0, 81 [SEP] 18, SoapBottle, -0.912, 0.179, 0.543, 0, 180, 0, 78 [SEP] 19, SaltShaker, 0.875, 0.699, -0.731, 0, 270, 0, 56 [SEP] 20, SaltShaker, 0.713, 0.150, -0.650, 0, 270, 0, 61 [SEP] 21, PepperShaker, 0.954, 0.150, -0.690, 0, 270, 0, 61 [SEP] 22, Bread, -0.624, 1.014, -1.231, 0, 0, 0, 58 [SEP] 23, Mug, -1.363, 0.549, 2.822, 0, 0, 0, 84 [SEP] 24, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 58 [SEP] 25, Glassbottle, 1.126, 2.208, -1.408, 0, 270, 0, 65 [SEP] 26, Bread, 0.905, 1.482, 1.444, 0, 270, 0, 81 [SEP] 27, CreditCard, 0.875, 0.699, -0.648, 0, 270, 0, 56 [SEP] 28, CellPhone, 0.875, 0.491, -0.648, 0, 270, 0, 62 [SEP] 29, Potato, 0.966, 1.165, 1.158, 0, 270, 0, 81 [SEP] 30, Knife, 0.859, 0.934, -0.729, 0, 0, 0, 59 [SEP] 31, Fork, 0.794, 0.703, -0.524, 0, 180, 0, 56 [SEP] 32, Pan, 1.148, 1.664, -0.529, 0, 180, 0, 67 [SEP] 33, Lettuce, 1.029, 0.988, -0.555, 0, 0, 0, 59 [SEP] 34, Plate, 0.844, 0.866, 1.063, 0, 270, 0, 81 [SEP] 35, Apple, 0.844, 1.185, 1.063, 0, 270, 0, 81 [SEP] 36, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 54 [SEP] 37, Spatula, -0.642, 0.791, -0.573, 0, 0, 0, 79 [SEP] 38, PaperTowelRoll, -0.818, 0.281, 0.575, 0, 270, 0, 78 [SEP] 39, Tomato, -0.753, 0.821, -0.745, 0, 90, 0, 79 [SEP] 40, Egg, 1.028, 1.821, -1.236, 0, 270, 0, 80 [SEP] 41, SaltShaker, 0.956, 0.699, -0.772, 0, 270, 0, 56 [SEP] 42, PepperShaker, 0.862, 0.117, 0.349, 0, 270, 0, 59 [SEP] 43, Vase, 0.688, 0.911, -1.793, 0, 0, 0, 64 [SEP] 44, ButterKnife, 1.029, 0.911, -0.381, 0, 0, 0, 59 [SEP] 45, SoapBottle, 1.101, 1.666, 0.153, 0, 270, 0, 66 [SEP] 46, Vase, -1.985, 0.555, 2.667, 0, 0, 0, 84 [SEP] 47, Bowl, 0.960, 0.111, -2.132, 0, 0, 0, 63 [SEP] 48, DishSponge, -1.778, 0.553, 2.718, 0, 0, 0, 84 [SEP] 49, Spoon, -0.753, 0.781, -0.832, 0, 180, 0, 79 [SEP] 50, Cup, 1.199, 0.908, 0.139, 0, 0, 0, 59 [SEP] 51, Mug, 1.194, 1.661, -1.893, 0, 270, 0, 57 [SEP] 52, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 53, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 54, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 55, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 56, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 57, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 58, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 59, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 60, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 61, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 62, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 63, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 64, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 65, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 66, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 67, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 68, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 69, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 70, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 71, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 72, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 73, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 74, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 75, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 76, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 77, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 78, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 79, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 80, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 81, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 82, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 83, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 84, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 85, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 86, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 87, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 88, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 89, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 90, NorthWall, , , , , , , [SEP] 91, EastWall, , , , , , , [SEP] 92, SouthWall, , , , , , , [SEP] 93, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and walk to the fridge, then turn right and walk to the counter on the left side of the stove. | STEP 2: Pick up the head of lettuce on the counter. | STEP 3: Walk left back to the fridge. | STEP 4: Place the lettuce in the fridge, to the left and behind the tan plate. Close the door, wait a moment, and take it out again. | STEP 5: Take a couple steps right, facing the counter to the left of the stove. | STEP 6: Place the head of lettuce on the plate on the counter. | END"]} +{"id": "trial_T20190909_123133_763972-2", "input": "Put a head of chilled 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, -3.0, 0.900, 2.25, 0, 0, 0, [SEP] 1, Potato, -1.054, 0.209, 0.608, 0, 180, 0, 78 [SEP] 2, CreditCard, 1.029, 0.908, -0.034, 0, 0, 0, 59 [SEP] 3, CreditCard, 0.944, 0.908, 0.139, 0, 0, 0, 59 [SEP] 4, CellPhone, 0.874, 0.150, -0.611, 0, 270, 0, 61 [SEP] 5, ButterKnife, -0.772, 0.933, -1.463, 0, 0, 0, 58 [SEP] 6, Glassbottle, -0.550, 0.934, -0.067, 0, 0, 0, 58 [SEP] 7, Glassbottle, -1.981, 0.882, 2.746, 0, 0, 0, 85 [SEP] 8, Spoon, -1.355, 0.934, -1.167, 0, 0, 0, 58 [SEP] 9, Spoon, 1.114, 0.912, -1.879, 0, 90, 0, 64 [SEP] 10, Spatula, 0.859, 0.926, -0.208, 0, 180, 0, 59 [SEP] 11, Knife, -0.624, 0.957, 0.315, 0, 0, 0, 58 [SEP] 12, Egg, -0.642, 0.818, -0.659, 0, 90, 0, 79 [SEP] 13, Egg, 0.773, 0.949, -1.965, 0, 0, 0, 64 [SEP] 14, Plate, 0.773, 0.914, -0.381, 0, 0, 0, 59 [SEP] 15, Plate, -1.229, 0.936, 0.144, 0, 0, 0, 58 [SEP] 16, Tomato, 0.944, 0.952, -1.793, 0, 0, 0, 64 [SEP] 17, Tomato, 0.844, 1.175, 1.349, 0, 270, 0, 81 [SEP] 18, SoapBottle, -0.912, 0.179, 0.543, 0, 180, 0, 78 [SEP] 19, SaltShaker, 0.875, 0.699, -0.731, 0, 270, 0, 56 [SEP] 20, SaltShaker, 0.713, 0.150, -0.650, 0, 270, 0, 61 [SEP] 21, PepperShaker, 0.954, 0.150, -0.690, 0, 270, 0, 61 [SEP] 22, Bread, -0.624, 1.014, -1.231, 0, 0, 0, 58 [SEP] 23, Mug, -1.363, 0.549, 2.822, 0, 0, 0, 84 [SEP] 24, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 58 [SEP] 25, Glassbottle, 1.126, 2.208, -1.408, 0, 270, 0, 65 [SEP] 26, Bread, 0.905, 1.482, 1.444, 0, 270, 0, 81 [SEP] 27, CreditCard, 0.875, 0.699, -0.648, 0, 270, 0, 56 [SEP] 28, CellPhone, 0.875, 0.491, -0.648, 0, 270, 0, 62 [SEP] 29, Potato, 0.966, 1.165, 1.158, 0, 270, 0, 81 [SEP] 30, Knife, 0.859, 0.934, -0.729, 0, 0, 0, 59 [SEP] 31, Fork, 0.794, 0.703, -0.524, 0, 180, 0, 56 [SEP] 32, Pan, 1.148, 1.664, -0.529, 0, 180, 0, 67 [SEP] 33, Lettuce, 1.029, 0.988, -0.555, 0, 0, 0, 59 [SEP] 34, Plate, 0.844, 0.866, 1.063, 0, 270, 0, 81 [SEP] 35, Apple, 0.844, 1.185, 1.063, 0, 270, 0, 81 [SEP] 36, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 54 [SEP] 37, Spatula, -0.642, 0.791, -0.573, 0, 0, 0, 79 [SEP] 38, PaperTowelRoll, -0.818, 0.281, 0.575, 0, 270, 0, 78 [SEP] 39, Tomato, -0.753, 0.821, -0.745, 0, 90, 0, 79 [SEP] 40, Egg, 1.028, 1.821, -1.236, 0, 270, 0, 80 [SEP] 41, SaltShaker, 0.956, 0.699, -0.772, 0, 270, 0, 56 [SEP] 42, PepperShaker, 0.862, 0.117, 0.349, 0, 270, 0, 59 [SEP] 43, Vase, 0.688, 0.911, -1.793, 0, 0, 0, 64 [SEP] 44, ButterKnife, 1.029, 0.911, -0.381, 0, 0, 0, 59 [SEP] 45, SoapBottle, 1.101, 1.666, 0.153, 0, 270, 0, 66 [SEP] 46, Vase, -1.985, 0.555, 2.667, 0, 0, 0, 84 [SEP] 47, Bowl, 0.960, 0.111, -2.132, 0, 0, 0, 63 [SEP] 48, DishSponge, -1.778, 0.553, 2.718, 0, 0, 0, 84 [SEP] 49, Spoon, -0.753, 0.781, -0.832, 0, 180, 0, 79 [SEP] 50, Cup, 1.199, 0.908, 0.139, 0, 0, 0, 59 [SEP] 51, Mug, 1.194, 1.661, -1.893, 0, 270, 0, 57 [SEP] 52, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 53, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 54, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 55, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 56, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 57, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 58, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 59, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 60, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 61, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 62, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 63, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 64, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 65, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 66, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 67, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 68, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 69, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 70, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 71, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 72, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 73, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 74, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 75, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 76, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 77, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 78, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 79, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 80, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 81, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 82, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 83, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 84, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 85, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 86, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 87, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 88, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 89, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 90, NorthWall, , , , , , , [SEP] 91, EastWall, , , , , , , [SEP] 92, SouthWall, , , , , , , [SEP] 93, WestWall, , , , , , , ", "output": ["STEP 1: Turn right, go across the room, turn right and go to the dishwasher. | STEP 2: Pick up the lettuce on the counter. | STEP 3: Turn right and go to the fridge. | STEP 4: Chill the lettuce in the fridge and pick it back up. | STEP 5: Turn left and go to the dishwasher. | STEP 6: Put the lettuce on the counter in front of the spatula. | END"]} +{"id": "trial_T20190907_051013_060265-0", "input": "Transfer the two CDs from the desk to the vault. 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, 2.0, 0, 0, 0, [SEP] 1, Bowl, -1.744, 0.882, 0.749, 0, 0, 0, 46 [SEP] 2, Mug, -0.399, 0.855, -1.183, 0, 0, 0, 36 [SEP] 3, Mug, -0.735, 0.855, -0.663, 0, 0, 0, 36 [SEP] 4, CD, -0.903, 0.857, -0.836, 0, 0, 0, 36 [SEP] 5, CD, -0.549, 0.648, -0.852, 0, 0, 0, 34 [SEP] 6, Pen, -1.994, 0.392, 0.721, 0, 0, 0, 48 [SEP] 7, Pen, -1.939, 1.729, 0.407, 0, 90, 0, 41 [SEP] 8, Pencil, -2.045, 1.353, 0.448, 0, 0, 0, 38 [SEP] 9, KeyChain, -0.511, 0.365, -0.852, 0, 0, 0, 37 [SEP] 10, Pillow, 1.612, 0.918, 2.234, 0, 0, 0, 27 [SEP] 11, Laptop, 1.612, 0.781, 1.366, 0, 0, 0, 27 [SEP] 12, AlarmClock, -1.834, 0.883, 0.448, 0, 0, 0, 46 [SEP] 13, Book, 0.800, 0.783, 2.234, 0, 0, 0, 27 [SEP] 14, AlarmClock, -1.834, 1.724, 0.366, 0, 0, 0, 40 [SEP] 15, BasketBall, 1.976, 0.120, 0.211, 0, 331.076, 0, [SEP] 16, Pen, -0.651, 0.863, -1.010, 0, 0, 0, 36 [SEP] 17, Laptop, 1.206, 0.781, 0.787, 0, 0, 0, 27 [SEP] 18, BaseballBat, 1.953, 0.659, -1.81, 346.388, 0, 0, [SEP] 19, Bowl, -0.483, 0.861, -1.702, 0, 0, 0, 36 [SEP] 20, Pillow, 1.206, 0.918, 1.366, 0, 0, 0, 27 [SEP] 21, KeyChain, -0.399, 0.857, -0.836, 0, 0, 0, 36 [SEP] 22, CreditCard, -0.511, 0.649, -0.612, 0, 0, 0, 34 [SEP] 23, CellPhone, -1.397, 0.879, 0.665, 0, 0, 0, 46 [SEP] 24, CD, -1.918, 0.878, 0.581, 0, 0, 0, 46 [SEP] 25, Pencil, -2.235, 0.390, 0.759, 0, 0, 0, 48 [SEP] 26, Mug, -1.834, 0.880, 0.325, 0, 0, 0, 46 [SEP] 27, Bed, 1.227, -0.002, 1.664, 0, 0, 0, [SEP] 28, LightSwitch, 2.151, 1.233, -0.518, 0, 270, 0, [SEP] 29, GarbageCan, -0.747, 0.014, -0.327, 0, 0, 0, [SEP] 30, Mirror, -1.358, 1.427, 2.855, 0, 0, 0, [SEP] 31, DeskLamp, -2.296, 0.858, 0.750, 0, 0, 0, [SEP] 32, Window, -0.421, 1.534, -1.947, 90, 0, 0, [SEP] 33, Window, 0.579, 1.534, -1.947, 90, 0, 0, [SEP] 34, Drawer, -0.491, 0.739, -0.855, 0, 90, 0, [SEP] 35, Drawer, -0.491, 0.204, -0.855, 0, 90, 0, [SEP] 36, Desk, -0.639, 0.009, -1.187, 0, 90, 0, [SEP] 37, Drawer, -0.491, 0.487, -0.855, 0, 90, 0, [SEP] 38, Shelf, -1.965, 1.514, 0.416, 0, 0, 0, [SEP] 39, Shelf, -1.965, 1.092, 0.416, 0, 0, 0, [SEP] 40, Shelf, -1.312, 1.888, 0.416, 0, 0, 0, [SEP] 41, Shelf, -1.965, 1.888, 0.416, 0, 0, 0, [SEP] 42, Shelf, -1.312, 1.092, 0.416, 0, 0, 0, [SEP] 43, Shelf, -1.312, 1.514, 0.416, 0, 0, 0, [SEP] 44, Blinds, 0.601, 2.161, -1.916, 0, 0, 0, [SEP] 45, Blinds, -0.402, 2.161, -1.916, 0, 0, 0, [SEP] 46, Desk, -1.726, 0.001, 0.575, 0, 0, 0, [SEP] 47, Drawer, -2.058, 0.733, 0.734, 0, 0, 0, [SEP] 48, Drawer, -2.058, 0.482, 0.734, 0, 0, 0, [SEP] 49, Drawer, -2.058, 0.198, 0.735, 0, 0, 0, [SEP] 50, Chair, -0.137, 0.000, -1.587, 0, 315, 0, [SEP] 51, Safe, -2.183, -7.748, 2.576, 0, 180, 0, [SEP] 52, Chair, -1.433, 0.009, 0.780, 357.672, 206.726, 0, [SEP] 53, LaundryHamper, 0.163, 0.003, 2.635, 0, 86.390, 0, [SEP] 54, NorthWall, , , , , , , [SEP] 55, EastWall, , , , , , , [SEP] 56, SouthWall, , , , , , , [SEP] 57, WestWall, , , , , , , ", "output": ["STEP 1: Turn right, head towards the bed, and then turn right towards the desk on your right. | STEP 2: Pick up the CD on the desk. | STEP 3: Turn right towards the night stand and then turn left towards the vault on the floor. | STEP 4: Place the CD in the vault and close it. | STEP 5: Turn left towards the desk. | STEP 6: Pick up the CD from the desk. | STEP 7: Turn around towards the vault. | STEP 8: Open the vault, place the CD in it, and close the vault. | END"]} +{"id": "trial_T20190907_051013_060265-1", "input": "Put CDs in a safe. 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, 2.0, 0, 0, 0, [SEP] 1, Bowl, -1.744, 0.882, 0.749, 0, 0, 0, 46 [SEP] 2, Mug, -0.399, 0.855, -1.183, 0, 0, 0, 36 [SEP] 3, Mug, -0.735, 0.855, -0.663, 0, 0, 0, 36 [SEP] 4, CD, -0.903, 0.857, -0.836, 0, 0, 0, 36 [SEP] 5, CD, -0.549, 0.648, -0.852, 0, 0, 0, 34 [SEP] 6, Pen, -1.994, 0.392, 0.721, 0, 0, 0, 48 [SEP] 7, Pen, -1.939, 1.729, 0.407, 0, 90, 0, 41 [SEP] 8, Pencil, -2.045, 1.353, 0.448, 0, 0, 0, 38 [SEP] 9, KeyChain, -0.511, 0.365, -0.852, 0, 0, 0, 37 [SEP] 10, Pillow, 1.612, 0.918, 2.234, 0, 0, 0, 27 [SEP] 11, Laptop, 1.612, 0.781, 1.366, 0, 0, 0, 27 [SEP] 12, AlarmClock, -1.834, 0.883, 0.448, 0, 0, 0, 46 [SEP] 13, Book, 0.800, 0.783, 2.234, 0, 0, 0, 27 [SEP] 14, AlarmClock, -1.834, 1.724, 0.366, 0, 0, 0, 40 [SEP] 15, BasketBall, 1.976, 0.120, 0.211, 0, 331.076, 0, [SEP] 16, Pen, -0.651, 0.863, -1.010, 0, 0, 0, 36 [SEP] 17, Laptop, 1.206, 0.781, 0.787, 0, 0, 0, 27 [SEP] 18, BaseballBat, 1.953, 0.659, -1.81, 346.388, 0, 0, [SEP] 19, Bowl, -0.483, 0.861, -1.702, 0, 0, 0, 36 [SEP] 20, Pillow, 1.206, 0.918, 1.366, 0, 0, 0, 27 [SEP] 21, KeyChain, -0.399, 0.857, -0.836, 0, 0, 0, 36 [SEP] 22, CreditCard, -0.511, 0.649, -0.612, 0, 0, 0, 34 [SEP] 23, CellPhone, -1.397, 0.879, 0.665, 0, 0, 0, 46 [SEP] 24, CD, -1.918, 0.878, 0.581, 0, 0, 0, 46 [SEP] 25, Pencil, -2.235, 0.390, 0.759, 0, 0, 0, 48 [SEP] 26, Mug, -1.834, 0.880, 0.325, 0, 0, 0, 46 [SEP] 27, Bed, 1.227, -0.002, 1.664, 0, 0, 0, [SEP] 28, LightSwitch, 2.151, 1.233, -0.518, 0, 270, 0, [SEP] 29, GarbageCan, -0.747, 0.014, -0.327, 0, 0, 0, [SEP] 30, Mirror, -1.358, 1.427, 2.855, 0, 0, 0, [SEP] 31, DeskLamp, -2.296, 0.858, 0.750, 0, 0, 0, [SEP] 32, Window, -0.421, 1.534, -1.947, 90, 0, 0, [SEP] 33, Window, 0.579, 1.534, -1.947, 90, 0, 0, [SEP] 34, Drawer, -0.491, 0.739, -0.855, 0, 90, 0, [SEP] 35, Drawer, -0.491, 0.204, -0.855, 0, 90, 0, [SEP] 36, Desk, -0.639, 0.009, -1.187, 0, 90, 0, [SEP] 37, Drawer, -0.491, 0.487, -0.855, 0, 90, 0, [SEP] 38, Shelf, -1.965, 1.514, 0.416, 0, 0, 0, [SEP] 39, Shelf, -1.965, 1.092, 0.416, 0, 0, 0, [SEP] 40, Shelf, -1.312, 1.888, 0.416, 0, 0, 0, [SEP] 41, Shelf, -1.965, 1.888, 0.416, 0, 0, 0, [SEP] 42, Shelf, -1.312, 1.092, 0.416, 0, 0, 0, [SEP] 43, Shelf, -1.312, 1.514, 0.416, 0, 0, 0, [SEP] 44, Blinds, 0.601, 2.161, -1.916, 0, 0, 0, [SEP] 45, Blinds, -0.402, 2.161, -1.916, 0, 0, 0, [SEP] 46, Desk, -1.726, 0.001, 0.575, 0, 0, 0, [SEP] 47, Drawer, -2.058, 0.733, 0.734, 0, 0, 0, [SEP] 48, Drawer, -2.058, 0.482, 0.734, 0, 0, 0, [SEP] 49, Drawer, -2.058, 0.198, 0.735, 0, 0, 0, [SEP] 50, Chair, -0.137, 0.000, -1.587, 0, 315, 0, [SEP] 51, Safe, -2.183, -7.748, 2.576, 0, 180, 0, [SEP] 52, Chair, -1.433, 0.009, 0.780, 357.672, 206.726, 0, [SEP] 53, LaundryHamper, 0.163, 0.003, 2.635, 0, 86.390, 0, [SEP] 54, NorthWall, , , , , , , [SEP] 55, EastWall, , , , , , , [SEP] 56, SouthWall, , , , , , , [SEP] 57, WestWall, , , , , , , ", "output": ["STEP 1: Turn right, go straight to the bed, turn right, go to the desk chair, turn right to face the desk. | STEP 2: Take the CD from the desk. | STEP 3: Turn right, go straight to the basket next to the bed, turn left, go straight and stop near the safe. | STEP 4: Open the safe, put the CD in the safe, close the safe. | STEP 5: Turn left, go to the desk. | STEP 6: Take the CD from the desk. | STEP 7: Turn around, go back to the safe. | STEP 8: Open the safe, put the CD in the safe, close the safe. | END"]} +{"id": "trial_T20190907_051013_060265-2", "input": "Put the CDs into the white safe 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, 2.0, 0, 0, 0, [SEP] 1, Bowl, -1.744, 0.882, 0.749, 0, 0, 0, 46 [SEP] 2, Mug, -0.399, 0.855, -1.183, 0, 0, 0, 36 [SEP] 3, Mug, -0.735, 0.855, -0.663, 0, 0, 0, 36 [SEP] 4, CD, -0.903, 0.857, -0.836, 0, 0, 0, 36 [SEP] 5, CD, -0.549, 0.648, -0.852, 0, 0, 0, 34 [SEP] 6, Pen, -1.994, 0.392, 0.721, 0, 0, 0, 48 [SEP] 7, Pen, -1.939, 1.729, 0.407, 0, 90, 0, 41 [SEP] 8, Pencil, -2.045, 1.353, 0.448, 0, 0, 0, 38 [SEP] 9, KeyChain, -0.511, 0.365, -0.852, 0, 0, 0, 37 [SEP] 10, Pillow, 1.612, 0.918, 2.234, 0, 0, 0, 27 [SEP] 11, Laptop, 1.612, 0.781, 1.366, 0, 0, 0, 27 [SEP] 12, AlarmClock, -1.834, 0.883, 0.448, 0, 0, 0, 46 [SEP] 13, Book, 0.800, 0.783, 2.234, 0, 0, 0, 27 [SEP] 14, AlarmClock, -1.834, 1.724, 0.366, 0, 0, 0, 40 [SEP] 15, BasketBall, 1.976, 0.120, 0.211, 0, 331.076, 0, [SEP] 16, Pen, -0.651, 0.863, -1.010, 0, 0, 0, 36 [SEP] 17, Laptop, 1.206, 0.781, 0.787, 0, 0, 0, 27 [SEP] 18, BaseballBat, 1.953, 0.659, -1.81, 346.388, 0, 0, [SEP] 19, Bowl, -0.483, 0.861, -1.702, 0, 0, 0, 36 [SEP] 20, Pillow, 1.206, 0.918, 1.366, 0, 0, 0, 27 [SEP] 21, KeyChain, -0.399, 0.857, -0.836, 0, 0, 0, 36 [SEP] 22, CreditCard, -0.511, 0.649, -0.612, 0, 0, 0, 34 [SEP] 23, CellPhone, -1.397, 0.879, 0.665, 0, 0, 0, 46 [SEP] 24, CD, -1.918, 0.878, 0.581, 0, 0, 0, 46 [SEP] 25, Pencil, -2.235, 0.390, 0.759, 0, 0, 0, 48 [SEP] 26, Mug, -1.834, 0.880, 0.325, 0, 0, 0, 46 [SEP] 27, Bed, 1.227, -0.002, 1.664, 0, 0, 0, [SEP] 28, LightSwitch, 2.151, 1.233, -0.518, 0, 270, 0, [SEP] 29, GarbageCan, -0.747, 0.014, -0.327, 0, 0, 0, [SEP] 30, Mirror, -1.358, 1.427, 2.855, 0, 0, 0, [SEP] 31, DeskLamp, -2.296, 0.858, 0.750, 0, 0, 0, [SEP] 32, Window, -0.421, 1.534, -1.947, 90, 0, 0, [SEP] 33, Window, 0.579, 1.534, -1.947, 90, 0, 0, [SEP] 34, Drawer, -0.491, 0.739, -0.855, 0, 90, 0, [SEP] 35, Drawer, -0.491, 0.204, -0.855, 0, 90, 0, [SEP] 36, Desk, -0.639, 0.009, -1.187, 0, 90, 0, [SEP] 37, Drawer, -0.491, 0.487, -0.855, 0, 90, 0, [SEP] 38, Shelf, -1.965, 1.514, 0.416, 0, 0, 0, [SEP] 39, Shelf, -1.965, 1.092, 0.416, 0, 0, 0, [SEP] 40, Shelf, -1.312, 1.888, 0.416, 0, 0, 0, [SEP] 41, Shelf, -1.965, 1.888, 0.416, 0, 0, 0, [SEP] 42, Shelf, -1.312, 1.092, 0.416, 0, 0, 0, [SEP] 43, Shelf, -1.312, 1.514, 0.416, 0, 0, 0, [SEP] 44, Blinds, 0.601, 2.161, -1.916, 0, 0, 0, [SEP] 45, Blinds, -0.402, 2.161, -1.916, 0, 0, 0, [SEP] 46, Desk, -1.726, 0.001, 0.575, 0, 0, 0, [SEP] 47, Drawer, -2.058, 0.733, 0.734, 0, 0, 0, [SEP] 48, Drawer, -2.058, 0.482, 0.734, 0, 0, 0, [SEP] 49, Drawer, -2.058, 0.198, 0.735, 0, 0, 0, [SEP] 50, Chair, -0.137, 0.000, -1.587, 0, 315, 0, [SEP] 51, Safe, -2.183, -7.748, 2.576, 0, 180, 0, [SEP] 52, Chair, -1.433, 0.009, 0.780, 357.672, 206.726, 0, [SEP] 53, LaundryHamper, 0.163, 0.003, 2.635, 0, 86.390, 0, [SEP] 54, NorthWall, , , , , , , [SEP] 55, EastWall, , , , , , , [SEP] 56, SouthWall, , , , , , , [SEP] 57, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and walk over to the wooden desk by the window | STEP 2: Pick up the CD from the desk | STEP 3: Turn right and walk over to the small white safe by the mirror | STEP 4: Put the CD into the safe | STEP 5: Turn left and walk forward to the desk with a lamp on it | STEP 6: Pick up the CD from the desk | STEP 7: Turn around and walk back to the safe | STEP 8: Put the CD into the safe | END"]} +{"id": "trial_T20190907_051013_060265-3", "input": "Put two Cds into a safe. 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, 2.0, 0, 0, 0, [SEP] 1, Bowl, -1.744, 0.882, 0.749, 0, 0, 0, 46 [SEP] 2, Mug, -0.399, 0.855, -1.183, 0, 0, 0, 36 [SEP] 3, Mug, -0.735, 0.855, -0.663, 0, 0, 0, 36 [SEP] 4, CD, -0.903, 0.857, -0.836, 0, 0, 0, 36 [SEP] 5, CD, -0.549, 0.648, -0.852, 0, 0, 0, 34 [SEP] 6, Pen, -1.994, 0.392, 0.721, 0, 0, 0, 48 [SEP] 7, Pen, -1.939, 1.729, 0.407, 0, 90, 0, 41 [SEP] 8, Pencil, -2.045, 1.353, 0.448, 0, 0, 0, 38 [SEP] 9, KeyChain, -0.511, 0.365, -0.852, 0, 0, 0, 37 [SEP] 10, Pillow, 1.612, 0.918, 2.234, 0, 0, 0, 27 [SEP] 11, Laptop, 1.612, 0.781, 1.366, 0, 0, 0, 27 [SEP] 12, AlarmClock, -1.834, 0.883, 0.448, 0, 0, 0, 46 [SEP] 13, Book, 0.800, 0.783, 2.234, 0, 0, 0, 27 [SEP] 14, AlarmClock, -1.834, 1.724, 0.366, 0, 0, 0, 40 [SEP] 15, BasketBall, 1.976, 0.120, 0.211, 0, 331.076, 0, [SEP] 16, Pen, -0.651, 0.863, -1.010, 0, 0, 0, 36 [SEP] 17, Laptop, 1.206, 0.781, 0.787, 0, 0, 0, 27 [SEP] 18, BaseballBat, 1.953, 0.659, -1.81, 346.388, 0, 0, [SEP] 19, Bowl, -0.483, 0.861, -1.702, 0, 0, 0, 36 [SEP] 20, Pillow, 1.206, 0.918, 1.366, 0, 0, 0, 27 [SEP] 21, KeyChain, -0.399, 0.857, -0.836, 0, 0, 0, 36 [SEP] 22, CreditCard, -0.511, 0.649, -0.612, 0, 0, 0, 34 [SEP] 23, CellPhone, -1.397, 0.879, 0.665, 0, 0, 0, 46 [SEP] 24, CD, -1.918, 0.878, 0.581, 0, 0, 0, 46 [SEP] 25, Pencil, -2.235, 0.390, 0.759, 0, 0, 0, 48 [SEP] 26, Mug, -1.834, 0.880, 0.325, 0, 0, 0, 46 [SEP] 27, Bed, 1.227, -0.002, 1.664, 0, 0, 0, [SEP] 28, LightSwitch, 2.151, 1.233, -0.518, 0, 270, 0, [SEP] 29, GarbageCan, -0.747, 0.014, -0.327, 0, 0, 0, [SEP] 30, Mirror, -1.358, 1.427, 2.855, 0, 0, 0, [SEP] 31, DeskLamp, -2.296, 0.858, 0.750, 0, 0, 0, [SEP] 32, Window, -0.421, 1.534, -1.947, 90, 0, 0, [SEP] 33, Window, 0.579, 1.534, -1.947, 90, 0, 0, [SEP] 34, Drawer, -0.491, 0.739, -0.855, 0, 90, 0, [SEP] 35, Drawer, -0.491, 0.204, -0.855, 0, 90, 0, [SEP] 36, Desk, -0.639, 0.009, -1.187, 0, 90, 0, [SEP] 37, Drawer, -0.491, 0.487, -0.855, 0, 90, 0, [SEP] 38, Shelf, -1.965, 1.514, 0.416, 0, 0, 0, [SEP] 39, Shelf, -1.965, 1.092, 0.416, 0, 0, 0, [SEP] 40, Shelf, -1.312, 1.888, 0.416, 0, 0, 0, [SEP] 41, Shelf, -1.965, 1.888, 0.416, 0, 0, 0, [SEP] 42, Shelf, -1.312, 1.092, 0.416, 0, 0, 0, [SEP] 43, Shelf, -1.312, 1.514, 0.416, 0, 0, 0, [SEP] 44, Blinds, 0.601, 2.161, -1.916, 0, 0, 0, [SEP] 45, Blinds, -0.402, 2.161, -1.916, 0, 0, 0, [SEP] 46, Desk, -1.726, 0.001, 0.575, 0, 0, 0, [SEP] 47, Drawer, -2.058, 0.733, 0.734, 0, 0, 0, [SEP] 48, Drawer, -2.058, 0.482, 0.734, 0, 0, 0, [SEP] 49, Drawer, -2.058, 0.198, 0.735, 0, 0, 0, [SEP] 50, Chair, -0.137, 0.000, -1.587, 0, 315, 0, [SEP] 51, Safe, -2.183, -7.748, 2.576, 0, 180, 0, [SEP] 52, Chair, -1.433, 0.009, 0.780, 357.672, 206.726, 0, [SEP] 53, LaundryHamper, 0.163, 0.003, 2.635, 0, 86.390, 0, [SEP] 54, NorthWall, , , , , , , [SEP] 55, EastWall, , , , , , , [SEP] 56, SouthWall, , , , , , , [SEP] 57, WestWall, , , , , , , ", "output": ["STEP 1: Turn to the right, walk across the room, then turn right and walk across the room again, and then turn to the right to face the table. | STEP 2: Pick up the CD laying on the table? | STEP 3: Turn to the right, walk across the room, then turn left, then walk across the room to face the safe. | STEP 4: Open the safe, then put the CD in the safe, then close the safe. | STEP 5: Take a step forward and then turn left and walk across the room to face a dresser. | STEP 6: Pick up the CD laying on the dresser. | STEP 7: Turn around and turn right and take a step, then turn to face the safe. | STEP 8: Open the safe, place the CD in the safe, then shut the safe. | END"]} +{"id": "trial_T20190909_103543_580765-0", "input": "Examine a set of keys under 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, -4.0, 0.901, 2.25, 0, 90, 0, [SEP] 1, TissueBox, -5.364, 1.040, 0.239, 0, 0, 0, 36 [SEP] 2, Newspaper, -0.952, 0.615, 1.960, 0, 0, 0, 58 [SEP] 3, CellPhone, -5.178, 0.861, 0.445, 0, 0, 0, 35 [SEP] 4, Vase, -2.191, 0.037, 0.369, 0, 90, 0, 37 [SEP] 5, Watch, -4.682, 0.997, 4.336, 0, 90, 0, 55 [SEP] 6, CreditCard, -5.194, 1.038, 0.107, 0, 0, 0, 36 [SEP] 7, RemoteControl, -5.534, 1.041, 0.372, 0, 0, 0, 36 [SEP] 8, RemoteControl, -4.826, 1.113, 4.885, 0, 90, 0, 54 [SEP] 9, Box, -3.052, 0.421, 4.342, 0, 180, 0, 53 [SEP] 10, Box, -3.570, 0.425, 4.331, 0, 180, 0, 52 [SEP] 11, Watch, -4.854, 1.039, 0.239, 0, 0, 0, 36 [SEP] 12, Pillow, -2.031, 0.668, 4.421, 0, 0, 0, 48 [SEP] 13, TissueBox, -3.543, 1.109, 4.391, 0, 90, 0, 54 [SEP] 14, Newspaper, -1.367, 0.079, 0.213, 0, 180, 0, 43 [SEP] 15, CreditCard, -4.854, 1.038, 0.372, 0, 0, 0, 36 [SEP] 16, KeyChain, -1.001, 0.074, 0.263, 0, 0, 0, 43 [SEP] 17, CellPhone, -1.835, 0.590, 4.557, 0, 0, 0, 48 [SEP] 18, Statue, -4.505, 1.113, 4.490, 0, 90, 0, 54 [SEP] 19, Laptop, -4.184, 1.109, 4.588, 0, 90, 0, 54 [SEP] 20, RemoteControl, -5.534, 1.041, 0.173, 0, 0, 0, 36 [SEP] 21, Vase, -1.368, 0.596, 0.258, 0, 0, 0, 44 [SEP] 22, DeskLamp, -4.649, 1.051, 0.268, 0, 0, 0, [SEP] 23, DeskLamp, -2.992, 1.107, 4.522, 0, 0, 0, [SEP] 24, FloorLamp, -0.650, 0.007, 4.431, 0, 0, 0, [SEP] 25, FloorLamp, -5.607, 0.007, 4.641, 0, 0, 0, [SEP] 26, Shelf, -5.237, 1.776, 0.070, 0, 0, 0, [SEP] 27, Shelf, -5.238, 1.968, 0.085, 0, 0, 0, [SEP] 28, Shelf, -5.242, 1.391, 0.086, 0, 0, 0, [SEP] 29, Shelf, -5.241, 1.582, 0.065, 0, 0, 0, [SEP] 30, LightSwitch, -6.002, 1.353, 3.404, 0, 90, 0, [SEP] 31, GarbageCan, -5.794, -0.033, 4.073, 0, 90, 0, [SEP] 32, Painting, -6.017, 1.802, 4.177, 90, 270, 0, [SEP] 33, HousePlant, -3.966, 1.625, 0.135, 0, 315, 0, [SEP] 34, Television, -3.355, 0.833, 0.027, 0, 0, 0, [SEP] 35, Drawer, -5.024, 0.903, 0.370, 0, 0, 0, [SEP] 36, SideTable, -5.024, 0.008, 0.267, 0, 0, 0, [SEP] 37, Safe, -2.298, 5.778, 0.268, 0, 90, 0, [SEP] 38, Shelf, -0.253, 0.781, 1.058, 0, 270, 0, [SEP] 39, Shelf, -0.283, 0.274, 1.066, 0, 270, 0, [SEP] 40, Shelf, -1.224, 1.288, 0.270, 0, 0, 0, [SEP] 41, Shelf, -1.218, 1.810, 0.275, 0, 0, 0, [SEP] 42, Shelf, -0.280, 1.810, 1.057, 0, 270, 0, [SEP] 43, Shelf, -1.218, 0.274, 0.262, 0, 0, 0, [SEP] 44, Shelf, -1.223, 0.782, 0.237, 0, 0, 0, [SEP] 45, Shelf, -0.280, 1.288, 1.055, 0, 270, 0, [SEP] 46, ShelvingUnit, -0.268, 0.004, 1.067, 0, 270, 0, [SEP] 47, ShelvingUnit, -1.218, 0.004, 0.244, 0, 0, 0, [SEP] 48, ArmChair, -2.027, 0.001, 4.422, 0, 178.692, 0, [SEP] 49, Drawer, -4.329, 1.014, 4.311, 0, 180, 0, [SEP] 50, Drawer, -3.750, 1.014, 4.311, 0, 180, 0, [SEP] 51, Cabinet, -4.049, 0.561, 4.212, 0, 180, 0, [SEP] 52, Cabinet, -4.032, 0.561, 4.212, 0, 180, 0, [SEP] 53, Cabinet, -2.884, 0.561, 4.212, 0, 180, 0, [SEP] 54, Dresser, -4.041, -0.000, 4.589, 0, 180, 0, [SEP] 55, Drawer, -4.916, 1.014, 4.311, 0, 180, 0, [SEP] 56, Drawer, -3.166, 1.014, 4.311, 0, 180, 0, [SEP] 57, Cabinet, -5.196, 0.561, 4.212, 0, 180, 0, [SEP] 58, Sofa, -0.705, -0.002, 2.753, 0, 270, 0, [SEP] 59, NorthWall, , , , , , , [SEP] 60, SouthWall, , , , , , , [SEP] 61, SouthWall, , , , , , , ", "output": ["STEP 1: Walk to the couch in front of you, then turn right and go to the white book shelf. The one that has the golden vase | STEP 2: Pick up the set of keys that are on the bottom shelf | STEP 3: Turn around and cross the room to the blue chair, then turn right and face the couch and the tall lamp that is sitting to the left of the couch | STEP 4: Turn on the lamp | END"]} +{"id": "trial_T20190909_103543_580765-1", "input": "Examine keys 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, -4.0, 0.901, 2.25, 0, 90, 0, [SEP] 1, TissueBox, -5.364, 1.040, 0.239, 0, 0, 0, 36 [SEP] 2, Newspaper, -0.952, 0.615, 1.960, 0, 0, 0, 58 [SEP] 3, CellPhone, -5.178, 0.861, 0.445, 0, 0, 0, 35 [SEP] 4, Vase, -2.191, 0.037, 0.369, 0, 90, 0, 37 [SEP] 5, Watch, -4.682, 0.997, 4.336, 0, 90, 0, 55 [SEP] 6, CreditCard, -5.194, 1.038, 0.107, 0, 0, 0, 36 [SEP] 7, RemoteControl, -5.534, 1.041, 0.372, 0, 0, 0, 36 [SEP] 8, RemoteControl, -4.826, 1.113, 4.885, 0, 90, 0, 54 [SEP] 9, Box, -3.052, 0.421, 4.342, 0, 180, 0, 53 [SEP] 10, Box, -3.570, 0.425, 4.331, 0, 180, 0, 52 [SEP] 11, Watch, -4.854, 1.039, 0.239, 0, 0, 0, 36 [SEP] 12, Pillow, -2.031, 0.668, 4.421, 0, 0, 0, 48 [SEP] 13, TissueBox, -3.543, 1.109, 4.391, 0, 90, 0, 54 [SEP] 14, Newspaper, -1.367, 0.079, 0.213, 0, 180, 0, 43 [SEP] 15, CreditCard, -4.854, 1.038, 0.372, 0, 0, 0, 36 [SEP] 16, KeyChain, -1.001, 0.074, 0.263, 0, 0, 0, 43 [SEP] 17, CellPhone, -1.835, 0.590, 4.557, 0, 0, 0, 48 [SEP] 18, Statue, -4.505, 1.113, 4.490, 0, 90, 0, 54 [SEP] 19, Laptop, -4.184, 1.109, 4.588, 0, 90, 0, 54 [SEP] 20, RemoteControl, -5.534, 1.041, 0.173, 0, 0, 0, 36 [SEP] 21, Vase, -1.368, 0.596, 0.258, 0, 0, 0, 44 [SEP] 22, DeskLamp, -4.649, 1.051, 0.268, 0, 0, 0, [SEP] 23, DeskLamp, -2.992, 1.107, 4.522, 0, 0, 0, [SEP] 24, FloorLamp, -0.650, 0.007, 4.431, 0, 0, 0, [SEP] 25, FloorLamp, -5.607, 0.007, 4.641, 0, 0, 0, [SEP] 26, Shelf, -5.237, 1.776, 0.070, 0, 0, 0, [SEP] 27, Shelf, -5.238, 1.968, 0.085, 0, 0, 0, [SEP] 28, Shelf, -5.242, 1.391, 0.086, 0, 0, 0, [SEP] 29, Shelf, -5.241, 1.582, 0.065, 0, 0, 0, [SEP] 30, LightSwitch, -6.002, 1.353, 3.404, 0, 90, 0, [SEP] 31, GarbageCan, -5.794, -0.033, 4.073, 0, 90, 0, [SEP] 32, Painting, -6.017, 1.802, 4.177, 90, 270, 0, [SEP] 33, HousePlant, -3.966, 1.625, 0.135, 0, 315, 0, [SEP] 34, Television, -3.355, 0.833, 0.027, 0, 0, 0, [SEP] 35, Drawer, -5.024, 0.903, 0.370, 0, 0, 0, [SEP] 36, SideTable, -5.024, 0.008, 0.267, 0, 0, 0, [SEP] 37, Safe, -2.298, 5.778, 0.268, 0, 90, 0, [SEP] 38, Shelf, -0.253, 0.781, 1.058, 0, 270, 0, [SEP] 39, Shelf, -0.283, 0.274, 1.066, 0, 270, 0, [SEP] 40, Shelf, -1.224, 1.288, 0.270, 0, 0, 0, [SEP] 41, Shelf, -1.218, 1.810, 0.275, 0, 0, 0, [SEP] 42, Shelf, -0.280, 1.810, 1.057, 0, 270, 0, [SEP] 43, Shelf, -1.218, 0.274, 0.262, 0, 0, 0, [SEP] 44, Shelf, -1.223, 0.782, 0.237, 0, 0, 0, [SEP] 45, Shelf, -0.280, 1.288, 1.055, 0, 270, 0, [SEP] 46, ShelvingUnit, -0.268, 0.004, 1.067, 0, 270, 0, [SEP] 47, ShelvingUnit, -1.218, 0.004, 0.244, 0, 0, 0, [SEP] 48, ArmChair, -2.027, 0.001, 4.422, 0, 178.692, 0, [SEP] 49, Drawer, -4.329, 1.014, 4.311, 0, 180, 0, [SEP] 50, Drawer, -3.750, 1.014, 4.311, 0, 180, 0, [SEP] 51, Cabinet, -4.049, 0.561, 4.212, 0, 180, 0, [SEP] 52, Cabinet, -4.032, 0.561, 4.212, 0, 180, 0, [SEP] 53, Cabinet, -2.884, 0.561, 4.212, 0, 180, 0, [SEP] 54, Dresser, -4.041, -0.000, 4.589, 0, 180, 0, [SEP] 55, Drawer, -4.916, 1.014, 4.311, 0, 180, 0, [SEP] 56, Drawer, -3.166, 1.014, 4.311, 0, 180, 0, [SEP] 57, Cabinet, -5.196, 0.561, 4.212, 0, 180, 0, [SEP] 58, Sofa, -0.705, -0.002, 2.753, 0, 270, 0, [SEP] 59, NorthWall, , , , , , , [SEP] 60, SouthWall, , , , , , , [SEP] 61, SouthWall, , , , , , , ", "output": ["STEP 1: Go forward to the couch, then turn right to go to the shelf up ahead. | STEP 2: Pick up the keys from the bottom shelf. | STEP 3: Turn around and go to the blue chair in front of you, then turn right to face the lamp. | STEP 4: Turn on the lamp. | END"]} +{"id": "trial_T20190909_103543_580765-2", "input": "Pick up keys 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, -4.0, 0.901, 2.25, 0, 90, 0, [SEP] 1, TissueBox, -5.364, 1.040, 0.239, 0, 0, 0, 36 [SEP] 2, Newspaper, -0.952, 0.615, 1.960, 0, 0, 0, 58 [SEP] 3, CellPhone, -5.178, 0.861, 0.445, 0, 0, 0, 35 [SEP] 4, Vase, -2.191, 0.037, 0.369, 0, 90, 0, 37 [SEP] 5, Watch, -4.682, 0.997, 4.336, 0, 90, 0, 55 [SEP] 6, CreditCard, -5.194, 1.038, 0.107, 0, 0, 0, 36 [SEP] 7, RemoteControl, -5.534, 1.041, 0.372, 0, 0, 0, 36 [SEP] 8, RemoteControl, -4.826, 1.113, 4.885, 0, 90, 0, 54 [SEP] 9, Box, -3.052, 0.421, 4.342, 0, 180, 0, 53 [SEP] 10, Box, -3.570, 0.425, 4.331, 0, 180, 0, 52 [SEP] 11, Watch, -4.854, 1.039, 0.239, 0, 0, 0, 36 [SEP] 12, Pillow, -2.031, 0.668, 4.421, 0, 0, 0, 48 [SEP] 13, TissueBox, -3.543, 1.109, 4.391, 0, 90, 0, 54 [SEP] 14, Newspaper, -1.367, 0.079, 0.213, 0, 180, 0, 43 [SEP] 15, CreditCard, -4.854, 1.038, 0.372, 0, 0, 0, 36 [SEP] 16, KeyChain, -1.001, 0.074, 0.263, 0, 0, 0, 43 [SEP] 17, CellPhone, -1.835, 0.590, 4.557, 0, 0, 0, 48 [SEP] 18, Statue, -4.505, 1.113, 4.490, 0, 90, 0, 54 [SEP] 19, Laptop, -4.184, 1.109, 4.588, 0, 90, 0, 54 [SEP] 20, RemoteControl, -5.534, 1.041, 0.173, 0, 0, 0, 36 [SEP] 21, Vase, -1.368, 0.596, 0.258, 0, 0, 0, 44 [SEP] 22, DeskLamp, -4.649, 1.051, 0.268, 0, 0, 0, [SEP] 23, DeskLamp, -2.992, 1.107, 4.522, 0, 0, 0, [SEP] 24, FloorLamp, -0.650, 0.007, 4.431, 0, 0, 0, [SEP] 25, FloorLamp, -5.607, 0.007, 4.641, 0, 0, 0, [SEP] 26, Shelf, -5.237, 1.776, 0.070, 0, 0, 0, [SEP] 27, Shelf, -5.238, 1.968, 0.085, 0, 0, 0, [SEP] 28, Shelf, -5.242, 1.391, 0.086, 0, 0, 0, [SEP] 29, Shelf, -5.241, 1.582, 0.065, 0, 0, 0, [SEP] 30, LightSwitch, -6.002, 1.353, 3.404, 0, 90, 0, [SEP] 31, GarbageCan, -5.794, -0.033, 4.073, 0, 90, 0, [SEP] 32, Painting, -6.017, 1.802, 4.177, 90, 270, 0, [SEP] 33, HousePlant, -3.966, 1.625, 0.135, 0, 315, 0, [SEP] 34, Television, -3.355, 0.833, 0.027, 0, 0, 0, [SEP] 35, Drawer, -5.024, 0.903, 0.370, 0, 0, 0, [SEP] 36, SideTable, -5.024, 0.008, 0.267, 0, 0, 0, [SEP] 37, Safe, -2.298, 5.778, 0.268, 0, 90, 0, [SEP] 38, Shelf, -0.253, 0.781, 1.058, 0, 270, 0, [SEP] 39, Shelf, -0.283, 0.274, 1.066, 0, 270, 0, [SEP] 40, Shelf, -1.224, 1.288, 0.270, 0, 0, 0, [SEP] 41, Shelf, -1.218, 1.810, 0.275, 0, 0, 0, [SEP] 42, Shelf, -0.280, 1.810, 1.057, 0, 270, 0, [SEP] 43, Shelf, -1.218, 0.274, 0.262, 0, 0, 0, [SEP] 44, Shelf, -1.223, 0.782, 0.237, 0, 0, 0, [SEP] 45, Shelf, -0.280, 1.288, 1.055, 0, 270, 0, [SEP] 46, ShelvingUnit, -0.268, 0.004, 1.067, 0, 270, 0, [SEP] 47, ShelvingUnit, -1.218, 0.004, 0.244, 0, 0, 0, [SEP] 48, ArmChair, -2.027, 0.001, 4.422, 0, 178.692, 0, [SEP] 49, Drawer, -4.329, 1.014, 4.311, 0, 180, 0, [SEP] 50, Drawer, -3.750, 1.014, 4.311, 0, 180, 0, [SEP] 51, Cabinet, -4.049, 0.561, 4.212, 0, 180, 0, [SEP] 52, Cabinet, -4.032, 0.561, 4.212, 0, 180, 0, [SEP] 53, Cabinet, -2.884, 0.561, 4.212, 0, 180, 0, [SEP] 54, Dresser, -4.041, -0.000, 4.589, 0, 180, 0, [SEP] 55, Drawer, -4.916, 1.014, 4.311, 0, 180, 0, [SEP] 56, Drawer, -3.166, 1.014, 4.311, 0, 180, 0, [SEP] 57, Cabinet, -5.196, 0.561, 4.212, 0, 180, 0, [SEP] 58, Sofa, -0.705, -0.002, 2.753, 0, 270, 0, [SEP] 59, NorthWall, , , , , , , [SEP] 60, SouthWall, , , , , , , [SEP] 61, SouthWall, , , , , , , ", "output": ["STEP 1: Go right and face the white shelves with the gold vase. | STEP 2: Pick the keys up from the bottom shelf of the cabinet. | STEP 3: Turn around and cross the room and turn to the right to face the lamp in the corner. | STEP 4: Turn the lamp on. | END"]} +{"id": "trial_T20190908_142046_281296-0", "input": "Look at a CD under a lamp's light. 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, Mug, -1.834, 1.721, 0.407, 0, 0, 0, 41 [SEP] 2, Mug, -0.399, 0.855, -0.836, 0, 0, 0, 37 [SEP] 3, CD, -1.918, 0.878, 0.581, 0, 0, 0, 47 [SEP] 4, CellPhone, -0.511, 0.084, -0.772, 0, 0, 0, 36 [SEP] 5, Pen, -1.914, 0.392, 0.683, 0, 0, 0, 49 [SEP] 6, Pencil, -1.286, 1.727, 0.530, 0, 0, 0, 41 [SEP] 7, CreditCard, -2.315, 0.668, 0.645, 0, 0, 0, 48 [SEP] 8, CreditCard, -1.233, 1.350, 0.366, 0, 0, 0, 44 [SEP] 9, Book, 0.800, 0.783, 1.076, 0, 0, 0, 28 [SEP] 10, Pillow, 1.612, 0.918, 1.076, 0, 0, 0, 28 [SEP] 11, Pillow, 1.003, 0.918, 0.787, 0, 0, 0, 28 [SEP] 12, Laptop, 0.800, 0.781, 1.655, 0, 0, 0, 28 [SEP] 13, AlarmClock, -0.735, 0.858, -0.663, 0, 0, 0, 37 [SEP] 14, Book, 1.612, 0.783, 2.524, 0, 0, 0, 28 [SEP] 15, AlarmClock, -1.179, 1.724, 0.489, 0, 0, 0, 41 [SEP] 16, BasketBall, 1.976, 0.120, 0.211, 0, 331.076, 0, [SEP] 17, Pen, -0.549, 0.370, -0.933, 0, 0, 0, 38 [SEP] 18, Laptop, 1.612, 0.781, 2.234, 0, 0, 0, 28 [SEP] 19, BaseballBat, 1.953, 0.659, -1.81, 346.388, 0, 0, [SEP] 20, Bowl, -0.651, 0.861, -1.183, 0, 0, 0, 37 [SEP] 21, Pillow, 1.118, 0.867, 2.464, 0, 0, 0, 28 [SEP] 22, KeyChain, -0.624, 0.083, -0.612, 0, 180, 0, 36 [SEP] 23, CreditCard, -1.571, 0.878, 0.749, 0, 0, 0, 47 [SEP] 24, CellPhone, -0.473, 0.365, -0.772, 0, 0, 0, 36 [SEP] 25, CD, -2.292, 0.039, 2.682, 0, 180, 0, 52 [SEP] 26, Pencil, -2.074, 0.390, 0.759, 0, 0, 0, 49 [SEP] 27, Mug, -0.735, 0.855, -0.836, 0, 0, 0, 37 [SEP] 28, Bed, 1.227, -0.002, 1.664, 0, 0, 0, [SEP] 29, LightSwitch, 2.151, 1.233, -0.518, 0, 270, 0, [SEP] 30, GarbageCan, -0.747, 0.014, -0.327, 0, 0, 0, [SEP] 31, Mirror, -1.358, 1.427, 2.855, 0, 0, 0, [SEP] 32, DeskLamp, -2.296, 0.858, 0.750, 0, 0, 0, [SEP] 33, Window, -0.421, 1.534, -1.947, 90, 0, 0, [SEP] 34, Window, 0.579, 1.534, -1.947, 90, 0, 0, [SEP] 35, Drawer, -0.491, 0.739, -0.855, 0, 90, 0, [SEP] 36, Drawer, -0.491, 0.204, -0.855, 0, 90, 0, [SEP] 37, Desk, -0.639, 0.009, -1.187, 0, 90, 0, [SEP] 38, Drawer, -0.491, 0.487, -0.855, 0, 90, 0, [SEP] 39, Shelf, -1.965, 1.514, 0.416, 0, 0, 0, [SEP] 40, Shelf, -1.965, 1.092, 0.416, 0, 0, 0, [SEP] 41, Shelf, -1.312, 1.888, 0.416, 0, 0, 0, [SEP] 42, Shelf, -1.965, 1.888, 0.416, 0, 0, 0, [SEP] 43, Shelf, -1.312, 1.092, 0.416, 0, 0, 0, [SEP] 44, Shelf, -1.312, 1.514, 0.416, 0, 0, 0, [SEP] 45, Blinds, 0.601, 2.161, -1.916, 0, 0, 0, [SEP] 46, Blinds, -0.402, 2.161, -1.916, 0, 0, 0, [SEP] 47, Desk, -1.726, 0.001, 0.575, 0, 0, 0, [SEP] 48, Drawer, -2.058, 0.733, 0.734, 0, 0, 0, [SEP] 49, Drawer, -2.058, 0.482, 0.734, 0, 0, 0, [SEP] 50, Drawer, -2.058, 0.198, 0.735, 0, 0, 0, [SEP] 51, Chair, -0.137, 0.000, -1.587, 0, 315, 0, [SEP] 52, Safe, -2.183, -7.748, 2.576, 0, 180, 0, [SEP] 53, Chair, -1.433, 0.009, 0.780, 357.672, 206.726, 0, [SEP] 54, LaundryHamper, 0.163, 0.003, 2.635, 0, 86.390, 0, [SEP] 55, NorthWall, , , , , , , [SEP] 56, EastWall, , , , , , , [SEP] 57, SouthWall, , , , , , , [SEP] 58, WestWall, , , , , , , ", "output": ["STEP 1: Walk to the right side of the desk. | STEP 2: Grab the CD from the desk. | STEP 3: Locate the lamp on the desk. | STEP 4: Turn on the lamp. | END"]} +{"id": "trial_T20190908_142046_281296-1", "input": "Pick up the disc and turn on 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, -1.25, 0.900, 1.5, 0, 180, 0, [SEP] 1, Mug, -1.834, 1.721, 0.407, 0, 0, 0, 41 [SEP] 2, Mug, -0.399, 0.855, -0.836, 0, 0, 0, 37 [SEP] 3, CD, -1.918, 0.878, 0.581, 0, 0, 0, 47 [SEP] 4, CellPhone, -0.511, 0.084, -0.772, 0, 0, 0, 36 [SEP] 5, Pen, -1.914, 0.392, 0.683, 0, 0, 0, 49 [SEP] 6, Pencil, -1.286, 1.727, 0.530, 0, 0, 0, 41 [SEP] 7, CreditCard, -2.315, 0.668, 0.645, 0, 0, 0, 48 [SEP] 8, CreditCard, -1.233, 1.350, 0.366, 0, 0, 0, 44 [SEP] 9, Book, 0.800, 0.783, 1.076, 0, 0, 0, 28 [SEP] 10, Pillow, 1.612, 0.918, 1.076, 0, 0, 0, 28 [SEP] 11, Pillow, 1.003, 0.918, 0.787, 0, 0, 0, 28 [SEP] 12, Laptop, 0.800, 0.781, 1.655, 0, 0, 0, 28 [SEP] 13, AlarmClock, -0.735, 0.858, -0.663, 0, 0, 0, 37 [SEP] 14, Book, 1.612, 0.783, 2.524, 0, 0, 0, 28 [SEP] 15, AlarmClock, -1.179, 1.724, 0.489, 0, 0, 0, 41 [SEP] 16, BasketBall, 1.976, 0.120, 0.211, 0, 331.076, 0, [SEP] 17, Pen, -0.549, 0.370, -0.933, 0, 0, 0, 38 [SEP] 18, Laptop, 1.612, 0.781, 2.234, 0, 0, 0, 28 [SEP] 19, BaseballBat, 1.953, 0.659, -1.81, 346.388, 0, 0, [SEP] 20, Bowl, -0.651, 0.861, -1.183, 0, 0, 0, 37 [SEP] 21, Pillow, 1.118, 0.867, 2.464, 0, 0, 0, 28 [SEP] 22, KeyChain, -0.624, 0.083, -0.612, 0, 180, 0, 36 [SEP] 23, CreditCard, -1.571, 0.878, 0.749, 0, 0, 0, 47 [SEP] 24, CellPhone, -0.473, 0.365, -0.772, 0, 0, 0, 36 [SEP] 25, CD, -2.292, 0.039, 2.682, 0, 180, 0, 52 [SEP] 26, Pencil, -2.074, 0.390, 0.759, 0, 0, 0, 49 [SEP] 27, Mug, -0.735, 0.855, -0.836, 0, 0, 0, 37 [SEP] 28, Bed, 1.227, -0.002, 1.664, 0, 0, 0, [SEP] 29, LightSwitch, 2.151, 1.233, -0.518, 0, 270, 0, [SEP] 30, GarbageCan, -0.747, 0.014, -0.327, 0, 0, 0, [SEP] 31, Mirror, -1.358, 1.427, 2.855, 0, 0, 0, [SEP] 32, DeskLamp, -2.296, 0.858, 0.750, 0, 0, 0, [SEP] 33, Window, -0.421, 1.534, -1.947, 90, 0, 0, [SEP] 34, Window, 0.579, 1.534, -1.947, 90, 0, 0, [SEP] 35, Drawer, -0.491, 0.739, -0.855, 0, 90, 0, [SEP] 36, Drawer, -0.491, 0.204, -0.855, 0, 90, 0, [SEP] 37, Desk, -0.639, 0.009, -1.187, 0, 90, 0, [SEP] 38, Drawer, -0.491, 0.487, -0.855, 0, 90, 0, [SEP] 39, Shelf, -1.965, 1.514, 0.416, 0, 0, 0, [SEP] 40, Shelf, -1.965, 1.092, 0.416, 0, 0, 0, [SEP] 41, Shelf, -1.312, 1.888, 0.416, 0, 0, 0, [SEP] 42, Shelf, -1.965, 1.888, 0.416, 0, 0, 0, [SEP] 43, Shelf, -1.312, 1.092, 0.416, 0, 0, 0, [SEP] 44, Shelf, -1.312, 1.514, 0.416, 0, 0, 0, [SEP] 45, Blinds, 0.601, 2.161, -1.916, 0, 0, 0, [SEP] 46, Blinds, -0.402, 2.161, -1.916, 0, 0, 0, [SEP] 47, Desk, -1.726, 0.001, 0.575, 0, 0, 0, [SEP] 48, Drawer, -2.058, 0.733, 0.734, 0, 0, 0, [SEP] 49, Drawer, -2.058, 0.482, 0.734, 0, 0, 0, [SEP] 50, Drawer, -2.058, 0.198, 0.735, 0, 0, 0, [SEP] 51, Chair, -0.137, 0.000, -1.587, 0, 315, 0, [SEP] 52, Safe, -2.183, -7.748, 2.576, 0, 180, 0, [SEP] 53, Chair, -1.433, 0.009, 0.780, 357.672, 206.726, 0, [SEP] 54, LaundryHamper, 0.163, 0.003, 2.635, 0, 86.390, 0, [SEP] 55, NorthWall, , , , , , , [SEP] 56, EastWall, , , , , , , [SEP] 57, SouthWall, , , , , , , [SEP] 58, WestWall, , , , , , , ", "output": ["STEP 1: Go to the right end of the wooden desk in front of you. | STEP 2: Pick up the disc on the desk. | STEP 3: Turn right and then turn back to the desk. | STEP 4: Turn on the lamp on the desk. | END"]} +{"id": "trial_T20190908_142046_281296-2", "input": "Take the CD 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, -1.25, 0.900, 1.5, 0, 180, 0, [SEP] 1, Mug, -1.834, 1.721, 0.407, 0, 0, 0, 41 [SEP] 2, Mug, -0.399, 0.855, -0.836, 0, 0, 0, 37 [SEP] 3, CD, -1.918, 0.878, 0.581, 0, 0, 0, 47 [SEP] 4, CellPhone, -0.511, 0.084, -0.772, 0, 0, 0, 36 [SEP] 5, Pen, -1.914, 0.392, 0.683, 0, 0, 0, 49 [SEP] 6, Pencil, -1.286, 1.727, 0.530, 0, 0, 0, 41 [SEP] 7, CreditCard, -2.315, 0.668, 0.645, 0, 0, 0, 48 [SEP] 8, CreditCard, -1.233, 1.350, 0.366, 0, 0, 0, 44 [SEP] 9, Book, 0.800, 0.783, 1.076, 0, 0, 0, 28 [SEP] 10, Pillow, 1.612, 0.918, 1.076, 0, 0, 0, 28 [SEP] 11, Pillow, 1.003, 0.918, 0.787, 0, 0, 0, 28 [SEP] 12, Laptop, 0.800, 0.781, 1.655, 0, 0, 0, 28 [SEP] 13, AlarmClock, -0.735, 0.858, -0.663, 0, 0, 0, 37 [SEP] 14, Book, 1.612, 0.783, 2.524, 0, 0, 0, 28 [SEP] 15, AlarmClock, -1.179, 1.724, 0.489, 0, 0, 0, 41 [SEP] 16, BasketBall, 1.976, 0.120, 0.211, 0, 331.076, 0, [SEP] 17, Pen, -0.549, 0.370, -0.933, 0, 0, 0, 38 [SEP] 18, Laptop, 1.612, 0.781, 2.234, 0, 0, 0, 28 [SEP] 19, BaseballBat, 1.953, 0.659, -1.81, 346.388, 0, 0, [SEP] 20, Bowl, -0.651, 0.861, -1.183, 0, 0, 0, 37 [SEP] 21, Pillow, 1.118, 0.867, 2.464, 0, 0, 0, 28 [SEP] 22, KeyChain, -0.624, 0.083, -0.612, 0, 180, 0, 36 [SEP] 23, CreditCard, -1.571, 0.878, 0.749, 0, 0, 0, 47 [SEP] 24, CellPhone, -0.473, 0.365, -0.772, 0, 0, 0, 36 [SEP] 25, CD, -2.292, 0.039, 2.682, 0, 180, 0, 52 [SEP] 26, Pencil, -2.074, 0.390, 0.759, 0, 0, 0, 49 [SEP] 27, Mug, -0.735, 0.855, -0.836, 0, 0, 0, 37 [SEP] 28, Bed, 1.227, -0.002, 1.664, 0, 0, 0, [SEP] 29, LightSwitch, 2.151, 1.233, -0.518, 0, 270, 0, [SEP] 30, GarbageCan, -0.747, 0.014, -0.327, 0, 0, 0, [SEP] 31, Mirror, -1.358, 1.427, 2.855, 0, 0, 0, [SEP] 32, DeskLamp, -2.296, 0.858, 0.750, 0, 0, 0, [SEP] 33, Window, -0.421, 1.534, -1.947, 90, 0, 0, [SEP] 34, Window, 0.579, 1.534, -1.947, 90, 0, 0, [SEP] 35, Drawer, -0.491, 0.739, -0.855, 0, 90, 0, [SEP] 36, Drawer, -0.491, 0.204, -0.855, 0, 90, 0, [SEP] 37, Desk, -0.639, 0.009, -1.187, 0, 90, 0, [SEP] 38, Drawer, -0.491, 0.487, -0.855, 0, 90, 0, [SEP] 39, Shelf, -1.965, 1.514, 0.416, 0, 0, 0, [SEP] 40, Shelf, -1.965, 1.092, 0.416, 0, 0, 0, [SEP] 41, Shelf, -1.312, 1.888, 0.416, 0, 0, 0, [SEP] 42, Shelf, -1.965, 1.888, 0.416, 0, 0, 0, [SEP] 43, Shelf, -1.312, 1.092, 0.416, 0, 0, 0, [SEP] 44, Shelf, -1.312, 1.514, 0.416, 0, 0, 0, [SEP] 45, Blinds, 0.601, 2.161, -1.916, 0, 0, 0, [SEP] 46, Blinds, -0.402, 2.161, -1.916, 0, 0, 0, [SEP] 47, Desk, -1.726, 0.001, 0.575, 0, 0, 0, [SEP] 48, Drawer, -2.058, 0.733, 0.734, 0, 0, 0, [SEP] 49, Drawer, -2.058, 0.482, 0.734, 0, 0, 0, [SEP] 50, Drawer, -2.058, 0.198, 0.735, 0, 0, 0, [SEP] 51, Chair, -0.137, 0.000, -1.587, 0, 315, 0, [SEP] 52, Safe, -2.183, -7.748, 2.576, 0, 180, 0, [SEP] 53, Chair, -1.433, 0.009, 0.780, 357.672, 206.726, 0, [SEP] 54, LaundryHamper, 0.163, 0.003, 2.635, 0, 86.390, 0, [SEP] 55, NorthWall, , , , , , , [SEP] 56, EastWall, , , , , , , [SEP] 57, SouthWall, , , , , , , [SEP] 58, WestWall, , , , , , , ", "output": ["STEP 1: Head to the right side of the desk | STEP 2: Take the CD from the desk | STEP 3: Take a step to the right | STEP 4: Turn on the lamp | END"]} +{"id": "trial_T20190908_205204_244321-0", "input": "Put a vase in a safe. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -4.0, 0.901, 1.5, 0, 270, 0, [SEP] 1, TissueBox, -3.121, 0.201, 4.342, 0, 90, 0, 49 [SEP] 2, TissueBox, -5.024, 1.040, 0.306, 0, 0, 0, 32 [SEP] 3, Newspaper, -5.534, 1.045, 0.438, 0, 0, 0, 32 [SEP] 4, Statue, -1.277, 1.107, 0.192, 0, 0, 0, 36 [SEP] 5, Watch, -2.191, 0.034, 0.265, 0, 90, 0, 33 [SEP] 6, Box, -4.741, 0.425, 4.587, 0, 0, 0, 53 [SEP] 7, Watch, -2.876, 0.997, 4.359, 0, 90, 0, 52 [SEP] 8, Pillow, -2.031, 0.668, 4.421, 0, 0, 0, 44 [SEP] 9, TissueBox, -2.914, 0.201, 4.466, 0, 90, 0, 49 [SEP] 10, Newspaper, -0.265, 1.107, 1.192, 0, 270, 0, 41 [SEP] 11, CreditCard, -0.192, 1.101, 0.917, 0, 270, 0, 34 [SEP] 12, KeyChain, -4.100, 0.997, 4.336, 0, 180, 0, 45 [SEP] 13, CellPhone, -4.625, 0.997, 4.313, 0, 90, 0, 50 [SEP] 14, Statue, -0.273, 1.597, 1.189, 0, 270, 0, 38 [SEP] 15, Laptop, -4.184, 1.109, 4.588, 0, 90, 0, 50 [SEP] 16, RemoteControl, -3.864, 1.113, 4.885, 0, 90, 0, 50 [SEP] 17, Vase, -0.213, 0.077, 0.828, 0, 270, 0, 35 [SEP] 18, DeskLamp, -4.649, 1.051, 0.268, 0, 0, 0, [SEP] 19, DeskLamp, -2.992, 1.107, 4.522, 0, 0, 0, [SEP] 20, FloorLamp, -0.650, 0.007, 4.431, 0, 0, 0, [SEP] 21, FloorLamp, -5.607, 0.007, 4.641, 0, 0, 0, [SEP] 22, Shelf, -5.237, 1.776, 0.070, 0, 0, 0, [SEP] 23, Shelf, -5.238, 1.968, 0.085, 0, 0, 0, [SEP] 24, Shelf, -5.242, 1.391, 0.086, 0, 0, 0, [SEP] 25, Shelf, -5.241, 1.582, 0.065, 0, 0, 0, [SEP] 26, LightSwitch, -6.002, 1.353, 3.404, 0, 90, 0, [SEP] 27, GarbageCan, -5.794, -0.033, 4.073, 0, 90, 0, [SEP] 28, Painting, -6.017, 1.802, 4.177, 90, 270, 0, [SEP] 29, HousePlant, -3.966, 1.625, 0.135, 0, 315, 0, [SEP] 30, Television, -3.355, 0.833, 0.027, 0, 0, 0, [SEP] 31, Drawer, -5.024, 0.903, 0.370, 0, 0, 0, [SEP] 32, SideTable, -5.024, 0.008, 0.267, 0, 0, 0, [SEP] 33, Safe, -2.298, 5.778, 0.268, 0, 90, 0, [SEP] 34, Shelf, -0.253, 0.781, 1.058, 0, 270, 0, [SEP] 35, Shelf, -0.283, 0.274, 1.066, 0, 270, 0, [SEP] 36, Shelf, -1.224, 1.288, 0.270, 0, 0, 0, [SEP] 37, Shelf, -1.218, 1.810, 0.275, 0, 0, 0, [SEP] 38, Shelf, -0.280, 1.810, 1.057, 0, 270, 0, [SEP] 39, Shelf, -1.218, 0.274, 0.262, 0, 0, 0, [SEP] 40, Shelf, -1.223, 0.782, 0.237, 0, 0, 0, [SEP] 41, Shelf, -0.280, 1.288, 1.055, 0, 270, 0, [SEP] 42, ShelvingUnit, -0.268, 0.004, 1.067, 0, 270, 0, [SEP] 43, ShelvingUnit, -1.218, 0.004, 0.244, 0, 0, 0, [SEP] 44, ArmChair, -2.027, 0.001, 4.422, 0, 178.692, 0, [SEP] 45, Drawer, -4.329, 1.014, 4.311, 0, 180, 0, [SEP] 46, Drawer, -3.750, 1.014, 4.311, 0, 180, 0, [SEP] 47, Cabinet, -4.049, 0.561, 4.212, 0, 180, 0, [SEP] 48, Cabinet, -4.032, 0.561, 4.212, 0, 180, 0, [SEP] 49, Cabinet, -2.884, 0.561, 4.212, 0, 180, 0, [SEP] 50, Dresser, -4.041, -0.000, 4.589, 0, 180, 0, [SEP] 51, Drawer, -4.916, 1.014, 4.311, 0, 180, 0, [SEP] 52, Drawer, -3.166, 1.014, 4.311, 0, 180, 0, [SEP] 53, Cabinet, -5.196, 0.561, 4.212, 0, 180, 0, [SEP] 54, Sofa, -0.705, -0.002, 2.753, 0, 270, 0, [SEP] 55, NorthWall, , , , , , , [SEP] 56, SouthWall, , , , , , , [SEP] 57, SouthWall, , , , , , , ", "output": ["STEP 1: Turn around and cross the room to face the white shelves. | STEP 2: Pick the gold vase up from the shelf. | STEP 3: Move to the right and face the safe on the floor. | STEP 4: Put the gold vase in the safe and shut the door. | END"]} +{"id": "trial_T20190908_205204_244321-1", "input": "Put the vase 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, -4.0, 0.901, 1.5, 0, 270, 0, [SEP] 1, TissueBox, -3.121, 0.201, 4.342, 0, 90, 0, 49 [SEP] 2, TissueBox, -5.024, 1.040, 0.306, 0, 0, 0, 32 [SEP] 3, Newspaper, -5.534, 1.045, 0.438, 0, 0, 0, 32 [SEP] 4, Statue, -1.277, 1.107, 0.192, 0, 0, 0, 36 [SEP] 5, Watch, -2.191, 0.034, 0.265, 0, 90, 0, 33 [SEP] 6, Box, -4.741, 0.425, 4.587, 0, 0, 0, 53 [SEP] 7, Watch, -2.876, 0.997, 4.359, 0, 90, 0, 52 [SEP] 8, Pillow, -2.031, 0.668, 4.421, 0, 0, 0, 44 [SEP] 9, TissueBox, -2.914, 0.201, 4.466, 0, 90, 0, 49 [SEP] 10, Newspaper, -0.265, 1.107, 1.192, 0, 270, 0, 41 [SEP] 11, CreditCard, -0.192, 1.101, 0.917, 0, 270, 0, 34 [SEP] 12, KeyChain, -4.100, 0.997, 4.336, 0, 180, 0, 45 [SEP] 13, CellPhone, -4.625, 0.997, 4.313, 0, 90, 0, 50 [SEP] 14, Statue, -0.273, 1.597, 1.189, 0, 270, 0, 38 [SEP] 15, Laptop, -4.184, 1.109, 4.588, 0, 90, 0, 50 [SEP] 16, RemoteControl, -3.864, 1.113, 4.885, 0, 90, 0, 50 [SEP] 17, Vase, -0.213, 0.077, 0.828, 0, 270, 0, 35 [SEP] 18, DeskLamp, -4.649, 1.051, 0.268, 0, 0, 0, [SEP] 19, DeskLamp, -2.992, 1.107, 4.522, 0, 0, 0, [SEP] 20, FloorLamp, -0.650, 0.007, 4.431, 0, 0, 0, [SEP] 21, FloorLamp, -5.607, 0.007, 4.641, 0, 0, 0, [SEP] 22, Shelf, -5.237, 1.776, 0.070, 0, 0, 0, [SEP] 23, Shelf, -5.238, 1.968, 0.085, 0, 0, 0, [SEP] 24, Shelf, -5.242, 1.391, 0.086, 0, 0, 0, [SEP] 25, Shelf, -5.241, 1.582, 0.065, 0, 0, 0, [SEP] 26, LightSwitch, -6.002, 1.353, 3.404, 0, 90, 0, [SEP] 27, GarbageCan, -5.794, -0.033, 4.073, 0, 90, 0, [SEP] 28, Painting, -6.017, 1.802, 4.177, 90, 270, 0, [SEP] 29, HousePlant, -3.966, 1.625, 0.135, 0, 315, 0, [SEP] 30, Television, -3.355, 0.833, 0.027, 0, 0, 0, [SEP] 31, Drawer, -5.024, 0.903, 0.370, 0, 0, 0, [SEP] 32, SideTable, -5.024, 0.008, 0.267, 0, 0, 0, [SEP] 33, Safe, -2.298, 5.778, 0.268, 0, 90, 0, [SEP] 34, Shelf, -0.253, 0.781, 1.058, 0, 270, 0, [SEP] 35, Shelf, -0.283, 0.274, 1.066, 0, 270, 0, [SEP] 36, Shelf, -1.224, 1.288, 0.270, 0, 0, 0, [SEP] 37, Shelf, -1.218, 1.810, 0.275, 0, 0, 0, [SEP] 38, Shelf, -0.280, 1.810, 1.057, 0, 270, 0, [SEP] 39, Shelf, -1.218, 0.274, 0.262, 0, 0, 0, [SEP] 40, Shelf, -1.223, 0.782, 0.237, 0, 0, 0, [SEP] 41, Shelf, -0.280, 1.288, 1.055, 0, 270, 0, [SEP] 42, ShelvingUnit, -0.268, 0.004, 1.067, 0, 270, 0, [SEP] 43, ShelvingUnit, -1.218, 0.004, 0.244, 0, 0, 0, [SEP] 44, ArmChair, -2.027, 0.001, 4.422, 0, 178.692, 0, [SEP] 45, Drawer, -4.329, 1.014, 4.311, 0, 180, 0, [SEP] 46, Drawer, -3.750, 1.014, 4.311, 0, 180, 0, [SEP] 47, Cabinet, -4.049, 0.561, 4.212, 0, 180, 0, [SEP] 48, Cabinet, -4.032, 0.561, 4.212, 0, 180, 0, [SEP] 49, Cabinet, -2.884, 0.561, 4.212, 0, 180, 0, [SEP] 50, Dresser, -4.041, -0.000, 4.589, 0, 180, 0, [SEP] 51, Drawer, -4.916, 1.014, 4.311, 0, 180, 0, [SEP] 52, Drawer, -3.166, 1.014, 4.311, 0, 180, 0, [SEP] 53, Cabinet, -5.196, 0.561, 4.212, 0, 180, 0, [SEP] 54, Sofa, -0.705, -0.002, 2.753, 0, 270, 0, [SEP] 55, NorthWall, , , , , , , [SEP] 56, SouthWall, , , , , , , [SEP] 57, SouthWall, , , , , , , ", "output": ["STEP 1: Turn around to your left then head to the shelf beside the sofa | STEP 2: Pick up the yellow vase under the shelf | STEP 3: Turn around then head to the vault on your left | STEP 4: Open the vault then put in the vase then close it | END"]} +{"id": "trial_T20190908_205204_244321-2", "input": "Place a vase in a safe. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -4.0, 0.901, 1.5, 0, 270, 0, [SEP] 1, TissueBox, -3.121, 0.201, 4.342, 0, 90, 0, 49 [SEP] 2, TissueBox, -5.024, 1.040, 0.306, 0, 0, 0, 32 [SEP] 3, Newspaper, -5.534, 1.045, 0.438, 0, 0, 0, 32 [SEP] 4, Statue, -1.277, 1.107, 0.192, 0, 0, 0, 36 [SEP] 5, Watch, -2.191, 0.034, 0.265, 0, 90, 0, 33 [SEP] 6, Box, -4.741, 0.425, 4.587, 0, 0, 0, 53 [SEP] 7, Watch, -2.876, 0.997, 4.359, 0, 90, 0, 52 [SEP] 8, Pillow, -2.031, 0.668, 4.421, 0, 0, 0, 44 [SEP] 9, TissueBox, -2.914, 0.201, 4.466, 0, 90, 0, 49 [SEP] 10, Newspaper, -0.265, 1.107, 1.192, 0, 270, 0, 41 [SEP] 11, CreditCard, -0.192, 1.101, 0.917, 0, 270, 0, 34 [SEP] 12, KeyChain, -4.100, 0.997, 4.336, 0, 180, 0, 45 [SEP] 13, CellPhone, -4.625, 0.997, 4.313, 0, 90, 0, 50 [SEP] 14, Statue, -0.273, 1.597, 1.189, 0, 270, 0, 38 [SEP] 15, Laptop, -4.184, 1.109, 4.588, 0, 90, 0, 50 [SEP] 16, RemoteControl, -3.864, 1.113, 4.885, 0, 90, 0, 50 [SEP] 17, Vase, -0.213, 0.077, 0.828, 0, 270, 0, 35 [SEP] 18, DeskLamp, -4.649, 1.051, 0.268, 0, 0, 0, [SEP] 19, DeskLamp, -2.992, 1.107, 4.522, 0, 0, 0, [SEP] 20, FloorLamp, -0.650, 0.007, 4.431, 0, 0, 0, [SEP] 21, FloorLamp, -5.607, 0.007, 4.641, 0, 0, 0, [SEP] 22, Shelf, -5.237, 1.776, 0.070, 0, 0, 0, [SEP] 23, Shelf, -5.238, 1.968, 0.085, 0, 0, 0, [SEP] 24, Shelf, -5.242, 1.391, 0.086, 0, 0, 0, [SEP] 25, Shelf, -5.241, 1.582, 0.065, 0, 0, 0, [SEP] 26, LightSwitch, -6.002, 1.353, 3.404, 0, 90, 0, [SEP] 27, GarbageCan, -5.794, -0.033, 4.073, 0, 90, 0, [SEP] 28, Painting, -6.017, 1.802, 4.177, 90, 270, 0, [SEP] 29, HousePlant, -3.966, 1.625, 0.135, 0, 315, 0, [SEP] 30, Television, -3.355, 0.833, 0.027, 0, 0, 0, [SEP] 31, Drawer, -5.024, 0.903, 0.370, 0, 0, 0, [SEP] 32, SideTable, -5.024, 0.008, 0.267, 0, 0, 0, [SEP] 33, Safe, -2.298, 5.778, 0.268, 0, 90, 0, [SEP] 34, Shelf, -0.253, 0.781, 1.058, 0, 270, 0, [SEP] 35, Shelf, -0.283, 0.274, 1.066, 0, 270, 0, [SEP] 36, Shelf, -1.224, 1.288, 0.270, 0, 0, 0, [SEP] 37, Shelf, -1.218, 1.810, 0.275, 0, 0, 0, [SEP] 38, Shelf, -0.280, 1.810, 1.057, 0, 270, 0, [SEP] 39, Shelf, -1.218, 0.274, 0.262, 0, 0, 0, [SEP] 40, Shelf, -1.223, 0.782, 0.237, 0, 0, 0, [SEP] 41, Shelf, -0.280, 1.288, 1.055, 0, 270, 0, [SEP] 42, ShelvingUnit, -0.268, 0.004, 1.067, 0, 270, 0, [SEP] 43, ShelvingUnit, -1.218, 0.004, 0.244, 0, 0, 0, [SEP] 44, ArmChair, -2.027, 0.001, 4.422, 0, 178.692, 0, [SEP] 45, Drawer, -4.329, 1.014, 4.311, 0, 180, 0, [SEP] 46, Drawer, -3.750, 1.014, 4.311, 0, 180, 0, [SEP] 47, Cabinet, -4.049, 0.561, 4.212, 0, 180, 0, [SEP] 48, Cabinet, -4.032, 0.561, 4.212, 0, 180, 0, [SEP] 49, Cabinet, -2.884, 0.561, 4.212, 0, 180, 0, [SEP] 50, Dresser, -4.041, -0.000, 4.589, 0, 180, 0, [SEP] 51, Drawer, -4.916, 1.014, 4.311, 0, 180, 0, [SEP] 52, Drawer, -3.166, 1.014, 4.311, 0, 180, 0, [SEP] 53, Cabinet, -5.196, 0.561, 4.212, 0, 180, 0, [SEP] 54, Sofa, -0.705, -0.002, 2.753, 0, 270, 0, [SEP] 55, NorthWall, , , , , , , [SEP] 56, SouthWall, , , , , , , [SEP] 57, SouthWall, , , , , , , ", "output": ["STEP 1: Turn around and cross the room to the white book shelf; the one that is sitting to the immediate right of the couch. | STEP 2: Pick up the golden vase that is sitting on the bottom shelf of the book shelf | STEP 3: Turn around and walk to the white safe that is on your left, past the book shelf. Turn left to face the white safe | STEP 4: Open the safe and place the vase inside the safe then close the door | END"]} +{"id": "trial_T20190907_083429_887065-0", "input": "Place a heated cup 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, 0.0, 0.900, 2.0, 0, 270, 0, [SEP] 1, Vase, -0.846, 0.934, -1.540, 0, 0, 0, 54 [SEP] 2, Potato, 1.087, 1.673, 1.349, 0, 270, 0, 77 [SEP] 3, CellPhone, 0.834, 0.492, -0.648, 0, 270, 0, 58 [SEP] 4, CellPhone, 1.114, 0.908, -0.208, 0, 0, 0, 55 [SEP] 5, ButterKnife, -0.772, 0.933, -1.308, 0, 0, 0, 54 [SEP] 6, Glassbottle, 1.199, 0.912, -0.381, 0, 0, 0, 55 [SEP] 7, Spatula, -0.698, 0.791, -0.573, 0, 270, 0, 75 [SEP] 8, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 50 [SEP] 9, Cup, 1.148, 1.663, -0.657, 0, 270, 0, 63 [SEP] 10, Cup, -1.418, 0.930, -1.167, 0, 0, 0, 54 [SEP] 11, SoapBottle, 0.913, 0.121, 0.374, 0, 270, 0, 49 [SEP] 12, SoapBottle, -1.007, 0.177, 0.543, 0, 180, 0, 74 [SEP] 13, Bowl, 1.055, 1.669, 0.025, 0, 270, 0, 62 [SEP] 14, Bowl, 1.193, 1.669, 0.216, 0, 270, 0, 62 [SEP] 15, PepperShaker, 1.056, 1.662, -0.337, 0, 270, 0, 63 [SEP] 16, Lettuce, 1.029, 0.988, -0.381, 0, 0, 0, 55 [SEP] 17, Lettuce, -0.697, 0.857, -0.745, 0, 90, 0, 75 [SEP] 18, Mug, 1.026, 0.858, 1.540, 0, 270, 0, 77 [SEP] 19, Mug, 1.093, 1.790, -1.132, 0, 270, 0, 76 [SEP] 20, Statue, -1.229, 0.936, -0.905, 0, 0, 0, 54 [SEP] 21, Glassbottle, 0.861, 0.109, -2.212, 0, 0, 0, 59 [SEP] 22, Bread, -1.229, 1.014, 0.144, 0, 0, 0, 54 [SEP] 23, CreditCard, -1.778, 0.551, 2.874, 0, 0, 0, 80 [SEP] 24, CellPhone, 0.944, 0.908, -0.381, 0, 0, 0, 55 [SEP] 25, Potato, -0.642, 0.811, -0.918, 0, 90, 0, 75 [SEP] 26, Knife, 0.773, 0.934, -1.965, 0, 90, 0, 60 [SEP] 27, Fork, -0.698, 0.777, -0.486, 0, 90, 0, 75 [SEP] 28, Pan, 1.126, 2.205, -1.408, 0, 0, 0, 61 [SEP] 29, Lettuce, 0.688, 0.988, -0.729, 0, 0, 0, 55 [SEP] 30, Plate, 1.026, 0.866, 1.158, 0, 270, 0, 77 [SEP] 31, Apple, 0.688, 0.961, -2.308, 0, 0, 0, 60 [SEP] 32, Pot, 0.859, 0.914, -0.034, 0, 0, 0, 55 [SEP] 33, Spatula, -0.697, 0.791, -0.918, 0, 90, 0, 75 [SEP] 34, PaperTowelRoll, -1.101, 0.283, 0.510, 0, 90, 0, 74 [SEP] 35, Tomato, 1.026, 1.442, 1.540, 0, 270, 0, 77 [SEP] 36, Egg, 0.688, 0.949, -1.879, 0, 0, 0, 60 [SEP] 37, SaltShaker, -1.570, 0.550, 2.718, 0, 0, 0, 80 [SEP] 38, PepperShaker, -1.467, 0.550, 2.718, 0, 0, 0, 80 [SEP] 39, Vase, -1.104, 0.933, -0.643, 0, 0, 0, 54 [SEP] 40, ButterKnife, 0.944, 0.911, -0.729, 0, 0, 0, 55 [SEP] 41, SoapBottle, 0.861, 0.108, -1.892, 0, 0, 0, 59 [SEP] 42, Vase, -1.881, 0.555, 2.615, 0, 0, 0, 80 [SEP] 43, Bowl, 0.905, 1.405, 1.349, 0, 270, 0, 77 [SEP] 44, DishSponge, -1.571, 0.881, 2.692, 0, 0, 0, 80 [SEP] 45, Spoon, -1.104, 0.934, -1.167, 0, 0, 0, 54 [SEP] 46, Cup, -0.808, 0.777, -0.918, 0, 90, 0, 75 [SEP] 47, Mug, 0.688, 0.906, -2.051, 0, 0, 0, 60 [SEP] 48, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 49, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 50, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 51, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 52, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 53, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 54, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 55, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 56, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 57, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 58, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 59, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 60, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 61, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 62, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 63, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 64, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 65, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 66, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 67, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 68, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 69, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 70, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 71, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 72, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 73, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 74, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 75, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 76, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 77, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 78, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 79, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 80, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 81, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 82, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 83, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 84, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 85, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 86, NorthWall, , , , , , , [SEP] 87, EastWall, , , , , , , [SEP] 88, SouthWall, , , , , , , [SEP] 89, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and head to the counter top the is directly to the left of the stove | STEP 2: Open the cabinet that is above the counter and pick up the green cup then close the cabinet | STEP 3: Turn right and walk to the stove | STEP 4: Open the microwave above the stove and place the green cup inside to the right of the coffee mug then close the microwave and turn it on. Open the microwave and pick up the green cup then close the microwave | STEP 5: Take a couple steps to stand in front of the counter to the right of the stove. | STEP 6: Open the cabinet above the counter and place the green cup inside on the right hand side. | END"]} +{"id": "trial_T20190907_083429_887065-1", "input": "Heat up a green cup to put it back 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, 0.0, 0.900, 2.0, 0, 270, 0, [SEP] 1, Vase, -0.846, 0.934, -1.540, 0, 0, 0, 54 [SEP] 2, Potato, 1.087, 1.673, 1.349, 0, 270, 0, 77 [SEP] 3, CellPhone, 0.834, 0.492, -0.648, 0, 270, 0, 58 [SEP] 4, CellPhone, 1.114, 0.908, -0.208, 0, 0, 0, 55 [SEP] 5, ButterKnife, -0.772, 0.933, -1.308, 0, 0, 0, 54 [SEP] 6, Glassbottle, 1.199, 0.912, -0.381, 0, 0, 0, 55 [SEP] 7, Spatula, -0.698, 0.791, -0.573, 0, 270, 0, 75 [SEP] 8, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 50 [SEP] 9, Cup, 1.148, 1.663, -0.657, 0, 270, 0, 63 [SEP] 10, Cup, -1.418, 0.930, -1.167, 0, 0, 0, 54 [SEP] 11, SoapBottle, 0.913, 0.121, 0.374, 0, 270, 0, 49 [SEP] 12, SoapBottle, -1.007, 0.177, 0.543, 0, 180, 0, 74 [SEP] 13, Bowl, 1.055, 1.669, 0.025, 0, 270, 0, 62 [SEP] 14, Bowl, 1.193, 1.669, 0.216, 0, 270, 0, 62 [SEP] 15, PepperShaker, 1.056, 1.662, -0.337, 0, 270, 0, 63 [SEP] 16, Lettuce, 1.029, 0.988, -0.381, 0, 0, 0, 55 [SEP] 17, Lettuce, -0.697, 0.857, -0.745, 0, 90, 0, 75 [SEP] 18, Mug, 1.026, 0.858, 1.540, 0, 270, 0, 77 [SEP] 19, Mug, 1.093, 1.790, -1.132, 0, 270, 0, 76 [SEP] 20, Statue, -1.229, 0.936, -0.905, 0, 0, 0, 54 [SEP] 21, Glassbottle, 0.861, 0.109, -2.212, 0, 0, 0, 59 [SEP] 22, Bread, -1.229, 1.014, 0.144, 0, 0, 0, 54 [SEP] 23, CreditCard, -1.778, 0.551, 2.874, 0, 0, 0, 80 [SEP] 24, CellPhone, 0.944, 0.908, -0.381, 0, 0, 0, 55 [SEP] 25, Potato, -0.642, 0.811, -0.918, 0, 90, 0, 75 [SEP] 26, Knife, 0.773, 0.934, -1.965, 0, 90, 0, 60 [SEP] 27, Fork, -0.698, 0.777, -0.486, 0, 90, 0, 75 [SEP] 28, Pan, 1.126, 2.205, -1.408, 0, 0, 0, 61 [SEP] 29, Lettuce, 0.688, 0.988, -0.729, 0, 0, 0, 55 [SEP] 30, Plate, 1.026, 0.866, 1.158, 0, 270, 0, 77 [SEP] 31, Apple, 0.688, 0.961, -2.308, 0, 0, 0, 60 [SEP] 32, Pot, 0.859, 0.914, -0.034, 0, 0, 0, 55 [SEP] 33, Spatula, -0.697, 0.791, -0.918, 0, 90, 0, 75 [SEP] 34, PaperTowelRoll, -1.101, 0.283, 0.510, 0, 90, 0, 74 [SEP] 35, Tomato, 1.026, 1.442, 1.540, 0, 270, 0, 77 [SEP] 36, Egg, 0.688, 0.949, -1.879, 0, 0, 0, 60 [SEP] 37, SaltShaker, -1.570, 0.550, 2.718, 0, 0, 0, 80 [SEP] 38, PepperShaker, -1.467, 0.550, 2.718, 0, 0, 0, 80 [SEP] 39, Vase, -1.104, 0.933, -0.643, 0, 0, 0, 54 [SEP] 40, ButterKnife, 0.944, 0.911, -0.729, 0, 0, 0, 55 [SEP] 41, SoapBottle, 0.861, 0.108, -1.892, 0, 0, 0, 59 [SEP] 42, Vase, -1.881, 0.555, 2.615, 0, 0, 0, 80 [SEP] 43, Bowl, 0.905, 1.405, 1.349, 0, 270, 0, 77 [SEP] 44, DishSponge, -1.571, 0.881, 2.692, 0, 0, 0, 80 [SEP] 45, Spoon, -1.104, 0.934, -1.167, 0, 0, 0, 54 [SEP] 46, Cup, -0.808, 0.777, -0.918, 0, 90, 0, 75 [SEP] 47, Mug, 0.688, 0.906, -2.051, 0, 0, 0, 60 [SEP] 48, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 49, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 50, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 51, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 52, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 53, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 54, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 55, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 56, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 57, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 58, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 59, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 60, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 61, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 62, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 63, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 64, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 65, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 66, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 67, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 68, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 69, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 70, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 71, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 72, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 73, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 74, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 75, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 76, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 77, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 78, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 79, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 80, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 81, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 82, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 83, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 84, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 85, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 86, NorthWall, , , , , , , [SEP] 87, EastWall, , , , , , , [SEP] 88, SouthWall, , , , , , , [SEP] 89, WestWall, , , , , , , ", "output": ["STEP 1: Go left and walk towards the counter next to the stove and look up. | STEP 2: Open the cupboard door to take out the green cup and shut it. | STEP 3: Bring it down and turn to your right and go towards the stove. Bring the cup up to the microwave. | STEP 4: Place the green cup inside the microwave next to the white mug and turn it on. Take the cup back out and shut the door. | STEP 5: Bring it back down and turn left and a quick right back up to the cupboard. | STEP 6: Place the cup back in the cupboard and shut the door. | END"]} +{"id": "trial_T20190907_083429_887065-2", "input": "Put a heated green 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, 0.0, 0.900, 2.0, 0, 270, 0, [SEP] 1, Vase, -0.846, 0.934, -1.540, 0, 0, 0, 54 [SEP] 2, Potato, 1.087, 1.673, 1.349, 0, 270, 0, 77 [SEP] 3, CellPhone, 0.834, 0.492, -0.648, 0, 270, 0, 58 [SEP] 4, CellPhone, 1.114, 0.908, -0.208, 0, 0, 0, 55 [SEP] 5, ButterKnife, -0.772, 0.933, -1.308, 0, 0, 0, 54 [SEP] 6, Glassbottle, 1.199, 0.912, -0.381, 0, 0, 0, 55 [SEP] 7, Spatula, -0.698, 0.791, -0.573, 0, 270, 0, 75 [SEP] 8, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 50 [SEP] 9, Cup, 1.148, 1.663, -0.657, 0, 270, 0, 63 [SEP] 10, Cup, -1.418, 0.930, -1.167, 0, 0, 0, 54 [SEP] 11, SoapBottle, 0.913, 0.121, 0.374, 0, 270, 0, 49 [SEP] 12, SoapBottle, -1.007, 0.177, 0.543, 0, 180, 0, 74 [SEP] 13, Bowl, 1.055, 1.669, 0.025, 0, 270, 0, 62 [SEP] 14, Bowl, 1.193, 1.669, 0.216, 0, 270, 0, 62 [SEP] 15, PepperShaker, 1.056, 1.662, -0.337, 0, 270, 0, 63 [SEP] 16, Lettuce, 1.029, 0.988, -0.381, 0, 0, 0, 55 [SEP] 17, Lettuce, -0.697, 0.857, -0.745, 0, 90, 0, 75 [SEP] 18, Mug, 1.026, 0.858, 1.540, 0, 270, 0, 77 [SEP] 19, Mug, 1.093, 1.790, -1.132, 0, 270, 0, 76 [SEP] 20, Statue, -1.229, 0.936, -0.905, 0, 0, 0, 54 [SEP] 21, Glassbottle, 0.861, 0.109, -2.212, 0, 0, 0, 59 [SEP] 22, Bread, -1.229, 1.014, 0.144, 0, 0, 0, 54 [SEP] 23, CreditCard, -1.778, 0.551, 2.874, 0, 0, 0, 80 [SEP] 24, CellPhone, 0.944, 0.908, -0.381, 0, 0, 0, 55 [SEP] 25, Potato, -0.642, 0.811, -0.918, 0, 90, 0, 75 [SEP] 26, Knife, 0.773, 0.934, -1.965, 0, 90, 0, 60 [SEP] 27, Fork, -0.698, 0.777, -0.486, 0, 90, 0, 75 [SEP] 28, Pan, 1.126, 2.205, -1.408, 0, 0, 0, 61 [SEP] 29, Lettuce, 0.688, 0.988, -0.729, 0, 0, 0, 55 [SEP] 30, Plate, 1.026, 0.866, 1.158, 0, 270, 0, 77 [SEP] 31, Apple, 0.688, 0.961, -2.308, 0, 0, 0, 60 [SEP] 32, Pot, 0.859, 0.914, -0.034, 0, 0, 0, 55 [SEP] 33, Spatula, -0.697, 0.791, -0.918, 0, 90, 0, 75 [SEP] 34, PaperTowelRoll, -1.101, 0.283, 0.510, 0, 90, 0, 74 [SEP] 35, Tomato, 1.026, 1.442, 1.540, 0, 270, 0, 77 [SEP] 36, Egg, 0.688, 0.949, -1.879, 0, 0, 0, 60 [SEP] 37, SaltShaker, -1.570, 0.550, 2.718, 0, 0, 0, 80 [SEP] 38, PepperShaker, -1.467, 0.550, 2.718, 0, 0, 0, 80 [SEP] 39, Vase, -1.104, 0.933, -0.643, 0, 0, 0, 54 [SEP] 40, ButterKnife, 0.944, 0.911, -0.729, 0, 0, 0, 55 [SEP] 41, SoapBottle, 0.861, 0.108, -1.892, 0, 0, 0, 59 [SEP] 42, Vase, -1.881, 0.555, 2.615, 0, 0, 0, 80 [SEP] 43, Bowl, 0.905, 1.405, 1.349, 0, 270, 0, 77 [SEP] 44, DishSponge, -1.571, 0.881, 2.692, 0, 0, 0, 80 [SEP] 45, Spoon, -1.104, 0.934, -1.167, 0, 0, 0, 54 [SEP] 46, Cup, -0.808, 0.777, -0.918, 0, 90, 0, 75 [SEP] 47, Mug, 0.688, 0.906, -2.051, 0, 0, 0, 60 [SEP] 48, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 49, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 50, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 51, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 52, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 53, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 54, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 55, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 56, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 57, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 58, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 59, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 60, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 61, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 62, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 63, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 64, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 65, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 66, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 67, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 68, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 69, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 70, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 71, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 72, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 73, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 74, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 75, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 76, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 77, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 78, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 79, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 80, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 81, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 82, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 83, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 84, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 85, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 86, NorthWall, , , , , , , [SEP] 87, EastWall, , , , , , , [SEP] 88, SouthWall, , , , , , , [SEP] 89, WestWall, , , , , , , ", "output": ["STEP 1: Turn to your left and go forward to the counter immediately left of the stove. | STEP 2: Open the right hand cabinet above the counter and get out the green glass. | STEP 3: Move to the front of the stove. | STEP 4: Heat the glass in the microwave above the stove. | STEP 5: Go back to the cabinet where the glass was stored. | STEP 6: Put the glass away in the cabinet. | END"]} +{"id": "trial_T20190909_103628_479585-0", "input": "Examine a credit card 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, 0.901, 1.0, 0, 90, 0, [SEP] 1, TissueBox, -4.184, 1.112, 4.786, 0, 90, 0, 58 [SEP] 2, Newspaper, -1.097, 1.597, 0.324, 0, 0, 0, 45 [SEP] 3, Newspaper, -4.154, 0.205, 4.404, 0, 90, 0, 55 [SEP] 4, CellPhone, -1.186, 1.102, 0.229, 0, 0, 0, 44 [SEP] 5, CellPhone, -2.351, 0.034, 0.212, 0, 90, 0, 41 [SEP] 6, Vase, -4.605, 0.207, 4.395, 0, 90, 0, 55 [SEP] 7, Vase, -0.213, 0.077, 1.102, 0, 270, 0, 43 [SEP] 8, Watch, -5.331, 0.862, 0.241, 0, 0, 0, 40 [SEP] 9, Watch, -4.740, 0.997, 4.313, 0, 90, 0, 59 [SEP] 10, CreditCard, -4.854, 1.038, 0.173, 0, 0, 0, 40 [SEP] 11, CreditCard, -0.952, 0.608, 2.224, 0, 0, 0, 62 [SEP] 12, RemoteControl, -1.709, 0.592, 4.297, 0, 0, 0, 52 [SEP] 13, RemoteControl, -5.534, 1.041, 0.438, 0, 0, 0, 40 [SEP] 14, Box, -4.505, 1.329, 4.687, 0, 90, 0, 58 [SEP] 15, Watch, -5.194, 1.039, 0.504, 0, 0, 0, 40 [SEP] 16, Pillow, -2.031, 0.668, 4.421, 0, 0, 0, 52 [SEP] 17, TissueBox, -1.368, 0.594, 0.258, 0, 0, 0, 48 [SEP] 18, Newspaper, -0.312, 0.079, 0.919, 0, 270, 0, 43 [SEP] 19, CreditCard, -3.863, 1.111, 4.589, 0, 90, 0, 58 [SEP] 20, KeyChain, -4.826, 1.112, 4.391, 0, 90, 0, 59 [SEP] 21, CellPhone, -0.952, 0.609, 3.281, 0, 0, 0, 62 [SEP] 22, Statue, -5.364, 1.044, 0.372, 0, 0, 0, 40 [SEP] 23, Laptop, -3.393, 1.104, 4.492, 0, 191.867, 0, 58 [SEP] 24, RemoteControl, -2.085, 0.592, 4.211, 0, 0, 0, 52 [SEP] 25, Vase, -3.706, 0.207, 4.331, 0, 90, 0, 56 [SEP] 26, DeskLamp, -4.649, 1.051, 0.268, 0, 0, 0, [SEP] 27, DeskLamp, -2.992, 1.107, 4.522, 0, 0, 0, [SEP] 28, FloorLamp, -0.650, 0.007, 4.431, 0, 0, 0, [SEP] 29, FloorLamp, -5.607, 0.007, 4.641, 0, 0, 0, [SEP] 30, Shelf, -5.237, 1.776, 0.070, 0, 0, 0, [SEP] 31, Shelf, -5.238, 1.968, 0.085, 0, 0, 0, [SEP] 32, Shelf, -5.242, 1.391, 0.086, 0, 0, 0, [SEP] 33, Shelf, -5.241, 1.582, 0.065, 0, 0, 0, [SEP] 34, LightSwitch, -6.002, 1.353, 3.404, 0, 90, 0, [SEP] 35, GarbageCan, -5.794, -0.033, 4.073, 0, 90, 0, [SEP] 36, Painting, -6.017, 1.802, 4.177, 90, 270, 0, [SEP] 37, HousePlant, -3.966, 1.625, 0.135, 0, 315, 0, [SEP] 38, Television, -3.355, 0.833, 0.027, 0, 0, 0, [SEP] 39, Drawer, -5.024, 0.903, 0.370, 0, 0, 0, [SEP] 40, SideTable, -5.024, 0.008, 0.267, 0, 0, 0, [SEP] 41, Safe, -2.298, 5.778, 0.268, 0, 90, 0, [SEP] 42, Shelf, -0.253, 0.781, 1.058, 0, 270, 0, [SEP] 43, Shelf, -0.283, 0.274, 1.066, 0, 270, 0, [SEP] 44, Shelf, -1.224, 1.288, 0.270, 0, 0, 0, [SEP] 45, Shelf, -1.218, 1.810, 0.275, 0, 0, 0, [SEP] 46, Shelf, -0.280, 1.810, 1.057, 0, 270, 0, [SEP] 47, Shelf, -1.218, 0.274, 0.262, 0, 0, 0, [SEP] 48, Shelf, -1.223, 0.782, 0.237, 0, 0, 0, [SEP] 49, Shelf, -0.280, 1.288, 1.055, 0, 270, 0, [SEP] 50, ShelvingUnit, -0.268, 0.004, 1.067, 0, 270, 0, [SEP] 51, ShelvingUnit, -1.218, 0.004, 0.244, 0, 0, 0, [SEP] 52, ArmChair, -2.027, 0.001, 4.422, 0, 178.692, 0, [SEP] 53, Drawer, -4.329, 1.014, 4.311, 0, 180, 0, [SEP] 54, Drawer, -3.750, 1.014, 4.311, 0, 180, 0, [SEP] 55, Cabinet, -4.049, 0.561, 4.212, 0, 180, 0, [SEP] 56, Cabinet, -4.032, 0.561, 4.212, 0, 180, 0, [SEP] 57, Cabinet, -2.884, 0.561, 4.212, 0, 180, 0, [SEP] 58, Dresser, -4.041, -0.000, 4.589, 0, 180, 0, [SEP] 59, Drawer, -4.916, 1.014, 4.311, 0, 180, 0, [SEP] 60, Drawer, -3.166, 1.014, 4.311, 0, 180, 0, [SEP] 61, Cabinet, -5.196, 0.561, 4.212, 0, 180, 0, [SEP] 62, Sofa, -0.705, -0.002, 2.753, 0, 270, 0, [SEP] 63, NorthWall, , , , , , , [SEP] 64, SouthWall, , , , , , , [SEP] 65, SouthWall, , , , , , , ", "output": ["STEP 1: Turn left and walk to the white couch on the right. | STEP 2: Pick up the red credit card from the right couch cushion. | STEP 3: Turn left and walk to the tall lamp in the corner on the right. | STEP 4: Turn on the tall lamp. | END"]} +{"id": "trial_T20190909_103628_479585-1", "input": "pick up a credit card and view it in 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, -1.5, 0.901, 1.0, 0, 90, 0, [SEP] 1, TissueBox, -4.184, 1.112, 4.786, 0, 90, 0, 58 [SEP] 2, Newspaper, -1.097, 1.597, 0.324, 0, 0, 0, 45 [SEP] 3, Newspaper, -4.154, 0.205, 4.404, 0, 90, 0, 55 [SEP] 4, CellPhone, -1.186, 1.102, 0.229, 0, 0, 0, 44 [SEP] 5, CellPhone, -2.351, 0.034, 0.212, 0, 90, 0, 41 [SEP] 6, Vase, -4.605, 0.207, 4.395, 0, 90, 0, 55 [SEP] 7, Vase, -0.213, 0.077, 1.102, 0, 270, 0, 43 [SEP] 8, Watch, -5.331, 0.862, 0.241, 0, 0, 0, 40 [SEP] 9, Watch, -4.740, 0.997, 4.313, 0, 90, 0, 59 [SEP] 10, CreditCard, -4.854, 1.038, 0.173, 0, 0, 0, 40 [SEP] 11, CreditCard, -0.952, 0.608, 2.224, 0, 0, 0, 62 [SEP] 12, RemoteControl, -1.709, 0.592, 4.297, 0, 0, 0, 52 [SEP] 13, RemoteControl, -5.534, 1.041, 0.438, 0, 0, 0, 40 [SEP] 14, Box, -4.505, 1.329, 4.687, 0, 90, 0, 58 [SEP] 15, Watch, -5.194, 1.039, 0.504, 0, 0, 0, 40 [SEP] 16, Pillow, -2.031, 0.668, 4.421, 0, 0, 0, 52 [SEP] 17, TissueBox, -1.368, 0.594, 0.258, 0, 0, 0, 48 [SEP] 18, Newspaper, -0.312, 0.079, 0.919, 0, 270, 0, 43 [SEP] 19, CreditCard, -3.863, 1.111, 4.589, 0, 90, 0, 58 [SEP] 20, KeyChain, -4.826, 1.112, 4.391, 0, 90, 0, 59 [SEP] 21, CellPhone, -0.952, 0.609, 3.281, 0, 0, 0, 62 [SEP] 22, Statue, -5.364, 1.044, 0.372, 0, 0, 0, 40 [SEP] 23, Laptop, -3.393, 1.104, 4.492, 0, 191.867, 0, 58 [SEP] 24, RemoteControl, -2.085, 0.592, 4.211, 0, 0, 0, 52 [SEP] 25, Vase, -3.706, 0.207, 4.331, 0, 90, 0, 56 [SEP] 26, DeskLamp, -4.649, 1.051, 0.268, 0, 0, 0, [SEP] 27, DeskLamp, -2.992, 1.107, 4.522, 0, 0, 0, [SEP] 28, FloorLamp, -0.650, 0.007, 4.431, 0, 0, 0, [SEP] 29, FloorLamp, -5.607, 0.007, 4.641, 0, 0, 0, [SEP] 30, Shelf, -5.237, 1.776, 0.070, 0, 0, 0, [SEP] 31, Shelf, -5.238, 1.968, 0.085, 0, 0, 0, [SEP] 32, Shelf, -5.242, 1.391, 0.086, 0, 0, 0, [SEP] 33, Shelf, -5.241, 1.582, 0.065, 0, 0, 0, [SEP] 34, LightSwitch, -6.002, 1.353, 3.404, 0, 90, 0, [SEP] 35, GarbageCan, -5.794, -0.033, 4.073, 0, 90, 0, [SEP] 36, Painting, -6.017, 1.802, 4.177, 90, 270, 0, [SEP] 37, HousePlant, -3.966, 1.625, 0.135, 0, 315, 0, [SEP] 38, Television, -3.355, 0.833, 0.027, 0, 0, 0, [SEP] 39, Drawer, -5.024, 0.903, 0.370, 0, 0, 0, [SEP] 40, SideTable, -5.024, 0.008, 0.267, 0, 0, 0, [SEP] 41, Safe, -2.298, 5.778, 0.268, 0, 90, 0, [SEP] 42, Shelf, -0.253, 0.781, 1.058, 0, 270, 0, [SEP] 43, Shelf, -0.283, 0.274, 1.066, 0, 270, 0, [SEP] 44, Shelf, -1.224, 1.288, 0.270, 0, 0, 0, [SEP] 45, Shelf, -1.218, 1.810, 0.275, 0, 0, 0, [SEP] 46, Shelf, -0.280, 1.810, 1.057, 0, 270, 0, [SEP] 47, Shelf, -1.218, 0.274, 0.262, 0, 0, 0, [SEP] 48, Shelf, -1.223, 0.782, 0.237, 0, 0, 0, [SEP] 49, Shelf, -0.280, 1.288, 1.055, 0, 270, 0, [SEP] 50, ShelvingUnit, -0.268, 0.004, 1.067, 0, 270, 0, [SEP] 51, ShelvingUnit, -1.218, 0.004, 0.244, 0, 0, 0, [SEP] 52, ArmChair, -2.027, 0.001, 4.422, 0, 178.692, 0, [SEP] 53, Drawer, -4.329, 1.014, 4.311, 0, 180, 0, [SEP] 54, Drawer, -3.750, 1.014, 4.311, 0, 180, 0, [SEP] 55, Cabinet, -4.049, 0.561, 4.212, 0, 180, 0, [SEP] 56, Cabinet, -4.032, 0.561, 4.212, 0, 180, 0, [SEP] 57, Cabinet, -2.884, 0.561, 4.212, 0, 180, 0, [SEP] 58, Dresser, -4.041, -0.000, 4.589, 0, 180, 0, [SEP] 59, Drawer, -4.916, 1.014, 4.311, 0, 180, 0, [SEP] 60, Drawer, -3.166, 1.014, 4.311, 0, 180, 0, [SEP] 61, Cabinet, -5.196, 0.561, 4.212, 0, 180, 0, [SEP] 62, Sofa, -0.705, -0.002, 2.753, 0, 270, 0, [SEP] 63, NorthWall, , , , , , , [SEP] 64, SouthWall, , , , , , , [SEP] 65, SouthWall, , , , , , , ", "output": ["STEP 1: turn left and walk straight then turn right towards the couch | STEP 2: pick up the credit card off of the couch | STEP 3: turn left then walk straight then turn right towards the couch and look up | STEP 4: turn the lamp on by the couch | END"]} +{"id": "trial_T20190909_103628_479585-2", "input": "Pick up a credit card 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, -1.5, 0.901, 1.0, 0, 90, 0, [SEP] 1, TissueBox, -4.184, 1.112, 4.786, 0, 90, 0, 58 [SEP] 2, Newspaper, -1.097, 1.597, 0.324, 0, 0, 0, 45 [SEP] 3, Newspaper, -4.154, 0.205, 4.404, 0, 90, 0, 55 [SEP] 4, CellPhone, -1.186, 1.102, 0.229, 0, 0, 0, 44 [SEP] 5, CellPhone, -2.351, 0.034, 0.212, 0, 90, 0, 41 [SEP] 6, Vase, -4.605, 0.207, 4.395, 0, 90, 0, 55 [SEP] 7, Vase, -0.213, 0.077, 1.102, 0, 270, 0, 43 [SEP] 8, Watch, -5.331, 0.862, 0.241, 0, 0, 0, 40 [SEP] 9, Watch, -4.740, 0.997, 4.313, 0, 90, 0, 59 [SEP] 10, CreditCard, -4.854, 1.038, 0.173, 0, 0, 0, 40 [SEP] 11, CreditCard, -0.952, 0.608, 2.224, 0, 0, 0, 62 [SEP] 12, RemoteControl, -1.709, 0.592, 4.297, 0, 0, 0, 52 [SEP] 13, RemoteControl, -5.534, 1.041, 0.438, 0, 0, 0, 40 [SEP] 14, Box, -4.505, 1.329, 4.687, 0, 90, 0, 58 [SEP] 15, Watch, -5.194, 1.039, 0.504, 0, 0, 0, 40 [SEP] 16, Pillow, -2.031, 0.668, 4.421, 0, 0, 0, 52 [SEP] 17, TissueBox, -1.368, 0.594, 0.258, 0, 0, 0, 48 [SEP] 18, Newspaper, -0.312, 0.079, 0.919, 0, 270, 0, 43 [SEP] 19, CreditCard, -3.863, 1.111, 4.589, 0, 90, 0, 58 [SEP] 20, KeyChain, -4.826, 1.112, 4.391, 0, 90, 0, 59 [SEP] 21, CellPhone, -0.952, 0.609, 3.281, 0, 0, 0, 62 [SEP] 22, Statue, -5.364, 1.044, 0.372, 0, 0, 0, 40 [SEP] 23, Laptop, -3.393, 1.104, 4.492, 0, 191.867, 0, 58 [SEP] 24, RemoteControl, -2.085, 0.592, 4.211, 0, 0, 0, 52 [SEP] 25, Vase, -3.706, 0.207, 4.331, 0, 90, 0, 56 [SEP] 26, DeskLamp, -4.649, 1.051, 0.268, 0, 0, 0, [SEP] 27, DeskLamp, -2.992, 1.107, 4.522, 0, 0, 0, [SEP] 28, FloorLamp, -0.650, 0.007, 4.431, 0, 0, 0, [SEP] 29, FloorLamp, -5.607, 0.007, 4.641, 0, 0, 0, [SEP] 30, Shelf, -5.237, 1.776, 0.070, 0, 0, 0, [SEP] 31, Shelf, -5.238, 1.968, 0.085, 0, 0, 0, [SEP] 32, Shelf, -5.242, 1.391, 0.086, 0, 0, 0, [SEP] 33, Shelf, -5.241, 1.582, 0.065, 0, 0, 0, [SEP] 34, LightSwitch, -6.002, 1.353, 3.404, 0, 90, 0, [SEP] 35, GarbageCan, -5.794, -0.033, 4.073, 0, 90, 0, [SEP] 36, Painting, -6.017, 1.802, 4.177, 90, 270, 0, [SEP] 37, HousePlant, -3.966, 1.625, 0.135, 0, 315, 0, [SEP] 38, Television, -3.355, 0.833, 0.027, 0, 0, 0, [SEP] 39, Drawer, -5.024, 0.903, 0.370, 0, 0, 0, [SEP] 40, SideTable, -5.024, 0.008, 0.267, 0, 0, 0, [SEP] 41, Safe, -2.298, 5.778, 0.268, 0, 90, 0, [SEP] 42, Shelf, -0.253, 0.781, 1.058, 0, 270, 0, [SEP] 43, Shelf, -0.283, 0.274, 1.066, 0, 270, 0, [SEP] 44, Shelf, -1.224, 1.288, 0.270, 0, 0, 0, [SEP] 45, Shelf, -1.218, 1.810, 0.275, 0, 0, 0, [SEP] 46, Shelf, -0.280, 1.810, 1.057, 0, 270, 0, [SEP] 47, Shelf, -1.218, 0.274, 0.262, 0, 0, 0, [SEP] 48, Shelf, -1.223, 0.782, 0.237, 0, 0, 0, [SEP] 49, Shelf, -0.280, 1.288, 1.055, 0, 270, 0, [SEP] 50, ShelvingUnit, -0.268, 0.004, 1.067, 0, 270, 0, [SEP] 51, ShelvingUnit, -1.218, 0.004, 0.244, 0, 0, 0, [SEP] 52, ArmChair, -2.027, 0.001, 4.422, 0, 178.692, 0, [SEP] 53, Drawer, -4.329, 1.014, 4.311, 0, 180, 0, [SEP] 54, Drawer, -3.750, 1.014, 4.311, 0, 180, 0, [SEP] 55, Cabinet, -4.049, 0.561, 4.212, 0, 180, 0, [SEP] 56, Cabinet, -4.032, 0.561, 4.212, 0, 180, 0, [SEP] 57, Cabinet, -2.884, 0.561, 4.212, 0, 180, 0, [SEP] 58, Dresser, -4.041, -0.000, 4.589, 0, 180, 0, [SEP] 59, Drawer, -4.916, 1.014, 4.311, 0, 180, 0, [SEP] 60, Drawer, -3.166, 1.014, 4.311, 0, 180, 0, [SEP] 61, Cabinet, -5.196, 0.561, 4.212, 0, 180, 0, [SEP] 62, Sofa, -0.705, -0.002, 2.753, 0, 270, 0, [SEP] 63, NorthWall, , , , , , , [SEP] 64, SouthWall, , , , , , , [SEP] 65, SouthWall, , , , , , , ", "output": ["STEP 1: Turn to the left and then the right to face the right side of the couch. | STEP 2: Pick the red credit card up from the couch. | STEP 3: Turn to the left and stand on the left side of the couch near the floor lamp. | STEP 4: Turn the lamp on. | END"]} +{"id": "trial_T20190909_032721_511027-0", "input": "Hold a remote 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, -3.25, 0.901, 2.25, 0, 0, 0, [SEP] 1, TissueBox, -3.543, 1.112, 4.490, 0, 90, 0, 56 [SEP] 2, Vase, -3.222, 1.115, 4.786, 0, 90, 0, 56 [SEP] 3, Watch, -2.404, 0.034, 0.265, 0, 90, 0, 39 [SEP] 4, Watch, -1.550, 0.074, 0.411, 0, 0, 0, 46 [SEP] 5, CreditCard, -4.871, 0.861, 0.405, 0, 0, 0, 37 [SEP] 6, RemoteControl, -1.117, 0.611, 3.281, 0, 0, 0, 60 [SEP] 7, RemoteControl, -4.505, 1.110, 4.588, 0, 90, 0, 56 [SEP] 8, RemoteControl, -4.184, 1.113, 4.786, 0, 90, 0, 56 [SEP] 9, Box, -2.983, 0.421, 4.342, 0, 180, 0, 55 [SEP] 10, Box, -3.570, 0.425, 4.459, 0, 90, 0, 54 [SEP] 11, Laptop, -2.085, 0.588, 4.384, 0, 0, 0, 50 [SEP] 12, Box, -0.952, 0.830, 3.545, 0, 0, 0, 60 [SEP] 13, Watch, -2.901, 1.108, 4.786, 0, 90, 0, 56 [SEP] 14, Pillow, -1.584, 0.668, 4.297, 0, 0, 0, 50 [SEP] 15, TissueBox, -4.505, 1.112, 4.391, 0, 90, 0, 56 [SEP] 16, Newspaper, -4.826, 1.117, 4.687, 0, 90, 0, 56 [SEP] 17, CreditCard, -5.534, 1.038, 0.438, 0, 0, 0, 38 [SEP] 18, KeyChain, -2.458, 0.034, 0.369, 0, 180, 0, 39 [SEP] 19, CellPhone, -1.460, 1.102, 0.192, 0, 0, 0, 42 [SEP] 20, Statue, -5.534, 1.044, 0.173, 0, 0, 0, 38 [SEP] 21, Laptop, -3.864, 1.109, 4.687, 0, 90, 0, 56 [SEP] 22, RemoteControl, -0.221, 1.594, 1.006, 0, 270, 0, 43 [SEP] 23, Vase, -2.191, 0.037, 0.317, 0, 90, 0, 39 [SEP] 24, DeskLamp, -4.649, 1.051, 0.268, 0, 0, 0, [SEP] 25, DeskLamp, -2.992, 1.107, 4.522, 0, 0, 0, [SEP] 26, FloorLamp, -0.650, 0.007, 4.431, 0, 0, 0, [SEP] 27, FloorLamp, -5.607, 0.007, 4.641, 0, 0, 0, [SEP] 28, Shelf, -5.237, 1.776, 0.070, 0, 0, 0, [SEP] 29, Shelf, -5.238, 1.968, 0.085, 0, 0, 0, [SEP] 30, Shelf, -5.242, 1.391, 0.086, 0, 0, 0, [SEP] 31, Shelf, -5.241, 1.582, 0.065, 0, 0, 0, [SEP] 32, LightSwitch, -6.002, 1.353, 3.404, 0, 90, 0, [SEP] 33, GarbageCan, -5.794, -0.033, 4.073, 0, 90, 0, [SEP] 34, Painting, -6.017, 1.802, 4.177, 90, 270, 0, [SEP] 35, HousePlant, -3.966, 1.625, 0.135, 0, 315, 0, [SEP] 36, Television, -3.355, 0.833, 0.027, 0, 0, 0, [SEP] 37, Drawer, -5.024, 0.903, 0.370, 0, 0, 0, [SEP] 38, SideTable, -5.024, 0.008, 0.267, 0, 0, 0, [SEP] 39, Safe, -2.298, 5.778, 0.268, 0, 90, 0, [SEP] 40, Shelf, -0.253, 0.781, 1.058, 0, 270, 0, [SEP] 41, Shelf, -0.283, 0.274, 1.066, 0, 270, 0, [SEP] 42, Shelf, -1.224, 1.288, 0.270, 0, 0, 0, [SEP] 43, Shelf, -1.218, 1.810, 0.275, 0, 0, 0, [SEP] 44, Shelf, -0.280, 1.810, 1.057, 0, 270, 0, [SEP] 45, Shelf, -1.218, 0.274, 0.262, 0, 0, 0, [SEP] 46, Shelf, -1.223, 0.782, 0.237, 0, 0, 0, [SEP] 47, Shelf, -0.280, 1.288, 1.055, 0, 270, 0, [SEP] 48, ShelvingUnit, -0.268, 0.004, 1.067, 0, 270, 0, [SEP] 49, ShelvingUnit, -1.218, 0.004, 0.244, 0, 0, 0, [SEP] 50, ArmChair, -2.027, 0.001, 4.422, 0, 178.692, 0, [SEP] 51, Drawer, -4.329, 1.014, 4.311, 0, 180, 0, [SEP] 52, Drawer, -3.750, 1.014, 4.311, 0, 180, 0, [SEP] 53, Cabinet, -4.049, 0.561, 4.212, 0, 180, 0, [SEP] 54, Cabinet, -4.032, 0.561, 4.212, 0, 180, 0, [SEP] 55, Cabinet, -2.884, 0.561, 4.212, 0, 180, 0, [SEP] 56, Dresser, -4.041, -0.000, 4.589, 0, 180, 0, [SEP] 57, Drawer, -4.916, 1.014, 4.311, 0, 180, 0, [SEP] 58, Drawer, -3.166, 1.014, 4.311, 0, 180, 0, [SEP] 59, Cabinet, -5.196, 0.561, 4.212, 0, 180, 0, [SEP] 60, Sofa, -0.705, -0.002, 2.753, 0, 270, 0, [SEP] 61, NorthWall, , , , , , , [SEP] 62, SouthWall, , , , , , , [SEP] 63, SouthWall, , , , , , , ", "output": ["STEP 1: Turn to the left and then right to the brown dresser. | STEP 2: Pick up the remote from the middle of the dresser, directly behind the tissues. | STEP 3: Hold the remote and move a step to the left. | STEP 4: Hold the remote and turn on the lamp. | END"]} +{"id": "trial_T20190909_032721_511027-1", "input": "Turn on the corner 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, 0.901, 2.25, 0, 0, 0, [SEP] 1, TissueBox, -3.543, 1.112, 4.490, 0, 90, 0, 56 [SEP] 2, Vase, -3.222, 1.115, 4.786, 0, 90, 0, 56 [SEP] 3, Watch, -2.404, 0.034, 0.265, 0, 90, 0, 39 [SEP] 4, Watch, -1.550, 0.074, 0.411, 0, 0, 0, 46 [SEP] 5, CreditCard, -4.871, 0.861, 0.405, 0, 0, 0, 37 [SEP] 6, RemoteControl, -1.117, 0.611, 3.281, 0, 0, 0, 60 [SEP] 7, RemoteControl, -4.505, 1.110, 4.588, 0, 90, 0, 56 [SEP] 8, RemoteControl, -4.184, 1.113, 4.786, 0, 90, 0, 56 [SEP] 9, Box, -2.983, 0.421, 4.342, 0, 180, 0, 55 [SEP] 10, Box, -3.570, 0.425, 4.459, 0, 90, 0, 54 [SEP] 11, Laptop, -2.085, 0.588, 4.384, 0, 0, 0, 50 [SEP] 12, Box, -0.952, 0.830, 3.545, 0, 0, 0, 60 [SEP] 13, Watch, -2.901, 1.108, 4.786, 0, 90, 0, 56 [SEP] 14, Pillow, -1.584, 0.668, 4.297, 0, 0, 0, 50 [SEP] 15, TissueBox, -4.505, 1.112, 4.391, 0, 90, 0, 56 [SEP] 16, Newspaper, -4.826, 1.117, 4.687, 0, 90, 0, 56 [SEP] 17, CreditCard, -5.534, 1.038, 0.438, 0, 0, 0, 38 [SEP] 18, KeyChain, -2.458, 0.034, 0.369, 0, 180, 0, 39 [SEP] 19, CellPhone, -1.460, 1.102, 0.192, 0, 0, 0, 42 [SEP] 20, Statue, -5.534, 1.044, 0.173, 0, 0, 0, 38 [SEP] 21, Laptop, -3.864, 1.109, 4.687, 0, 90, 0, 56 [SEP] 22, RemoteControl, -0.221, 1.594, 1.006, 0, 270, 0, 43 [SEP] 23, Vase, -2.191, 0.037, 0.317, 0, 90, 0, 39 [SEP] 24, DeskLamp, -4.649, 1.051, 0.268, 0, 0, 0, [SEP] 25, DeskLamp, -2.992, 1.107, 4.522, 0, 0, 0, [SEP] 26, FloorLamp, -0.650, 0.007, 4.431, 0, 0, 0, [SEP] 27, FloorLamp, -5.607, 0.007, 4.641, 0, 0, 0, [SEP] 28, Shelf, -5.237, 1.776, 0.070, 0, 0, 0, [SEP] 29, Shelf, -5.238, 1.968, 0.085, 0, 0, 0, [SEP] 30, Shelf, -5.242, 1.391, 0.086, 0, 0, 0, [SEP] 31, Shelf, -5.241, 1.582, 0.065, 0, 0, 0, [SEP] 32, LightSwitch, -6.002, 1.353, 3.404, 0, 90, 0, [SEP] 33, GarbageCan, -5.794, -0.033, 4.073, 0, 90, 0, [SEP] 34, Painting, -6.017, 1.802, 4.177, 90, 270, 0, [SEP] 35, HousePlant, -3.966, 1.625, 0.135, 0, 315, 0, [SEP] 36, Television, -3.355, 0.833, 0.027, 0, 0, 0, [SEP] 37, Drawer, -5.024, 0.903, 0.370, 0, 0, 0, [SEP] 38, SideTable, -5.024, 0.008, 0.267, 0, 0, 0, [SEP] 39, Safe, -2.298, 5.778, 0.268, 0, 90, 0, [SEP] 40, Shelf, -0.253, 0.781, 1.058, 0, 270, 0, [SEP] 41, Shelf, -0.283, 0.274, 1.066, 0, 270, 0, [SEP] 42, Shelf, -1.224, 1.288, 0.270, 0, 0, 0, [SEP] 43, Shelf, -1.218, 1.810, 0.275, 0, 0, 0, [SEP] 44, Shelf, -0.280, 1.810, 1.057, 0, 270, 0, [SEP] 45, Shelf, -1.218, 0.274, 0.262, 0, 0, 0, [SEP] 46, Shelf, -1.223, 0.782, 0.237, 0, 0, 0, [SEP] 47, Shelf, -0.280, 1.288, 1.055, 0, 270, 0, [SEP] 48, ShelvingUnit, -0.268, 0.004, 1.067, 0, 270, 0, [SEP] 49, ShelvingUnit, -1.218, 0.004, 0.244, 0, 0, 0, [SEP] 50, ArmChair, -2.027, 0.001, 4.422, 0, 178.692, 0, [SEP] 51, Drawer, -4.329, 1.014, 4.311, 0, 180, 0, [SEP] 52, Drawer, -3.750, 1.014, 4.311, 0, 180, 0, [SEP] 53, Cabinet, -4.049, 0.561, 4.212, 0, 180, 0, [SEP] 54, Cabinet, -4.032, 0.561, 4.212, 0, 180, 0, [SEP] 55, Cabinet, -2.884, 0.561, 4.212, 0, 180, 0, [SEP] 56, Dresser, -4.041, -0.000, 4.589, 0, 180, 0, [SEP] 57, Drawer, -4.916, 1.014, 4.311, 0, 180, 0, [SEP] 58, Drawer, -3.166, 1.014, 4.311, 0, 180, 0, [SEP] 59, Cabinet, -5.196, 0.561, 4.212, 0, 180, 0, [SEP] 60, Sofa, -0.705, -0.002, 2.753, 0, 270, 0, [SEP] 61, NorthWall, , , , , , , [SEP] 62, SouthWall, , , , , , , [SEP] 63, SouthWall, , , , , , , ", "output": ["STEP 1: Turn to your left and go to the door, then turn right and go to the dresser against the wall. | STEP 2: Pick up the remote behind the box of tissue, on the dresser. | STEP 3: Turn to your left and go to the wall, then turn to the lamp to your right. | STEP 4: Turn on the lamp in the corner. | END"]} +{"id": "trial_T20190909_032721_511027-2", "input": "Look at a remote under a lit 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, 0.901, 2.25, 0, 0, 0, [SEP] 1, TissueBox, -3.543, 1.112, 4.490, 0, 90, 0, 56 [SEP] 2, Vase, -3.222, 1.115, 4.786, 0, 90, 0, 56 [SEP] 3, Watch, -2.404, 0.034, 0.265, 0, 90, 0, 39 [SEP] 4, Watch, -1.550, 0.074, 0.411, 0, 0, 0, 46 [SEP] 5, CreditCard, -4.871, 0.861, 0.405, 0, 0, 0, 37 [SEP] 6, RemoteControl, -1.117, 0.611, 3.281, 0, 0, 0, 60 [SEP] 7, RemoteControl, -4.505, 1.110, 4.588, 0, 90, 0, 56 [SEP] 8, RemoteControl, -4.184, 1.113, 4.786, 0, 90, 0, 56 [SEP] 9, Box, -2.983, 0.421, 4.342, 0, 180, 0, 55 [SEP] 10, Box, -3.570, 0.425, 4.459, 0, 90, 0, 54 [SEP] 11, Laptop, -2.085, 0.588, 4.384, 0, 0, 0, 50 [SEP] 12, Box, -0.952, 0.830, 3.545, 0, 0, 0, 60 [SEP] 13, Watch, -2.901, 1.108, 4.786, 0, 90, 0, 56 [SEP] 14, Pillow, -1.584, 0.668, 4.297, 0, 0, 0, 50 [SEP] 15, TissueBox, -4.505, 1.112, 4.391, 0, 90, 0, 56 [SEP] 16, Newspaper, -4.826, 1.117, 4.687, 0, 90, 0, 56 [SEP] 17, CreditCard, -5.534, 1.038, 0.438, 0, 0, 0, 38 [SEP] 18, KeyChain, -2.458, 0.034, 0.369, 0, 180, 0, 39 [SEP] 19, CellPhone, -1.460, 1.102, 0.192, 0, 0, 0, 42 [SEP] 20, Statue, -5.534, 1.044, 0.173, 0, 0, 0, 38 [SEP] 21, Laptop, -3.864, 1.109, 4.687, 0, 90, 0, 56 [SEP] 22, RemoteControl, -0.221, 1.594, 1.006, 0, 270, 0, 43 [SEP] 23, Vase, -2.191, 0.037, 0.317, 0, 90, 0, 39 [SEP] 24, DeskLamp, -4.649, 1.051, 0.268, 0, 0, 0, [SEP] 25, DeskLamp, -2.992, 1.107, 4.522, 0, 0, 0, [SEP] 26, FloorLamp, -0.650, 0.007, 4.431, 0, 0, 0, [SEP] 27, FloorLamp, -5.607, 0.007, 4.641, 0, 0, 0, [SEP] 28, Shelf, -5.237, 1.776, 0.070, 0, 0, 0, [SEP] 29, Shelf, -5.238, 1.968, 0.085, 0, 0, 0, [SEP] 30, Shelf, -5.242, 1.391, 0.086, 0, 0, 0, [SEP] 31, Shelf, -5.241, 1.582, 0.065, 0, 0, 0, [SEP] 32, LightSwitch, -6.002, 1.353, 3.404, 0, 90, 0, [SEP] 33, GarbageCan, -5.794, -0.033, 4.073, 0, 90, 0, [SEP] 34, Painting, -6.017, 1.802, 4.177, 90, 270, 0, [SEP] 35, HousePlant, -3.966, 1.625, 0.135, 0, 315, 0, [SEP] 36, Television, -3.355, 0.833, 0.027, 0, 0, 0, [SEP] 37, Drawer, -5.024, 0.903, 0.370, 0, 0, 0, [SEP] 38, SideTable, -5.024, 0.008, 0.267, 0, 0, 0, [SEP] 39, Safe, -2.298, 5.778, 0.268, 0, 90, 0, [SEP] 40, Shelf, -0.253, 0.781, 1.058, 0, 270, 0, [SEP] 41, Shelf, -0.283, 0.274, 1.066, 0, 270, 0, [SEP] 42, Shelf, -1.224, 1.288, 0.270, 0, 0, 0, [SEP] 43, Shelf, -1.218, 1.810, 0.275, 0, 0, 0, [SEP] 44, Shelf, -0.280, 1.810, 1.057, 0, 270, 0, [SEP] 45, Shelf, -1.218, 0.274, 0.262, 0, 0, 0, [SEP] 46, Shelf, -1.223, 0.782, 0.237, 0, 0, 0, [SEP] 47, Shelf, -0.280, 1.288, 1.055, 0, 270, 0, [SEP] 48, ShelvingUnit, -0.268, 0.004, 1.067, 0, 270, 0, [SEP] 49, ShelvingUnit, -1.218, 0.004, 0.244, 0, 0, 0, [SEP] 50, ArmChair, -2.027, 0.001, 4.422, 0, 178.692, 0, [SEP] 51, Drawer, -4.329, 1.014, 4.311, 0, 180, 0, [SEP] 52, Drawer, -3.750, 1.014, 4.311, 0, 180, 0, [SEP] 53, Cabinet, -4.049, 0.561, 4.212, 0, 180, 0, [SEP] 54, Cabinet, -4.032, 0.561, 4.212, 0, 180, 0, [SEP] 55, Cabinet, -2.884, 0.561, 4.212, 0, 180, 0, [SEP] 56, Dresser, -4.041, -0.000, 4.589, 0, 180, 0, [SEP] 57, Drawer, -4.916, 1.014, 4.311, 0, 180, 0, [SEP] 58, Drawer, -3.166, 1.014, 4.311, 0, 180, 0, [SEP] 59, Cabinet, -5.196, 0.561, 4.212, 0, 180, 0, [SEP] 60, Sofa, -0.705, -0.002, 2.753, 0, 270, 0, [SEP] 61, NorthWall, , , , , , , [SEP] 62, SouthWall, , , , , , , [SEP] 63, SouthWall, , , , , , , ", "output": ["STEP 1: Hang a right to walk towards the dresser in the corner. | STEP 2: Pick on the remote that is on the dresser. | STEP 3: Turn to face the lamp on the right of the dresser. | STEP 4: Turn on the lamp next to the dresser. | END"]} +{"id": "trial_T20190909_121635_622676-0", "input": "Place a chilled mug 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, -0.25, 0.900, 1.0, 0, 0, 0, [SEP] 1, Pan, 1.126, 2.205, -1.517, 0, 180, 0, 68 [SEP] 2, Potato, -0.587, 0.811, -0.486, 0, 180, 0, 82 [SEP] 3, Potato, 1.026, 0.893, 1.063, 0, 270, 0, 84 [SEP] 4, CellPhone, 1.199, 0.908, -0.381, 0, 0, 0, 62 [SEP] 5, Fork, 0.773, 0.911, -1.965, 0, 90, 0, 67 [SEP] 6, Fork, 0.794, 0.495, -0.772, 0, 180, 0, 65 [SEP] 7, Spoon, -0.697, 0.777, -0.745, 0, 90, 0, 82 [SEP] 8, Spoon, -0.753, 0.777, -0.832, 0, 180, 0, 82 [SEP] 9, Spatula, 0.688, 0.926, -2.136, 0, 270, 0, 67 [SEP] 10, Spatula, -0.808, 0.795, -0.573, 0, 180, 0, 82 [SEP] 11, Knife, -1.104, 0.957, -1.167, 0, 90, 0, 61 [SEP] 12, Knife, -0.772, 0.957, -1.308, 0, 0, 0, 61 [SEP] 13, Cup, 1.026, 1.132, 1.540, 0, 270, 0, 84 [SEP] 14, Cup, 1.060, 1.780, -1.236, 0, 270, 0, 83 [SEP] 15, Plate, 0.966, 1.405, 1.063, 0, 270, 0, 84 [SEP] 16, Tomato, 1.026, 1.442, 1.254, 0, 270, 0, 84 [SEP] 17, Tomato, 0.688, 0.952, 0.139, 0, 0, 0, 62 [SEP] 18, SoapBottle, 1.193, 1.666, 0.280, 0, 270, 0, 69 [SEP] 19, SoapBottle, 0.688, 0.911, -1.965, 0, 0, 0, 67 [SEP] 20, Bowl, 1.026, 1.646, 1.063, 0, 270, 0, 84 [SEP] 21, SaltShaker, -1.881, 0.550, 2.667, 0, 0, 0, 87 [SEP] 22, PepperShaker, 0.859, 0.907, -1.879, 0, 0, 0, 67 [SEP] 23, PepperShaker, 0.915, 0.490, -0.607, 0, 270, 0, 65 [SEP] 24, Lettuce, 1.114, 0.988, 0.139, 0, 0, 0, 62 [SEP] 25, Mug, 1.102, 1.661, -0.593, 0, 270, 0, 70 [SEP] 26, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 80 [SEP] 27, Statue, -0.550, 0.936, -1.540, 0, 0, 0, 61 [SEP] 28, Glassbottle, -0.753, 0.781, -0.918, 0, 90, 0, 82 [SEP] 29, Bread, -0.779, 0.996, 0.209, 0, 258.641, 0, 61 [SEP] 30, CreditCard, -1.570, 0.551, 2.563, 0, 0, 0, 87 [SEP] 31, CellPhone, 0.688, 0.908, -0.729, 0, 0, 0, 62 [SEP] 32, Potato, 1.026, 1.165, 1.063, 0, 270, 0, 84 [SEP] 33, Knife, 0.944, 0.934, -0.207, 0, 0, 0, 62 [SEP] 34, Fork, 0.794, 0.494, -0.524, 0, 180, 0, 65 [SEP] 35, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 55 [SEP] 36, Lettuce, -0.912, 0.256, 0.608, 0, 90, 0, 81 [SEP] 37, Plate, 1.101, 1.669, 0.025, 0, 270, 0, 69 [SEP] 38, Apple, 1.026, 1.693, 1.540, 0, 270, 0, 84 [SEP] 39, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 57 [SEP] 40, Spatula, 0.859, 0.926, -0.034, 0, 0, 0, 62 [SEP] 41, PaperTowelRoll, -0.865, 0.283, 0.510, 0, 270, 0, 81 [SEP] 42, Tomato, 0.966, 0.903, 1.254, 0, 270, 0, 84 [SEP] 43, Egg, 0.783, 1.439, 1.540, 0, 270, 0, 84 [SEP] 44, SaltShaker, 1.194, 1.662, -2.029, 0, 270, 0, 60 [SEP] 45, PepperShaker, 0.910, 0.104, -1.972, 0, 0, 0, 66 [SEP] 46, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 87 [SEP] 47, ButterKnife, -1.167, 0.933, -1.167, 0, 0, 0, 61 [SEP] 48, SoapBottle, 1.029, 0.911, -1.793, 0, 0, 0, 67 [SEP] 49, Vase, -1.985, 0.555, 2.822, 0, 0, 0, 87 [SEP] 50, Bowl, -1.292, 0.936, 0.144, 0, 0, 0, 61 [SEP] 51, DishSponge, 0.760, 0.120, 0.374, 0, 270, 0, 56 [SEP] 52, Spoon, 1.114, 0.912, -0.208, 0, 0, 0, 62 [SEP] 53, Cup, -0.587, 0.777, -0.832, 0, 90, 0, 82 [SEP] 54, Mug, -0.846, 0.928, -1.618, 0, 0, 0, 61 [SEP] 55, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 56, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 57, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 58, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 59, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 60, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 61, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 62, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 63, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 64, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 65, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 66, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 67, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 68, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 69, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 70, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 71, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 72, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 73, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 74, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 75, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 76, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 77, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 78, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 79, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 80, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 81, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 82, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 83, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 84, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 85, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 86, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 87, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 88, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 89, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 90, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 91, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 92, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 93, NorthWall, , , , , , , [SEP] 94, EastWall, , , , , , , [SEP] 95, SouthWall, , , , , , , [SEP] 96, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and walk to the counter to the left of the stove. | STEP 2: Look up and take the mug out of the cabinet. | STEP 3: Turn left and walk to the fridge. | STEP 4: Place the mug in the fridge in front of the tomato. Close the door, wait a moment, and take it out again. | STEP 5: Take a step right. | STEP 6: Open the leftmost bottom cabinet and place the mug in it, behind the sponge. | END"]} +{"id": "trial_T20190909_121635_622676-1", "input": "Put a cold mug 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, -0.25, 0.900, 1.0, 0, 0, 0, [SEP] 1, Pan, 1.126, 2.205, -1.517, 0, 180, 0, 68 [SEP] 2, Potato, -0.587, 0.811, -0.486, 0, 180, 0, 82 [SEP] 3, Potato, 1.026, 0.893, 1.063, 0, 270, 0, 84 [SEP] 4, CellPhone, 1.199, 0.908, -0.381, 0, 0, 0, 62 [SEP] 5, Fork, 0.773, 0.911, -1.965, 0, 90, 0, 67 [SEP] 6, Fork, 0.794, 0.495, -0.772, 0, 180, 0, 65 [SEP] 7, Spoon, -0.697, 0.777, -0.745, 0, 90, 0, 82 [SEP] 8, Spoon, -0.753, 0.777, -0.832, 0, 180, 0, 82 [SEP] 9, Spatula, 0.688, 0.926, -2.136, 0, 270, 0, 67 [SEP] 10, Spatula, -0.808, 0.795, -0.573, 0, 180, 0, 82 [SEP] 11, Knife, -1.104, 0.957, -1.167, 0, 90, 0, 61 [SEP] 12, Knife, -0.772, 0.957, -1.308, 0, 0, 0, 61 [SEP] 13, Cup, 1.026, 1.132, 1.540, 0, 270, 0, 84 [SEP] 14, Cup, 1.060, 1.780, -1.236, 0, 270, 0, 83 [SEP] 15, Plate, 0.966, 1.405, 1.063, 0, 270, 0, 84 [SEP] 16, Tomato, 1.026, 1.442, 1.254, 0, 270, 0, 84 [SEP] 17, Tomato, 0.688, 0.952, 0.139, 0, 0, 0, 62 [SEP] 18, SoapBottle, 1.193, 1.666, 0.280, 0, 270, 0, 69 [SEP] 19, SoapBottle, 0.688, 0.911, -1.965, 0, 0, 0, 67 [SEP] 20, Bowl, 1.026, 1.646, 1.063, 0, 270, 0, 84 [SEP] 21, SaltShaker, -1.881, 0.550, 2.667, 0, 0, 0, 87 [SEP] 22, PepperShaker, 0.859, 0.907, -1.879, 0, 0, 0, 67 [SEP] 23, PepperShaker, 0.915, 0.490, -0.607, 0, 270, 0, 65 [SEP] 24, Lettuce, 1.114, 0.988, 0.139, 0, 0, 0, 62 [SEP] 25, Mug, 1.102, 1.661, -0.593, 0, 270, 0, 70 [SEP] 26, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 80 [SEP] 27, Statue, -0.550, 0.936, -1.540, 0, 0, 0, 61 [SEP] 28, Glassbottle, -0.753, 0.781, -0.918, 0, 90, 0, 82 [SEP] 29, Bread, -0.779, 0.996, 0.209, 0, 258.641, 0, 61 [SEP] 30, CreditCard, -1.570, 0.551, 2.563, 0, 0, 0, 87 [SEP] 31, CellPhone, 0.688, 0.908, -0.729, 0, 0, 0, 62 [SEP] 32, Potato, 1.026, 1.165, 1.063, 0, 270, 0, 84 [SEP] 33, Knife, 0.944, 0.934, -0.207, 0, 0, 0, 62 [SEP] 34, Fork, 0.794, 0.494, -0.524, 0, 180, 0, 65 [SEP] 35, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 55 [SEP] 36, Lettuce, -0.912, 0.256, 0.608, 0, 90, 0, 81 [SEP] 37, Plate, 1.101, 1.669, 0.025, 0, 270, 0, 69 [SEP] 38, Apple, 1.026, 1.693, 1.540, 0, 270, 0, 84 [SEP] 39, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 57 [SEP] 40, Spatula, 0.859, 0.926, -0.034, 0, 0, 0, 62 [SEP] 41, PaperTowelRoll, -0.865, 0.283, 0.510, 0, 270, 0, 81 [SEP] 42, Tomato, 0.966, 0.903, 1.254, 0, 270, 0, 84 [SEP] 43, Egg, 0.783, 1.439, 1.540, 0, 270, 0, 84 [SEP] 44, SaltShaker, 1.194, 1.662, -2.029, 0, 270, 0, 60 [SEP] 45, PepperShaker, 0.910, 0.104, -1.972, 0, 0, 0, 66 [SEP] 46, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 87 [SEP] 47, ButterKnife, -1.167, 0.933, -1.167, 0, 0, 0, 61 [SEP] 48, SoapBottle, 1.029, 0.911, -1.793, 0, 0, 0, 67 [SEP] 49, Vase, -1.985, 0.555, 2.822, 0, 0, 0, 87 [SEP] 50, Bowl, -1.292, 0.936, 0.144, 0, 0, 0, 61 [SEP] 51, DishSponge, 0.760, 0.120, 0.374, 0, 270, 0, 56 [SEP] 52, Spoon, 1.114, 0.912, -0.208, 0, 0, 0, 62 [SEP] 53, Cup, -0.587, 0.777, -0.832, 0, 90, 0, 82 [SEP] 54, Mug, -0.846, 0.928, -1.618, 0, 0, 0, 61 [SEP] 55, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 56, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 57, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 58, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 59, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 60, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 61, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 62, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 63, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 64, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 65, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 66, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 67, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 68, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 69, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 70, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 71, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 72, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 73, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 74, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 75, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 76, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 77, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 78, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 79, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 80, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 81, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 82, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 83, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 84, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 85, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 86, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 87, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 88, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 89, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 90, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 91, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 92, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 93, NorthWall, , , , , , , [SEP] 94, EastWall, , , , , , , [SEP] 95, SouthWall, , , , , , , [SEP] 96, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and walk to the fridge then move to your right until you face the counter to the left of the stove with the phones and the yellow handled knife. | STEP 2: Look up and open the cupboard and grab the mug that's up there then close the doors. | STEP 3: Take a small step backwards then turn left and walk to the fridge then turn right to face it. | STEP 4: Chill the mug in the fridge then take it back out and close the door. | STEP 5: Take a small step to your right. | STEP 6: Open the cupboard that's to the right of the fridge then put the mug in there then close the door. | END"]} +{"id": "trial_T20190909_121635_622676-2", "input": "Put a chilled coffee 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, -0.25, 0.900, 1.0, 0, 0, 0, [SEP] 1, Pan, 1.126, 2.205, -1.517, 0, 180, 0, 68 [SEP] 2, Potato, -0.587, 0.811, -0.486, 0, 180, 0, 82 [SEP] 3, Potato, 1.026, 0.893, 1.063, 0, 270, 0, 84 [SEP] 4, CellPhone, 1.199, 0.908, -0.381, 0, 0, 0, 62 [SEP] 5, Fork, 0.773, 0.911, -1.965, 0, 90, 0, 67 [SEP] 6, Fork, 0.794, 0.495, -0.772, 0, 180, 0, 65 [SEP] 7, Spoon, -0.697, 0.777, -0.745, 0, 90, 0, 82 [SEP] 8, Spoon, -0.753, 0.777, -0.832, 0, 180, 0, 82 [SEP] 9, Spatula, 0.688, 0.926, -2.136, 0, 270, 0, 67 [SEP] 10, Spatula, -0.808, 0.795, -0.573, 0, 180, 0, 82 [SEP] 11, Knife, -1.104, 0.957, -1.167, 0, 90, 0, 61 [SEP] 12, Knife, -0.772, 0.957, -1.308, 0, 0, 0, 61 [SEP] 13, Cup, 1.026, 1.132, 1.540, 0, 270, 0, 84 [SEP] 14, Cup, 1.060, 1.780, -1.236, 0, 270, 0, 83 [SEP] 15, Plate, 0.966, 1.405, 1.063, 0, 270, 0, 84 [SEP] 16, Tomato, 1.026, 1.442, 1.254, 0, 270, 0, 84 [SEP] 17, Tomato, 0.688, 0.952, 0.139, 0, 0, 0, 62 [SEP] 18, SoapBottle, 1.193, 1.666, 0.280, 0, 270, 0, 69 [SEP] 19, SoapBottle, 0.688, 0.911, -1.965, 0, 0, 0, 67 [SEP] 20, Bowl, 1.026, 1.646, 1.063, 0, 270, 0, 84 [SEP] 21, SaltShaker, -1.881, 0.550, 2.667, 0, 0, 0, 87 [SEP] 22, PepperShaker, 0.859, 0.907, -1.879, 0, 0, 0, 67 [SEP] 23, PepperShaker, 0.915, 0.490, -0.607, 0, 270, 0, 65 [SEP] 24, Lettuce, 1.114, 0.988, 0.139, 0, 0, 0, 62 [SEP] 25, Mug, 1.102, 1.661, -0.593, 0, 270, 0, 70 [SEP] 26, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 80 [SEP] 27, Statue, -0.550, 0.936, -1.540, 0, 0, 0, 61 [SEP] 28, Glassbottle, -0.753, 0.781, -0.918, 0, 90, 0, 82 [SEP] 29, Bread, -0.779, 0.996, 0.209, 0, 258.641, 0, 61 [SEP] 30, CreditCard, -1.570, 0.551, 2.563, 0, 0, 0, 87 [SEP] 31, CellPhone, 0.688, 0.908, -0.729, 0, 0, 0, 62 [SEP] 32, Potato, 1.026, 1.165, 1.063, 0, 270, 0, 84 [SEP] 33, Knife, 0.944, 0.934, -0.207, 0, 0, 0, 62 [SEP] 34, Fork, 0.794, 0.494, -0.524, 0, 180, 0, 65 [SEP] 35, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 55 [SEP] 36, Lettuce, -0.912, 0.256, 0.608, 0, 90, 0, 81 [SEP] 37, Plate, 1.101, 1.669, 0.025, 0, 270, 0, 69 [SEP] 38, Apple, 1.026, 1.693, 1.540, 0, 270, 0, 84 [SEP] 39, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 57 [SEP] 40, Spatula, 0.859, 0.926, -0.034, 0, 0, 0, 62 [SEP] 41, PaperTowelRoll, -0.865, 0.283, 0.510, 0, 270, 0, 81 [SEP] 42, Tomato, 0.966, 0.903, 1.254, 0, 270, 0, 84 [SEP] 43, Egg, 0.783, 1.439, 1.540, 0, 270, 0, 84 [SEP] 44, SaltShaker, 1.194, 1.662, -2.029, 0, 270, 0, 60 [SEP] 45, PepperShaker, 0.910, 0.104, -1.972, 0, 0, 0, 66 [SEP] 46, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 87 [SEP] 47, ButterKnife, -1.167, 0.933, -1.167, 0, 0, 0, 61 [SEP] 48, SoapBottle, 1.029, 0.911, -1.793, 0, 0, 0, 67 [SEP] 49, Vase, -1.985, 0.555, 2.822, 0, 0, 0, 87 [SEP] 50, Bowl, -1.292, 0.936, 0.144, 0, 0, 0, 61 [SEP] 51, DishSponge, 0.760, 0.120, 0.374, 0, 270, 0, 56 [SEP] 52, Spoon, 1.114, 0.912, -0.208, 0, 0, 0, 62 [SEP] 53, Cup, -0.587, 0.777, -0.832, 0, 90, 0, 82 [SEP] 54, Mug, -0.846, 0.928, -1.618, 0, 0, 0, 61 [SEP] 55, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 56, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 57, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 58, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 59, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 60, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 61, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 62, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 63, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 64, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 65, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 66, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 67, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 68, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 69, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 70, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 71, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 72, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 73, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 74, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 75, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 76, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 77, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 78, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 79, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 80, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 81, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 82, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 83, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 84, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 85, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 86, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 87, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 88, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 89, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 90, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 91, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 92, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 93, NorthWall, , , , , , , [SEP] 94, EastWall, , , , , , , [SEP] 95, SouthWall, , , , , , , [SEP] 96, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and go to the front of the cabinet above the sink on the left of the stove. | STEP 2: Take out the coffee mug in the cabinet. | STEP 3: Turn left and go to the front of the refrigerator on the right. | STEP 4: Remove the mug from the refrigerator after cooling in it. | STEP 5: Move over right to the front of the cabinet on the left of the dishwasher. | STEP 6: Place the mug behind the green sponge in the cabinet. | END"]} +{"id": "trial_T20190909_061158_110530-0", "input": "Put a filled bowl of water in the cabinet left 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, -3.5, 0.900, 1.75, 0, 0, 0, [SEP] 1, Statue, -1.292, 0.936, -0.643, 0, 0, 0, 62 [SEP] 2, Potato, -0.624, 0.963, 0.239, 0, 0, 0, 62 [SEP] 3, Potato, 0.773, 0.941, 0.139, 0, 0, 0, 63 [SEP] 4, DishSponge, -0.912, 0.176, 0.576, 0, 180, 0, 82 [SEP] 5, DishSponge, 1.114, 0.910, -0.729, 0, 0, 0, 63 [SEP] 6, Glassbottle, -1.041, 0.934, 0.144, 0, 0, 0, 62 [SEP] 7, Glassbottle, 0.964, 0.121, 0.349, 0, 270, 0, 57 [SEP] 8, Fork, 0.793, 0.154, -0.690, 0, 180, 0, 65 [SEP] 9, Spatula, -1.104, 0.948, -1.167, 0, 90, 0, 62 [SEP] 10, Knife, -0.698, 0.957, -1.463, 0, 0, 0, 62 [SEP] 11, Knife, -0.772, 0.957, -1.154, 0, 0, 0, 62 [SEP] 12, Egg, 0.965, 1.680, 1.540, 0, 270, 0, 85 [SEP] 13, Egg, 0.688, 0.949, -2.051, 0, 0, 0, 68 [SEP] 14, Cup, -1.674, 0.879, 2.773, 0, 0, 0, 89 [SEP] 15, Cup, 1.026, 1.399, 1.254, 0, 270, 0, 85 [SEP] 16, Plate, 1.026, 0.866, 1.063, 0, 270, 0, 85 [SEP] 17, Plate, -1.363, 0.557, 2.770, 0, 0, 0, 88 [SEP] 18, SoapBottle, 0.960, 0.108, -1.812, 0, 0, 0, 67 [SEP] 19, SoapBottle, 1.055, 1.666, 0.280, 0, 270, 0, 70 [SEP] 20, SaltShaker, 0.956, 0.698, -0.690, 0, 270, 0, 60 [SEP] 21, PepperShaker, -1.363, 0.550, 2.615, 0, 0, 0, 88 [SEP] 22, Lettuce, 0.965, 1.212, 1.444, 0, 270, 0, 85 [SEP] 23, Lettuce, 0.966, 0.940, 1.254, 0, 270, 0, 85 [SEP] 24, Bread, 0.905, 1.482, 1.063, 0, 270, 0, 85 [SEP] 25, Bread, 1.114, 0.992, -0.034, 0, 0, 0, 63 [SEP] 26, Apple, -1.054, 0.229, 0.576, 0, 180, 0, 82 [SEP] 27, Apple, 0.844, 0.913, 1.540, 0, 270, 0, 85 [SEP] 28, Statue, 0.773, 0.914, -0.729, 0, 0, 0, 63 [SEP] 29, Glassbottle, 1.199, 0.912, -1.793, 0, 0, 0, 68 [SEP] 30, Bread, -0.550, 1.014, -1.308, 0, 0, 0, 62 [SEP] 31, CreditCard, 1.199, 0.908, -1.879, 0, 0, 0, 68 [SEP] 32, CellPhone, -0.920, 0.930, 0.239, 0, 0, 0, 62 [SEP] 33, Potato, 0.905, 1.432, 1.444, 0, 270, 0, 85 [SEP] 34, Knife, 0.859, 0.934, -0.381, 0, 0, 0, 63 [SEP] 35, Fork, 0.875, 0.494, -0.731, 0, 0, 0, 66 [SEP] 36, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 56 [SEP] 37, Lettuce, 1.114, 0.988, -0.381, 0, 0, 0, 63 [SEP] 38, Plate, 1.194, 1.669, -0.337, 0, 270, 0, 71 [SEP] 39, Apple, 1.093, 1.845, -1.339, 0, 270, 0, 84 [SEP] 40, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 58 [SEP] 41, Spatula, -1.229, 0.948, -0.118, 0, 0, 0, 62 [SEP] 42, PaperTowelRoll, -1.878, 0.986, 2.665, 0, 0, 0, 89 [SEP] 43, Tomato, -0.550, 0.974, -0.067, 0, 0, 0, 62 [SEP] 44, Egg, 1.060, 1.833, -1.132, 0, 270, 0, 84 [SEP] 45, SaltShaker, 0.874, 0.150, -0.611, 0, 270, 0, 65 [SEP] 46, PepperShaker, 0.794, 0.698, -0.565, 0, 270, 0, 60 [SEP] 47, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 88 [SEP] 48, ButterKnife, 0.944, 0.911, -0.555, 0, 0, 0, 63 [SEP] 49, SoapBottle, 1.101, 1.666, 0.089, 0, 270, 0, 70 [SEP] 50, Vase, 1.148, 1.667, -2.097, 0, 270, 0, 61 [SEP] 51, Bowl, 1.126, 2.211, -1.082, 0, 270, 0, 69 [SEP] 52, DishSponge, 0.862, 0.120, 0.374, 0, 270, 0, 57 [SEP] 53, Spoon, -0.846, 0.934, 0.162, 0, 0, 0, 62 [SEP] 54, Cup, 1.148, 1.399, 0.967, 0, 270, 0, 85 [SEP] 55, Mug, 0.966, 1.396, 1.349, 0, 0, 0, 85 [SEP] 56, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 57, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 58, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 59, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 60, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 61, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 62, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 63, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 64, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 65, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 66, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 67, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 68, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 69, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 70, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 71, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 72, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 73, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 74, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 75, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 76, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 77, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 78, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 79, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 80, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 81, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 82, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 83, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 84, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 85, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 86, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 87, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 88, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 89, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 90, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 91, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 92, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 93, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 94, NorthWall, , , , , , , [SEP] 95, EastWall, , , , , , , [SEP] 96, SouthWall, , , , , , , [SEP] 97, WestWall, , , , , , , ", "output": ["STEP 1: Turn right, head to the fridge across the room, turn right, move to the stove on the left side, face the microwave over the stove. | STEP 2: Take the bowl out of the cabinet above the microwave. | STEP 3: Turn around, bring the bowl to the sink. | STEP 4: Fill the bowl with water from the sink. | STEP 5: Turn around, bring the filled bowl to the cabinet left of the microwave. | STEP 6: Put the filled bowl of water in the cabinet left of the microwave. | END"]} +{"id": "trial_T20190909_061158_110530-1", "input": "Put a bowl of water 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, -3.5, 0.900, 1.75, 0, 0, 0, [SEP] 1, Statue, -1.292, 0.936, -0.643, 0, 0, 0, 62 [SEP] 2, Potato, -0.624, 0.963, 0.239, 0, 0, 0, 62 [SEP] 3, Potato, 0.773, 0.941, 0.139, 0, 0, 0, 63 [SEP] 4, DishSponge, -0.912, 0.176, 0.576, 0, 180, 0, 82 [SEP] 5, DishSponge, 1.114, 0.910, -0.729, 0, 0, 0, 63 [SEP] 6, Glassbottle, -1.041, 0.934, 0.144, 0, 0, 0, 62 [SEP] 7, Glassbottle, 0.964, 0.121, 0.349, 0, 270, 0, 57 [SEP] 8, Fork, 0.793, 0.154, -0.690, 0, 180, 0, 65 [SEP] 9, Spatula, -1.104, 0.948, -1.167, 0, 90, 0, 62 [SEP] 10, Knife, -0.698, 0.957, -1.463, 0, 0, 0, 62 [SEP] 11, Knife, -0.772, 0.957, -1.154, 0, 0, 0, 62 [SEP] 12, Egg, 0.965, 1.680, 1.540, 0, 270, 0, 85 [SEP] 13, Egg, 0.688, 0.949, -2.051, 0, 0, 0, 68 [SEP] 14, Cup, -1.674, 0.879, 2.773, 0, 0, 0, 89 [SEP] 15, Cup, 1.026, 1.399, 1.254, 0, 270, 0, 85 [SEP] 16, Plate, 1.026, 0.866, 1.063, 0, 270, 0, 85 [SEP] 17, Plate, -1.363, 0.557, 2.770, 0, 0, 0, 88 [SEP] 18, SoapBottle, 0.960, 0.108, -1.812, 0, 0, 0, 67 [SEP] 19, SoapBottle, 1.055, 1.666, 0.280, 0, 270, 0, 70 [SEP] 20, SaltShaker, 0.956, 0.698, -0.690, 0, 270, 0, 60 [SEP] 21, PepperShaker, -1.363, 0.550, 2.615, 0, 0, 0, 88 [SEP] 22, Lettuce, 0.965, 1.212, 1.444, 0, 270, 0, 85 [SEP] 23, Lettuce, 0.966, 0.940, 1.254, 0, 270, 0, 85 [SEP] 24, Bread, 0.905, 1.482, 1.063, 0, 270, 0, 85 [SEP] 25, Bread, 1.114, 0.992, -0.034, 0, 0, 0, 63 [SEP] 26, Apple, -1.054, 0.229, 0.576, 0, 180, 0, 82 [SEP] 27, Apple, 0.844, 0.913, 1.540, 0, 270, 0, 85 [SEP] 28, Statue, 0.773, 0.914, -0.729, 0, 0, 0, 63 [SEP] 29, Glassbottle, 1.199, 0.912, -1.793, 0, 0, 0, 68 [SEP] 30, Bread, -0.550, 1.014, -1.308, 0, 0, 0, 62 [SEP] 31, CreditCard, 1.199, 0.908, -1.879, 0, 0, 0, 68 [SEP] 32, CellPhone, -0.920, 0.930, 0.239, 0, 0, 0, 62 [SEP] 33, Potato, 0.905, 1.432, 1.444, 0, 270, 0, 85 [SEP] 34, Knife, 0.859, 0.934, -0.381, 0, 0, 0, 63 [SEP] 35, Fork, 0.875, 0.494, -0.731, 0, 0, 0, 66 [SEP] 36, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 56 [SEP] 37, Lettuce, 1.114, 0.988, -0.381, 0, 0, 0, 63 [SEP] 38, Plate, 1.194, 1.669, -0.337, 0, 270, 0, 71 [SEP] 39, Apple, 1.093, 1.845, -1.339, 0, 270, 0, 84 [SEP] 40, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 58 [SEP] 41, Spatula, -1.229, 0.948, -0.118, 0, 0, 0, 62 [SEP] 42, PaperTowelRoll, -1.878, 0.986, 2.665, 0, 0, 0, 89 [SEP] 43, Tomato, -0.550, 0.974, -0.067, 0, 0, 0, 62 [SEP] 44, Egg, 1.060, 1.833, -1.132, 0, 270, 0, 84 [SEP] 45, SaltShaker, 0.874, 0.150, -0.611, 0, 270, 0, 65 [SEP] 46, PepperShaker, 0.794, 0.698, -0.565, 0, 270, 0, 60 [SEP] 47, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 88 [SEP] 48, ButterKnife, 0.944, 0.911, -0.555, 0, 0, 0, 63 [SEP] 49, SoapBottle, 1.101, 1.666, 0.089, 0, 270, 0, 70 [SEP] 50, Vase, 1.148, 1.667, -2.097, 0, 270, 0, 61 [SEP] 51, Bowl, 1.126, 2.211, -1.082, 0, 270, 0, 69 [SEP] 52, DishSponge, 0.862, 0.120, 0.374, 0, 270, 0, 57 [SEP] 53, Spoon, -0.846, 0.934, 0.162, 0, 0, 0, 62 [SEP] 54, Cup, 1.148, 1.399, 0.967, 0, 270, 0, 85 [SEP] 55, Mug, 0.966, 1.396, 1.349, 0, 0, 0, 85 [SEP] 56, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 57, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 58, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 59, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 60, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 61, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 62, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 63, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 64, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 65, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 66, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 67, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 68, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 69, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 70, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 71, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 72, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 73, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 74, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 75, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 76, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 77, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 78, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 79, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 80, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 81, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 82, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 83, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 84, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 85, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 86, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 87, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 88, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 89, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 90, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 91, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 92, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 93, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 94, NorthWall, , , , , , , [SEP] 95, EastWall, , , , , , , [SEP] 96, SouthWall, , , , , , , [SEP] 97, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and walk to the wall then turn right and walk to the left side of the stove then turn left to face it. | STEP 2: Look up and open the cupboard over the left side of the microwave and grab the bowl that's up there before closing the cupboard door. | STEP 3: Turn around and walk to the sink, | STEP 4: Fill the bowl with water in the sink then shut off the water. | STEP 5: Turn back around. | STEP 6: Open the cupboard to the left of the microwave and put the bowl of water in there then close the door. | END"]} +{"id": "trial_T20190909_061158_110530-2", "input": "Put a clean bowl 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, -3.5, 0.900, 1.75, 0, 0, 0, [SEP] 1, Statue, -1.292, 0.936, -0.643, 0, 0, 0, 62 [SEP] 2, Potato, -0.624, 0.963, 0.239, 0, 0, 0, 62 [SEP] 3, Potato, 0.773, 0.941, 0.139, 0, 0, 0, 63 [SEP] 4, DishSponge, -0.912, 0.176, 0.576, 0, 180, 0, 82 [SEP] 5, DishSponge, 1.114, 0.910, -0.729, 0, 0, 0, 63 [SEP] 6, Glassbottle, -1.041, 0.934, 0.144, 0, 0, 0, 62 [SEP] 7, Glassbottle, 0.964, 0.121, 0.349, 0, 270, 0, 57 [SEP] 8, Fork, 0.793, 0.154, -0.690, 0, 180, 0, 65 [SEP] 9, Spatula, -1.104, 0.948, -1.167, 0, 90, 0, 62 [SEP] 10, Knife, -0.698, 0.957, -1.463, 0, 0, 0, 62 [SEP] 11, Knife, -0.772, 0.957, -1.154, 0, 0, 0, 62 [SEP] 12, Egg, 0.965, 1.680, 1.540, 0, 270, 0, 85 [SEP] 13, Egg, 0.688, 0.949, -2.051, 0, 0, 0, 68 [SEP] 14, Cup, -1.674, 0.879, 2.773, 0, 0, 0, 89 [SEP] 15, Cup, 1.026, 1.399, 1.254, 0, 270, 0, 85 [SEP] 16, Plate, 1.026, 0.866, 1.063, 0, 270, 0, 85 [SEP] 17, Plate, -1.363, 0.557, 2.770, 0, 0, 0, 88 [SEP] 18, SoapBottle, 0.960, 0.108, -1.812, 0, 0, 0, 67 [SEP] 19, SoapBottle, 1.055, 1.666, 0.280, 0, 270, 0, 70 [SEP] 20, SaltShaker, 0.956, 0.698, -0.690, 0, 270, 0, 60 [SEP] 21, PepperShaker, -1.363, 0.550, 2.615, 0, 0, 0, 88 [SEP] 22, Lettuce, 0.965, 1.212, 1.444, 0, 270, 0, 85 [SEP] 23, Lettuce, 0.966, 0.940, 1.254, 0, 270, 0, 85 [SEP] 24, Bread, 0.905, 1.482, 1.063, 0, 270, 0, 85 [SEP] 25, Bread, 1.114, 0.992, -0.034, 0, 0, 0, 63 [SEP] 26, Apple, -1.054, 0.229, 0.576, 0, 180, 0, 82 [SEP] 27, Apple, 0.844, 0.913, 1.540, 0, 270, 0, 85 [SEP] 28, Statue, 0.773, 0.914, -0.729, 0, 0, 0, 63 [SEP] 29, Glassbottle, 1.199, 0.912, -1.793, 0, 0, 0, 68 [SEP] 30, Bread, -0.550, 1.014, -1.308, 0, 0, 0, 62 [SEP] 31, CreditCard, 1.199, 0.908, -1.879, 0, 0, 0, 68 [SEP] 32, CellPhone, -0.920, 0.930, 0.239, 0, 0, 0, 62 [SEP] 33, Potato, 0.905, 1.432, 1.444, 0, 270, 0, 85 [SEP] 34, Knife, 0.859, 0.934, -0.381, 0, 0, 0, 63 [SEP] 35, Fork, 0.875, 0.494, -0.731, 0, 0, 0, 66 [SEP] 36, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 56 [SEP] 37, Lettuce, 1.114, 0.988, -0.381, 0, 0, 0, 63 [SEP] 38, Plate, 1.194, 1.669, -0.337, 0, 270, 0, 71 [SEP] 39, Apple, 1.093, 1.845, -1.339, 0, 270, 0, 84 [SEP] 40, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 58 [SEP] 41, Spatula, -1.229, 0.948, -0.118, 0, 0, 0, 62 [SEP] 42, PaperTowelRoll, -1.878, 0.986, 2.665, 0, 0, 0, 89 [SEP] 43, Tomato, -0.550, 0.974, -0.067, 0, 0, 0, 62 [SEP] 44, Egg, 1.060, 1.833, -1.132, 0, 270, 0, 84 [SEP] 45, SaltShaker, 0.874, 0.150, -0.611, 0, 270, 0, 65 [SEP] 46, PepperShaker, 0.794, 0.698, -0.565, 0, 270, 0, 60 [SEP] 47, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 88 [SEP] 48, ButterKnife, 0.944, 0.911, -0.555, 0, 0, 0, 63 [SEP] 49, SoapBottle, 1.101, 1.666, 0.089, 0, 270, 0, 70 [SEP] 50, Vase, 1.148, 1.667, -2.097, 0, 270, 0, 61 [SEP] 51, Bowl, 1.126, 2.211, -1.082, 0, 270, 0, 69 [SEP] 52, DishSponge, 0.862, 0.120, 0.374, 0, 270, 0, 57 [SEP] 53, Spoon, -0.846, 0.934, 0.162, 0, 0, 0, 62 [SEP] 54, Cup, 1.148, 1.399, 0.967, 0, 270, 0, 85 [SEP] 55, Mug, 0.966, 1.396, 1.349, 0, 0, 0, 85 [SEP] 56, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 57, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 58, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 59, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 60, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 61, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 62, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 63, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 64, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 65, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 66, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 67, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 68, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 69, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 70, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 71, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 72, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 73, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 74, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 75, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 76, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 77, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 78, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 79, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 80, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 81, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 82, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 83, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 84, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 85, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 86, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 87, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 88, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 89, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 90, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 91, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 92, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 93, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 94, NorthWall, , , , , , , [SEP] 95, EastWall, , , , , , , [SEP] 96, SouthWall, , , , , , , [SEP] 97, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and cross the room and turn to the right and then the left to face the cabinet above the microwave. | STEP 2: Open the cabinet on the left, above the microwave, and take the bowl out. | STEP 3: Turn around and face the sink. | STEP 4: Put the bowl in the sink and turn the water on and then off and pick the bowl up again. | STEP 5: Turn around and face the cabinet to the left of the microwave. | STEP 6: Put the bowl in the cabinet to the left of the microwave and shut the door. | END"]} +{"id": "trial_T20190906_224843_443882-0", "input": "placed a cooled slice of bread that you cut inside 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, -1.5, 0.900, -2.25, 0, 90, 0, [SEP] 1, Statue, 1.029, 0.914, -0.555, 0, 0, 0, 60 [SEP] 2, Vase, 1.194, 1.667, -0.593, 0, 270, 0, 68 [SEP] 3, Potato, 1.148, 1.673, 1.540, 0, 270, 0, 82 [SEP] 4, CellPhone, -0.772, 0.930, -0.143, 0, 90, 0, 59 [SEP] 5, DishSponge, -0.698, 0.933, -1.618, 0, 0, 0, 59 [SEP] 6, DishSponge, 0.874, 0.153, -0.650, 0, 270, 0, 62 [SEP] 7, ButterKnife, 0.773, 0.911, -0.208, 0, 0, 0, 60 [SEP] 8, Glassbottle, -0.846, 0.934, -1.154, 0, 0, 0, 59 [SEP] 9, Spoon, 0.773, 0.912, -0.555, 0, 0, 0, 60 [SEP] 10, Spatula, 0.915, 0.717, -0.690, 0, 0, 0, 57 [SEP] 11, Cup, -0.808, 0.777, -0.400, 0, 90, 0, 80 [SEP] 12, Plate, 1.126, 2.211, -1.626, 0, 270, 0, 66 [SEP] 13, Plate, -0.642, 0.783, -0.659, 0, 90, 0, 80 [SEP] 14, Tomato, -0.587, 0.821, -0.486, 0, 90, 0, 80 [SEP] 15, SoapBottle, 1.056, 1.666, -0.337, 0, 270, 0, 68 [SEP] 16, SoapBottle, -1.292, 0.933, -0.118, 0, 0, 0, 59 [SEP] 17, Bowl, 0.811, 0.111, -1.892, 0, 0, 0, 64 [SEP] 18, Bowl, 0.905, 1.138, 1.444, 0, 270, 0, 82 [SEP] 19, SaltShaker, 0.910, 0.104, -2.052, 0, 0, 0, 64 [SEP] 20, SaltShaker, 1.240, 1.662, -0.337, 0, 270, 0, 68 [SEP] 21, Mug, 0.688, 0.906, -2.222, 0, 0, 0, 65 [SEP] 22, Mug, 1.101, 1.661, -2.166, 0, 270, 0, 58 [SEP] 23, Apple, 0.966, 1.185, 0.967, 0, 270, 0, 82 [SEP] 24, Apple, 0.844, 0.913, 1.063, 0, 270, 0, 82 [SEP] 25, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 59 [SEP] 26, Glassbottle, 1.199, 0.912, -0.208, 0, 0, 0, 60 [SEP] 27, Bread, -0.846, 1.014, -1.308, 0, 0, 0, 59 [SEP] 28, CreditCard, 0.944, 0.908, -1.879, 0, 0, 0, 65 [SEP] 29, CellPhone, -0.624, 0.930, -1.308, 0, 0, 0, 59 [SEP] 30, Potato, 1.060, 1.825, -1.132, 0, 270, 0, 81 [SEP] 31, Knife, 0.868, 0.700, -0.600, 90, 315, 0, 57 [SEP] 32, Fork, 0.834, 0.495, -0.772, 0, 0, 0, 63 [SEP] 33, Pan, -1.167, 0.931, -1.167, 0, 0, 0, 59 [SEP] 34, Lettuce, 0.944, 0.988, -0.034, 0, 0, 0, 60 [SEP] 35, Plate, -1.167, 0.936, -0.905, 0, 0, 0, 59 [SEP] 36, Apple, -0.865, 0.227, 0.608, 0, 180, 0, 79 [SEP] 37, Pot, -1.778, 0.557, 2.718, 0, 0, 0, 85 [SEP] 38, Spatula, 1.199, 0.926, 0.313, 0, 270, 0, 60 [SEP] 39, PaperTowelRoll, -1.467, 0.658, 2.563, 0, 0, 0, 85 [SEP] 40, Tomato, 0.688, 0.952, -1.965, 0, 0, 0, 65 [SEP] 41, Egg, -1.101, 0.216, 0.576, 0, 180, 0, 79 [SEP] 42, SaltShaker, -1.674, 0.878, 2.746, 0, 0, 0, 86 [SEP] 43, PepperShaker, 1.199, 0.907, -0.729, 0, 0, 0, 60 [SEP] 44, Vase, 1.101, 1.666, 0.025, 0, 270, 0, 67 [SEP] 45, ButterKnife, 0.944, 0.911, -0.729, 0, 0, 0, 60 [SEP] 46, SoapBottle, 0.859, 0.911, 0.139, 0, 0, 0, 60 [SEP] 47, Vase, 1.147, 1.667, 0.280, 0, 270, 0, 67 [SEP] 48, Bowl, 0.844, 0.866, 1.444, 0, 270, 0, 82 [SEP] 49, DishSponge, -1.469, 0.881, 2.746, 0, 0, 0, 85 [SEP] 50, Spoon, 1.029, 0.912, -0.381, 0, 0, 0, 60 [SEP] 51, Cup, 0.859, 0.908, -0.729, 0, 0, 0, 60 [SEP] 52, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 78 [SEP] 53, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 54, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 55, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 56, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 57, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 58, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 59, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 60, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 61, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 62, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 63, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 64, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 65, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 66, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 67, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 68, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 69, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 70, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 71, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 72, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 73, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 74, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 75, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 76, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 77, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 78, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 79, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 80, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 81, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 82, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 83, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 84, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 85, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 86, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 87, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 88, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 89, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 90, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 91, NorthWall, , , , , , , [SEP] 92, EastWall, , , , , , , [SEP] 93, SouthWall, , , , , , , [SEP] 94, WestWall, , , , , , , ", "output": ["STEP 1: move forwards to the end of the room, then turn left and walk until your reach the left side of the stove on your right | STEP 2: pick up the butter knife behind the green cup on the counter to the left of the stove | STEP 3: turn right and and walk to the end of the room, then turn right again until you reach the right side of the end o the kitchen island, turn to face the kitchen island | STEP 4: cut up the bread on the kitchen island into slices | STEP 5: turn right and walk until you reach the end of the room, then turn left and walk to the other end of the room, turn right to face the fridge | STEP 6: place the knife inside of the fridge | STEP 7: turn right and and walk to the end of the room, then turn right again until you reach the right side of the end o the kitchen island, turn to face the kitchen island | STEP 8: grab a slice of bread off of the kitchen island countertop | STEP 9: turn right and walk to the end of the room, then turn left and walk to the other end of the room until you reach the fridge on your right, turn to face the fridge | STEP 10: place the slice of bread in the fridge to cool, then take it out once it has cooled and close the fridge | STEP 11: turn right and walk forwards until your reach the stove on the left side, turn to face the stove and look up towards the microwave above | STEP 12: place the cooled slice of bread inside of the microwave | END"]} +{"id": "trial_T20190906_224843_443882-1", "input": "Place a piece of sliced 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, -1.5, 0.900, -2.25, 0, 90, 0, [SEP] 1, Statue, 1.029, 0.914, -0.555, 0, 0, 0, 60 [SEP] 2, Vase, 1.194, 1.667, -0.593, 0, 270, 0, 68 [SEP] 3, Potato, 1.148, 1.673, 1.540, 0, 270, 0, 82 [SEP] 4, CellPhone, -0.772, 0.930, -0.143, 0, 90, 0, 59 [SEP] 5, DishSponge, -0.698, 0.933, -1.618, 0, 0, 0, 59 [SEP] 6, DishSponge, 0.874, 0.153, -0.650, 0, 270, 0, 62 [SEP] 7, ButterKnife, 0.773, 0.911, -0.208, 0, 0, 0, 60 [SEP] 8, Glassbottle, -0.846, 0.934, -1.154, 0, 0, 0, 59 [SEP] 9, Spoon, 0.773, 0.912, -0.555, 0, 0, 0, 60 [SEP] 10, Spatula, 0.915, 0.717, -0.690, 0, 0, 0, 57 [SEP] 11, Cup, -0.808, 0.777, -0.400, 0, 90, 0, 80 [SEP] 12, Plate, 1.126, 2.211, -1.626, 0, 270, 0, 66 [SEP] 13, Plate, -0.642, 0.783, -0.659, 0, 90, 0, 80 [SEP] 14, Tomato, -0.587, 0.821, -0.486, 0, 90, 0, 80 [SEP] 15, SoapBottle, 1.056, 1.666, -0.337, 0, 270, 0, 68 [SEP] 16, SoapBottle, -1.292, 0.933, -0.118, 0, 0, 0, 59 [SEP] 17, Bowl, 0.811, 0.111, -1.892, 0, 0, 0, 64 [SEP] 18, Bowl, 0.905, 1.138, 1.444, 0, 270, 0, 82 [SEP] 19, SaltShaker, 0.910, 0.104, -2.052, 0, 0, 0, 64 [SEP] 20, SaltShaker, 1.240, 1.662, -0.337, 0, 270, 0, 68 [SEP] 21, Mug, 0.688, 0.906, -2.222, 0, 0, 0, 65 [SEP] 22, Mug, 1.101, 1.661, -2.166, 0, 270, 0, 58 [SEP] 23, Apple, 0.966, 1.185, 0.967, 0, 270, 0, 82 [SEP] 24, Apple, 0.844, 0.913, 1.063, 0, 270, 0, 82 [SEP] 25, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 59 [SEP] 26, Glassbottle, 1.199, 0.912, -0.208, 0, 0, 0, 60 [SEP] 27, Bread, -0.846, 1.014, -1.308, 0, 0, 0, 59 [SEP] 28, CreditCard, 0.944, 0.908, -1.879, 0, 0, 0, 65 [SEP] 29, CellPhone, -0.624, 0.930, -1.308, 0, 0, 0, 59 [SEP] 30, Potato, 1.060, 1.825, -1.132, 0, 270, 0, 81 [SEP] 31, Knife, 0.868, 0.700, -0.600, 90, 315, 0, 57 [SEP] 32, Fork, 0.834, 0.495, -0.772, 0, 0, 0, 63 [SEP] 33, Pan, -1.167, 0.931, -1.167, 0, 0, 0, 59 [SEP] 34, Lettuce, 0.944, 0.988, -0.034, 0, 0, 0, 60 [SEP] 35, Plate, -1.167, 0.936, -0.905, 0, 0, 0, 59 [SEP] 36, Apple, -0.865, 0.227, 0.608, 0, 180, 0, 79 [SEP] 37, Pot, -1.778, 0.557, 2.718, 0, 0, 0, 85 [SEP] 38, Spatula, 1.199, 0.926, 0.313, 0, 270, 0, 60 [SEP] 39, PaperTowelRoll, -1.467, 0.658, 2.563, 0, 0, 0, 85 [SEP] 40, Tomato, 0.688, 0.952, -1.965, 0, 0, 0, 65 [SEP] 41, Egg, -1.101, 0.216, 0.576, 0, 180, 0, 79 [SEP] 42, SaltShaker, -1.674, 0.878, 2.746, 0, 0, 0, 86 [SEP] 43, PepperShaker, 1.199, 0.907, -0.729, 0, 0, 0, 60 [SEP] 44, Vase, 1.101, 1.666, 0.025, 0, 270, 0, 67 [SEP] 45, ButterKnife, 0.944, 0.911, -0.729, 0, 0, 0, 60 [SEP] 46, SoapBottle, 0.859, 0.911, 0.139, 0, 0, 0, 60 [SEP] 47, Vase, 1.147, 1.667, 0.280, 0, 270, 0, 67 [SEP] 48, Bowl, 0.844, 0.866, 1.444, 0, 270, 0, 82 [SEP] 49, DishSponge, -1.469, 0.881, 2.746, 0, 0, 0, 85 [SEP] 50, Spoon, 1.029, 0.912, -0.381, 0, 0, 0, 60 [SEP] 51, Cup, 0.859, 0.908, -0.729, 0, 0, 0, 60 [SEP] 52, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 78 [SEP] 53, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 54, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 55, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 56, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 57, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 58, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 59, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 60, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 61, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 62, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 63, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 64, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 65, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 66, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 67, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 68, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 69, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 70, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 71, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 72, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 73, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 74, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 75, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 76, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 77, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 78, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 79, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 80, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 81, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 82, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 83, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 84, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 85, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 86, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 87, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 88, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 89, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 90, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 91, NorthWall, , , , , , , [SEP] 92, EastWall, , , , , , , [SEP] 93, SouthWall, , , , , , , [SEP] 94, WestWall, , , , , , , ", "output": ["STEP 1: Move to stand at the counter between the stove and dishwasher. | STEP 2: Pick up the butter knife by the green container. | STEP 3: Carry the knife to stand at the edge of the counter beyond the kitchen sink. | STEP 4: Slice the loaf of bread that's on the counter. | STEP 5: Carry the knife to the fridge. | STEP 6: Place the knife on the top shelf of the fridge. | STEP 7: Move back to the edge of the counter past the sink where the loaf of bread is. | STEP 8: Pick up a slice of bread from the counter. | STEP 9: Carry the slice of bread to the fridge. | STEP 10: Open the fridge and place the slice of bread on the top shelf to the right of the apple, close the door, pause, and then open the door and remove the bread. | STEP 11: Move to stand in front of the stove. | STEP 12: Open the microwave above the stove and place the slice of bread inside. | END"]} +{"id": "trial_T20190906_224843_443882-2", "input": "Slice a loaf of bread, put the knife and bread in the refrigerator, take the bread 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, -1.5, 0.900, -2.25, 0, 90, 0, [SEP] 1, Statue, 1.029, 0.914, -0.555, 0, 0, 0, 60 [SEP] 2, Vase, 1.194, 1.667, -0.593, 0, 270, 0, 68 [SEP] 3, Potato, 1.148, 1.673, 1.540, 0, 270, 0, 82 [SEP] 4, CellPhone, -0.772, 0.930, -0.143, 0, 90, 0, 59 [SEP] 5, DishSponge, -0.698, 0.933, -1.618, 0, 0, 0, 59 [SEP] 6, DishSponge, 0.874, 0.153, -0.650, 0, 270, 0, 62 [SEP] 7, ButterKnife, 0.773, 0.911, -0.208, 0, 0, 0, 60 [SEP] 8, Glassbottle, -0.846, 0.934, -1.154, 0, 0, 0, 59 [SEP] 9, Spoon, 0.773, 0.912, -0.555, 0, 0, 0, 60 [SEP] 10, Spatula, 0.915, 0.717, -0.690, 0, 0, 0, 57 [SEP] 11, Cup, -0.808, 0.777, -0.400, 0, 90, 0, 80 [SEP] 12, Plate, 1.126, 2.211, -1.626, 0, 270, 0, 66 [SEP] 13, Plate, -0.642, 0.783, -0.659, 0, 90, 0, 80 [SEP] 14, Tomato, -0.587, 0.821, -0.486, 0, 90, 0, 80 [SEP] 15, SoapBottle, 1.056, 1.666, -0.337, 0, 270, 0, 68 [SEP] 16, SoapBottle, -1.292, 0.933, -0.118, 0, 0, 0, 59 [SEP] 17, Bowl, 0.811, 0.111, -1.892, 0, 0, 0, 64 [SEP] 18, Bowl, 0.905, 1.138, 1.444, 0, 270, 0, 82 [SEP] 19, SaltShaker, 0.910, 0.104, -2.052, 0, 0, 0, 64 [SEP] 20, SaltShaker, 1.240, 1.662, -0.337, 0, 270, 0, 68 [SEP] 21, Mug, 0.688, 0.906, -2.222, 0, 0, 0, 65 [SEP] 22, Mug, 1.101, 1.661, -2.166, 0, 270, 0, 58 [SEP] 23, Apple, 0.966, 1.185, 0.967, 0, 270, 0, 82 [SEP] 24, Apple, 0.844, 0.913, 1.063, 0, 270, 0, 82 [SEP] 25, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 59 [SEP] 26, Glassbottle, 1.199, 0.912, -0.208, 0, 0, 0, 60 [SEP] 27, Bread, -0.846, 1.014, -1.308, 0, 0, 0, 59 [SEP] 28, CreditCard, 0.944, 0.908, -1.879, 0, 0, 0, 65 [SEP] 29, CellPhone, -0.624, 0.930, -1.308, 0, 0, 0, 59 [SEP] 30, Potato, 1.060, 1.825, -1.132, 0, 270, 0, 81 [SEP] 31, Knife, 0.868, 0.700, -0.600, 90, 315, 0, 57 [SEP] 32, Fork, 0.834, 0.495, -0.772, 0, 0, 0, 63 [SEP] 33, Pan, -1.167, 0.931, -1.167, 0, 0, 0, 59 [SEP] 34, Lettuce, 0.944, 0.988, -0.034, 0, 0, 0, 60 [SEP] 35, Plate, -1.167, 0.936, -0.905, 0, 0, 0, 59 [SEP] 36, Apple, -0.865, 0.227, 0.608, 0, 180, 0, 79 [SEP] 37, Pot, -1.778, 0.557, 2.718, 0, 0, 0, 85 [SEP] 38, Spatula, 1.199, 0.926, 0.313, 0, 270, 0, 60 [SEP] 39, PaperTowelRoll, -1.467, 0.658, 2.563, 0, 0, 0, 85 [SEP] 40, Tomato, 0.688, 0.952, -1.965, 0, 0, 0, 65 [SEP] 41, Egg, -1.101, 0.216, 0.576, 0, 180, 0, 79 [SEP] 42, SaltShaker, -1.674, 0.878, 2.746, 0, 0, 0, 86 [SEP] 43, PepperShaker, 1.199, 0.907, -0.729, 0, 0, 0, 60 [SEP] 44, Vase, 1.101, 1.666, 0.025, 0, 270, 0, 67 [SEP] 45, ButterKnife, 0.944, 0.911, -0.729, 0, 0, 0, 60 [SEP] 46, SoapBottle, 0.859, 0.911, 0.139, 0, 0, 0, 60 [SEP] 47, Vase, 1.147, 1.667, 0.280, 0, 270, 0, 67 [SEP] 48, Bowl, 0.844, 0.866, 1.444, 0, 270, 0, 82 [SEP] 49, DishSponge, -1.469, 0.881, 2.746, 0, 0, 0, 85 [SEP] 50, Spoon, 1.029, 0.912, -0.381, 0, 0, 0, 60 [SEP] 51, Cup, 0.859, 0.908, -0.729, 0, 0, 0, 60 [SEP] 52, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 78 [SEP] 53, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 54, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 55, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 56, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 57, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 58, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 59, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 60, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 61, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 62, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 63, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 64, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 65, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 66, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 67, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 68, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 69, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 70, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 71, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 72, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 73, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 74, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 75, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 76, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 77, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 78, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 79, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 80, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 81, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 82, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 83, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 84, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 85, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 86, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 87, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 88, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 89, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 90, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 91, NorthWall, , , , , , , [SEP] 92, EastWall, , , , , , , [SEP] 93, SouthWall, , , , , , , [SEP] 94, WestWall, , , , , , , ", "output": ["STEP 1: Go straight, take a left at the counter | STEP 2: Turn right and face the statue on the counter. | STEP 3: Pick up the knife, go right, take a right at the wall. | STEP 4: Turn right towards the counter and slice the bread. | STEP 5: Take a right, take a left at the counter, turn to face the refrigerator. | STEP 6: Open the refrigerator and set the knife on the shelf to the left of the apple and shut the door. | STEP 7: Go right, take another right at the wall, turn left to face the bread on the counter. | STEP 8: Grab a slice of bread. | STEP 9: Go right, take a left at the counter, turn right to face the refrigerator | STEP 10: Open the refrigerator door, set the bread to the right of the apple, shut the door, open the door, and grab the bread. | STEP 11: Go right and turn to face the stove. | STEP 12: Open the microwave, put the bread in the microwave, and shut the door. | END"]} +{"id": "trial_T20190908_115651_521111-0", "input": "Dispose of a lettuce slice after slicing and rinsing it off 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, -1.75, 0, 90, 0, [SEP] 1, Pan, 1.077, 0.950, -1.098, 0, 0, 0, 64 [SEP] 2, Pan, 0.905, 1.132, 1.063, 0, 180, 0, 85 [SEP] 3, Potato, 0.966, 1.432, 1.063, 0, 270, 0, 85 [SEP] 4, CreditCard, -1.229, 0.930, -0.905, 0, 0, 0, 62 [SEP] 5, CellPhone, -0.624, 0.930, 0.239, 0, 90, 0, 62 [SEP] 6, CellPhone, 0.834, 0.492, -0.648, 0, 270, 0, 66 [SEP] 7, DishSponge, 1.039, 2.207, -1.299, 0, 270, 0, 69 [SEP] 8, DishSponge, 1.082, 2.207, -1.626, 0, 270, 0, 69 [SEP] 9, ButterKnife, -0.698, 0.933, 0.162, 0, 0, 0, 62 [SEP] 10, ButterKnife, 0.773, 0.911, -0.729, 0, 0, 0, 63 [SEP] 11, Fork, 0.944, 0.911, -0.555, 0, 90, 0, 63 [SEP] 12, Fork, 0.874, 0.154, -0.650, 0, 0, 0, 65 [SEP] 13, Spatula, 0.915, 0.509, -0.565, 0, 0, 0, 66 [SEP] 14, Spatula, -0.642, 0.791, -0.573, 0, 0, 0, 83 [SEP] 15, Egg, -1.054, 0.216, 0.641, 0, 180, 0, 82 [SEP] 16, Egg, 1.087, 1.439, 1.063, 0, 270, 0, 85 [SEP] 17, Cup, 0.905, 1.640, 0.967, 0, 270, 0, 85 [SEP] 18, Tomato, -0.808, 0.821, -0.832, 0, 90, 0, 83 [SEP] 19, SoapBottle, -0.772, 0.933, 0.239, 0, 0, 0, 62 [SEP] 20, Bowl, -1.363, 0.557, 2.667, 0, 0, 0, 88 [SEP] 21, Bowl, 1.056, 1.669, -0.337, 0, 270, 0, 71 [SEP] 22, SaltShaker, 0.956, 0.490, -0.690, 0, 270, 0, 66 [SEP] 23, PepperShaker, -1.571, 0.878, 2.692, 0, 0, 0, 89 [SEP] 24, Lettuce, 1.029, 0.988, 0.139, 0, 0, 0, 63 [SEP] 25, Bread, -1.355, 1.014, -0.118, 0, 0, 0, 62 [SEP] 26, Mug, 1.087, 1.396, 1.540, 0, 270, 0, 85 [SEP] 27, Apple, -0.550, 0.983, -0.143, 0, 0, 0, 62 [SEP] 28, Statue, 0.773, 0.914, -0.034, 0, 0, 0, 63 [SEP] 29, Glassbottle, -1.778, 0.554, 2.615, 0, 0, 0, 88 [SEP] 30, Bread, -1.229, 1.014, -0.905, 0, 0, 0, 62 [SEP] 31, CreditCard, -1.981, 0.878, 2.692, 0, 0, 0, 89 [SEP] 32, CellPhone, -1.041, 0.930, -1.430, 0, 0, 0, 62 [SEP] 33, Potato, 0.783, 1.673, 1.349, 0, 270, 0, 85 [SEP] 34, Knife, -0.550, 0.957, -1.463, 0, 0, 0, 62 [SEP] 35, Fork, -0.698, 0.934, -1.154, 0, 0, 0, 62 [SEP] 36, Pan, 0.842, 0.950, -1.504, 0, 0, 0, 59 [SEP] 37, Lettuce, 0.905, 0.940, 1.063, 0, 270, 0, 85 [SEP] 38, Plate, 0.773, 0.914, -0.555, 0, 0, 0, 63 [SEP] 39, Apple, -0.865, 0.227, 0.543, 0, 180, 0, 82 [SEP] 40, Pot, -1.221, 0.92, -0.49, 0, 0, 0, 62 [SEP] 41, Spatula, 1.029, 0.926, -0.381, 0, 0, 0, 63 [SEP] 42, PaperTowelRoll, 1.029, 1.015, -0.555, 0, 0, 0, 63 [SEP] 43, Tomato, 0.905, 1.683, 1.540, 0, 270, 0, 85 [SEP] 44, Egg, -0.642, 0.818, -0.659, 0, 90, 0, 83 [SEP] 45, SaltShaker, -1.467, 0.550, 2.874, 0, 0, 0, 88 [SEP] 46, PepperShaker, 1.199, 0.907, 0.313, 0, 0, 0, 63 [SEP] 47, Vase, 1.055, 1.666, 0.216, 0, 270, 0, 70 [SEP] 48, ButterKnife, 0.773, 0.911, 0.139, 0, 0, 0, 63 [SEP] 49, SoapBottle, 0.944, 0.911, -0.729, 0, 0, 0, 63 [SEP] 50, Vase, -0.846, 0.934, -1.386, 0, 0, 0, 62 [SEP] 51, Bowl, 1.212, 2.211, -1.191, 0, 270, 0, 69 [SEP] 52, DishSponge, -0.642, 0.780, -0.832, 0, 90, 0, 83 [SEP] 53, Spoon, 1.029, 0.912, -0.208, 0, 0, 0, 63 [SEP] 54, Cup, -1.167, 0.930, 0.144, 0, 0, 0, 62 [SEP] 55, Mug, 0.688, 0.906, -1.879, 0, 0, 0, 68 [SEP] 56, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 57, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 58, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 59, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 60, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 61, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 62, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 63, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 64, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 65, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 66, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 67, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 68, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 69, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 70, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 71, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 72, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 73, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 74, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 75, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 76, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 77, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 78, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 79, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 80, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 81, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 82, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 83, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 84, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 85, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 86, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 87, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 88, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 89, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 90, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 91, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 92, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 93, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 94, NorthWall, , , , , , , [SEP] 95, EastWall, , , , , , , [SEP] 96, SouthWall, , , , , , , [SEP] 97, WestWall, , , , , , , ", "output": ["STEP 1: Walk straight around the kitchen island then turn left and walk straight slightly and turn left to face the counter | STEP 2: Pick up the butter knife from the counter right of the sink | STEP 3: Turn around and face the kitchen counter | STEP 4: Slice the lettuce head on the counter | STEP 5: Turn right and walk slightly forward then turn to the left and face the counter | STEP 6: Place the knife on the kitchen counter | STEP 7: Turn left walk straight slightly then turn right and face to the counter | STEP 8: Pick up a slice of lettuce from the counter | STEP 9: Turn right and walk slightly forward then turn to the right and face the sink | STEP 10: Place the lettuce slice in the sink and rinse with water then remove from the sink | STEP 11: Turn right and walk straight then turn left and walk forward slightly and face to the left at the black trash bin | STEP 12: Place the lettuce slice in the trash bin | END"]} +{"id": "trial_T20190908_115651_521111-1", "input": "Put a clean slice 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, -3.75, 0.900, -1.75, 0, 90, 0, [SEP] 1, Pan, 1.077, 0.950, -1.098, 0, 0, 0, 64 [SEP] 2, Pan, 0.905, 1.132, 1.063, 0, 180, 0, 85 [SEP] 3, Potato, 0.966, 1.432, 1.063, 0, 270, 0, 85 [SEP] 4, CreditCard, -1.229, 0.930, -0.905, 0, 0, 0, 62 [SEP] 5, CellPhone, -0.624, 0.930, 0.239, 0, 90, 0, 62 [SEP] 6, CellPhone, 0.834, 0.492, -0.648, 0, 270, 0, 66 [SEP] 7, DishSponge, 1.039, 2.207, -1.299, 0, 270, 0, 69 [SEP] 8, DishSponge, 1.082, 2.207, -1.626, 0, 270, 0, 69 [SEP] 9, ButterKnife, -0.698, 0.933, 0.162, 0, 0, 0, 62 [SEP] 10, ButterKnife, 0.773, 0.911, -0.729, 0, 0, 0, 63 [SEP] 11, Fork, 0.944, 0.911, -0.555, 0, 90, 0, 63 [SEP] 12, Fork, 0.874, 0.154, -0.650, 0, 0, 0, 65 [SEP] 13, Spatula, 0.915, 0.509, -0.565, 0, 0, 0, 66 [SEP] 14, Spatula, -0.642, 0.791, -0.573, 0, 0, 0, 83 [SEP] 15, Egg, -1.054, 0.216, 0.641, 0, 180, 0, 82 [SEP] 16, Egg, 1.087, 1.439, 1.063, 0, 270, 0, 85 [SEP] 17, Cup, 0.905, 1.640, 0.967, 0, 270, 0, 85 [SEP] 18, Tomato, -0.808, 0.821, -0.832, 0, 90, 0, 83 [SEP] 19, SoapBottle, -0.772, 0.933, 0.239, 0, 0, 0, 62 [SEP] 20, Bowl, -1.363, 0.557, 2.667, 0, 0, 0, 88 [SEP] 21, Bowl, 1.056, 1.669, -0.337, 0, 270, 0, 71 [SEP] 22, SaltShaker, 0.956, 0.490, -0.690, 0, 270, 0, 66 [SEP] 23, PepperShaker, -1.571, 0.878, 2.692, 0, 0, 0, 89 [SEP] 24, Lettuce, 1.029, 0.988, 0.139, 0, 0, 0, 63 [SEP] 25, Bread, -1.355, 1.014, -0.118, 0, 0, 0, 62 [SEP] 26, Mug, 1.087, 1.396, 1.540, 0, 270, 0, 85 [SEP] 27, Apple, -0.550, 0.983, -0.143, 0, 0, 0, 62 [SEP] 28, Statue, 0.773, 0.914, -0.034, 0, 0, 0, 63 [SEP] 29, Glassbottle, -1.778, 0.554, 2.615, 0, 0, 0, 88 [SEP] 30, Bread, -1.229, 1.014, -0.905, 0, 0, 0, 62 [SEP] 31, CreditCard, -1.981, 0.878, 2.692, 0, 0, 0, 89 [SEP] 32, CellPhone, -1.041, 0.930, -1.430, 0, 0, 0, 62 [SEP] 33, Potato, 0.783, 1.673, 1.349, 0, 270, 0, 85 [SEP] 34, Knife, -0.550, 0.957, -1.463, 0, 0, 0, 62 [SEP] 35, Fork, -0.698, 0.934, -1.154, 0, 0, 0, 62 [SEP] 36, Pan, 0.842, 0.950, -1.504, 0, 0, 0, 59 [SEP] 37, Lettuce, 0.905, 0.940, 1.063, 0, 270, 0, 85 [SEP] 38, Plate, 0.773, 0.914, -0.555, 0, 0, 0, 63 [SEP] 39, Apple, -0.865, 0.227, 0.543, 0, 180, 0, 82 [SEP] 40, Pot, -1.221, 0.92, -0.49, 0, 0, 0, 62 [SEP] 41, Spatula, 1.029, 0.926, -0.381, 0, 0, 0, 63 [SEP] 42, PaperTowelRoll, 1.029, 1.015, -0.555, 0, 0, 0, 63 [SEP] 43, Tomato, 0.905, 1.683, 1.540, 0, 270, 0, 85 [SEP] 44, Egg, -0.642, 0.818, -0.659, 0, 90, 0, 83 [SEP] 45, SaltShaker, -1.467, 0.550, 2.874, 0, 0, 0, 88 [SEP] 46, PepperShaker, 1.199, 0.907, 0.313, 0, 0, 0, 63 [SEP] 47, Vase, 1.055, 1.666, 0.216, 0, 270, 0, 70 [SEP] 48, ButterKnife, 0.773, 0.911, 0.139, 0, 0, 0, 63 [SEP] 49, SoapBottle, 0.944, 0.911, -0.729, 0, 0, 0, 63 [SEP] 50, Vase, -0.846, 0.934, -1.386, 0, 0, 0, 62 [SEP] 51, Bowl, 1.212, 2.211, -1.191, 0, 270, 0, 69 [SEP] 52, DishSponge, -0.642, 0.780, -0.832, 0, 90, 0, 83 [SEP] 53, Spoon, 1.029, 0.912, -0.208, 0, 0, 0, 63 [SEP] 54, Cup, -1.167, 0.930, 0.144, 0, 0, 0, 62 [SEP] 55, Mug, 0.688, 0.906, -1.879, 0, 0, 0, 68 [SEP] 56, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 57, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 58, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 59, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 60, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 61, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 62, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 63, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 64, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 65, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 66, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 67, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 68, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 69, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 70, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 71, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 72, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 73, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 74, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 75, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 76, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 77, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 78, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 79, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 80, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 81, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 82, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 83, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 84, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 85, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 86, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 87, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 88, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 89, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 90, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 91, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 92, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 93, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 94, NorthWall, , , , , , , [SEP] 95, EastWall, , , , , , , [SEP] 96, SouthWall, , , , , , , [SEP] 97, WestWall, , , , , , , ", "output": ["STEP 1: Go forward along the windows to the right, turn left after passing the kitchen island, go forward, turn left to face the counter to the right of the sink on the kitchen island. | STEP 2: Take the knife from the counter. | STEP 3: Turn around, go forward to the counter with the toaster. | STEP 4: Cut the lettuce on the counter into slices. | STEP 5: Take a step to the right, face the counter. | STEP 6: Put the knife on the counter to the right of the statue. | STEP 7: Take a step to the left, face the counter. | STEP 8: Take a slice of lettuce from the counter. | STEP 9: Turn around, go left and forward to the sink. | STEP 10: Wash the lettuce in the sink. Take the lettuce from the sink. | STEP 11: Turn right go forward, at the fridge turn left, go forward, turn left to face the black trash bin. | STEP 12: Put the lettuce in the trash bin. | END"]} +{"id": "trial_T20190908_115651_521111-2", "input": "Put a washed piece of lettuce 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, -3.75, 0.900, -1.75, 0, 90, 0, [SEP] 1, Pan, 1.077, 0.950, -1.098, 0, 0, 0, 64 [SEP] 2, Pan, 0.905, 1.132, 1.063, 0, 180, 0, 85 [SEP] 3, Potato, 0.966, 1.432, 1.063, 0, 270, 0, 85 [SEP] 4, CreditCard, -1.229, 0.930, -0.905, 0, 0, 0, 62 [SEP] 5, CellPhone, -0.624, 0.930, 0.239, 0, 90, 0, 62 [SEP] 6, CellPhone, 0.834, 0.492, -0.648, 0, 270, 0, 66 [SEP] 7, DishSponge, 1.039, 2.207, -1.299, 0, 270, 0, 69 [SEP] 8, DishSponge, 1.082, 2.207, -1.626, 0, 270, 0, 69 [SEP] 9, ButterKnife, -0.698, 0.933, 0.162, 0, 0, 0, 62 [SEP] 10, ButterKnife, 0.773, 0.911, -0.729, 0, 0, 0, 63 [SEP] 11, Fork, 0.944, 0.911, -0.555, 0, 90, 0, 63 [SEP] 12, Fork, 0.874, 0.154, -0.650, 0, 0, 0, 65 [SEP] 13, Spatula, 0.915, 0.509, -0.565, 0, 0, 0, 66 [SEP] 14, Spatula, -0.642, 0.791, -0.573, 0, 0, 0, 83 [SEP] 15, Egg, -1.054, 0.216, 0.641, 0, 180, 0, 82 [SEP] 16, Egg, 1.087, 1.439, 1.063, 0, 270, 0, 85 [SEP] 17, Cup, 0.905, 1.640, 0.967, 0, 270, 0, 85 [SEP] 18, Tomato, -0.808, 0.821, -0.832, 0, 90, 0, 83 [SEP] 19, SoapBottle, -0.772, 0.933, 0.239, 0, 0, 0, 62 [SEP] 20, Bowl, -1.363, 0.557, 2.667, 0, 0, 0, 88 [SEP] 21, Bowl, 1.056, 1.669, -0.337, 0, 270, 0, 71 [SEP] 22, SaltShaker, 0.956, 0.490, -0.690, 0, 270, 0, 66 [SEP] 23, PepperShaker, -1.571, 0.878, 2.692, 0, 0, 0, 89 [SEP] 24, Lettuce, 1.029, 0.988, 0.139, 0, 0, 0, 63 [SEP] 25, Bread, -1.355, 1.014, -0.118, 0, 0, 0, 62 [SEP] 26, Mug, 1.087, 1.396, 1.540, 0, 270, 0, 85 [SEP] 27, Apple, -0.550, 0.983, -0.143, 0, 0, 0, 62 [SEP] 28, Statue, 0.773, 0.914, -0.034, 0, 0, 0, 63 [SEP] 29, Glassbottle, -1.778, 0.554, 2.615, 0, 0, 0, 88 [SEP] 30, Bread, -1.229, 1.014, -0.905, 0, 0, 0, 62 [SEP] 31, CreditCard, -1.981, 0.878, 2.692, 0, 0, 0, 89 [SEP] 32, CellPhone, -1.041, 0.930, -1.430, 0, 0, 0, 62 [SEP] 33, Potato, 0.783, 1.673, 1.349, 0, 270, 0, 85 [SEP] 34, Knife, -0.550, 0.957, -1.463, 0, 0, 0, 62 [SEP] 35, Fork, -0.698, 0.934, -1.154, 0, 0, 0, 62 [SEP] 36, Pan, 0.842, 0.950, -1.504, 0, 0, 0, 59 [SEP] 37, Lettuce, 0.905, 0.940, 1.063, 0, 270, 0, 85 [SEP] 38, Plate, 0.773, 0.914, -0.555, 0, 0, 0, 63 [SEP] 39, Apple, -0.865, 0.227, 0.543, 0, 180, 0, 82 [SEP] 40, Pot, -1.221, 0.92, -0.49, 0, 0, 0, 62 [SEP] 41, Spatula, 1.029, 0.926, -0.381, 0, 0, 0, 63 [SEP] 42, PaperTowelRoll, 1.029, 1.015, -0.555, 0, 0, 0, 63 [SEP] 43, Tomato, 0.905, 1.683, 1.540, 0, 270, 0, 85 [SEP] 44, Egg, -0.642, 0.818, -0.659, 0, 90, 0, 83 [SEP] 45, SaltShaker, -1.467, 0.550, 2.874, 0, 0, 0, 88 [SEP] 46, PepperShaker, 1.199, 0.907, 0.313, 0, 0, 0, 63 [SEP] 47, Vase, 1.055, 1.666, 0.216, 0, 270, 0, 70 [SEP] 48, ButterKnife, 0.773, 0.911, 0.139, 0, 0, 0, 63 [SEP] 49, SoapBottle, 0.944, 0.911, -0.729, 0, 0, 0, 63 [SEP] 50, Vase, -0.846, 0.934, -1.386, 0, 0, 0, 62 [SEP] 51, Bowl, 1.212, 2.211, -1.191, 0, 270, 0, 69 [SEP] 52, DishSponge, -0.642, 0.780, -0.832, 0, 90, 0, 83 [SEP] 53, Spoon, 1.029, 0.912, -0.208, 0, 0, 0, 63 [SEP] 54, Cup, -1.167, 0.930, 0.144, 0, 0, 0, 62 [SEP] 55, Mug, 0.688, 0.906, -1.879, 0, 0, 0, 68 [SEP] 56, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 57, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 58, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 59, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 60, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 61, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 62, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 63, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 64, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 65, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 66, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 67, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 68, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 69, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 70, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 71, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 72, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 73, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 74, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 75, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 76, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 77, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 78, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 79, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 80, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 81, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 82, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 83, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 84, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 85, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 86, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 87, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 88, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 89, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 90, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 91, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 92, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 93, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 94, NorthWall, , , , , , , [SEP] 95, EastWall, , , , , , , [SEP] 96, SouthWall, , , , , , , [SEP] 97, WestWall, , , , , , , ", "output": ["STEP 1: Go to the kitchen island | STEP 2: Pick up a butterknife | STEP 3: Turn around to the counter | STEP 4: Cut the lettuce | STEP 5: Go to the middle of the counter | STEP 6: Put the butterknife down | STEP 7: Go to the left part of the counter | STEP 8: Pick up a lettuce piece | STEP 9: Go to the sink | STEP 10: Wash the lettuce | STEP 11: Go to the black bin | STEP 12: Put the lettuce in the bin | END"]} +{"id": "trial_T20190908_205221_748352-0", "input": "Put a vase in a safe. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -5.5, 0.901, 1.25, 0, 0, 0, [SEP] 1, Newspaper, -4.826, 1.114, 4.490, 0, 90, 0, 58 [SEP] 2, Newspaper, -4.184, 1.114, 4.588, 0, 90, 0, 58 [SEP] 3, CellPhone, -1.960, 0.590, 4.211, 0, 0, 0, 52 [SEP] 4, Statue, -1.459, 0.598, 0.185, 0, 0, 0, 48 [SEP] 5, Statue, -5.534, 1.044, 0.239, 0, 0, 0, 40 [SEP] 6, Watch, -2.244, 0.034, 0.265, 0, 90, 0, 41 [SEP] 7, KeyChain, -0.787, 0.609, 3.545, 0, 0, 0, 62 [SEP] 8, KeyChain, -4.684, 1.039, 0.504, 0, 0, 0, 40 [SEP] 9, CreditCard, -0.623, 0.608, 2.488, 0, 0, 0, 62 [SEP] 10, CreditCard, -1.709, 0.589, 4.297, 0, 0, 0, 52 [SEP] 11, Box, -3.570, 0.425, 4.587, 0, 0, 0, 56 [SEP] 12, Pillow, -0.870, 0.700, 2.753, 0, 0, 0, 62 [SEP] 13, Pillow, -1.584, 0.668, 4.211, 0, 0, 0, 52 [SEP] 14, Box, -3.052, 0.421, 4.342, 0, 180, 0, 57 [SEP] 15, Watch, -2.404, 0.034, 0.108, 0, 90, 0, 41 [SEP] 16, Pillow, -2.031, 0.668, 4.421, 0, 0, 0, 52 [SEP] 17, TissueBox, -3.570, 0.205, 4.331, 0, 90, 0, 56 [SEP] 18, Newspaper, -0.870, 0.615, 1.960, 0, 0, 0, 62 [SEP] 19, CreditCard, -0.312, 0.073, 1.285, 0, 270, 0, 43 [SEP] 20, KeyChain, -1.275, 0.074, 0.312, 0, 0, 0, 47 [SEP] 21, CellPhone, -0.787, 0.609, 2.224, 0, 0, 0, 62 [SEP] 22, Statue, -4.505, 1.117, 4.490, 0, 90, 0, 58 [SEP] 23, Laptop, -3.393, 1.104, 4.492, 0, 191.867, 0, 58 [SEP] 24, RemoteControl, -3.863, 1.113, 4.292, 0, 90, 0, 54 [SEP] 25, Vase, -3.864, 1.115, 4.786, 0, 90, 0, 58 [SEP] 26, DeskLamp, -4.649, 1.051, 0.268, 0, 0, 0, [SEP] 27, DeskLamp, -2.992, 1.107, 4.522, 0, 0, 0, [SEP] 28, FloorLamp, -0.650, 0.007, 4.431, 0, 0, 0, [SEP] 29, FloorLamp, -5.607, 0.007, 4.641, 0, 0, 0, [SEP] 30, Shelf, -5.237, 1.776, 0.070, 0, 0, 0, [SEP] 31, Shelf, -5.238, 1.968, 0.085, 0, 0, 0, [SEP] 32, Shelf, -5.242, 1.391, 0.086, 0, 0, 0, [SEP] 33, Shelf, -5.241, 1.582, 0.065, 0, 0, 0, [SEP] 34, LightSwitch, -6.002, 1.353, 3.404, 0, 90, 0, [SEP] 35, GarbageCan, -5.794, -0.033, 4.073, 0, 90, 0, [SEP] 36, Painting, -6.017, 1.802, 4.177, 90, 270, 0, [SEP] 37, HousePlant, -3.966, 1.625, 0.135, 0, 315, 0, [SEP] 38, Television, -3.355, 0.833, 0.027, 0, 0, 0, [SEP] 39, Drawer, -5.024, 0.903, 0.370, 0, 0, 0, [SEP] 40, SideTable, -5.024, 0.008, 0.267, 0, 0, 0, [SEP] 41, Safe, -2.298, 5.778, 0.268, 0, 90, 0, [SEP] 42, Shelf, -0.253, 0.781, 1.058, 0, 270, 0, [SEP] 43, Shelf, -0.283, 0.274, 1.066, 0, 270, 0, [SEP] 44, Shelf, -1.224, 1.288, 0.270, 0, 0, 0, [SEP] 45, Shelf, -1.218, 1.810, 0.275, 0, 0, 0, [SEP] 46, Shelf, -0.280, 1.810, 1.057, 0, 270, 0, [SEP] 47, Shelf, -1.218, 0.274, 0.262, 0, 0, 0, [SEP] 48, Shelf, -1.223, 0.782, 0.237, 0, 0, 0, [SEP] 49, Shelf, -0.280, 1.288, 1.055, 0, 270, 0, [SEP] 50, ShelvingUnit, -0.268, 0.004, 1.067, 0, 270, 0, [SEP] 51, ShelvingUnit, -1.218, 0.004, 0.244, 0, 0, 0, [SEP] 52, ArmChair, -2.027, 0.001, 4.422, 0, 178.692, 0, [SEP] 53, Drawer, -4.329, 1.014, 4.311, 0, 180, 0, [SEP] 54, Drawer, -3.750, 1.014, 4.311, 0, 180, 0, [SEP] 55, Cabinet, -4.049, 0.561, 4.212, 0, 180, 0, [SEP] 56, Cabinet, -4.032, 0.561, 4.212, 0, 180, 0, [SEP] 57, Cabinet, -2.884, 0.561, 4.212, 0, 180, 0, [SEP] 58, Dresser, -4.041, -0.000, 4.589, 0, 180, 0, [SEP] 59, Drawer, -4.916, 1.014, 4.311, 0, 180, 0, [SEP] 60, Drawer, -3.166, 1.014, 4.311, 0, 180, 0, [SEP] 61, Cabinet, -5.196, 0.561, 4.212, 0, 180, 0, [SEP] 62, Sofa, -0.705, -0.002, 2.753, 0, 270, 0, [SEP] 63, NorthWall, , , , , , , [SEP] 64, SouthWall, , , , , , , [SEP] 65, SouthWall, , , , , , , ", "output": ["STEP 1: Go right and then left to cross the room and face the dresser with the computer on it. | STEP 2: Pick the gold vase up from the dresser. | STEP 3: Go right and the turn right again and stand at the white safe on the floor. | STEP 4: Put the gold vase in the safe and shut the door. | END"]} +{"id": "trial_T20190908_205221_748352-1", "input": "Move a vase from the dresser to the safe. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -5.5, 0.901, 1.25, 0, 0, 0, [SEP] 1, Newspaper, -4.826, 1.114, 4.490, 0, 90, 0, 58 [SEP] 2, Newspaper, -4.184, 1.114, 4.588, 0, 90, 0, 58 [SEP] 3, CellPhone, -1.960, 0.590, 4.211, 0, 0, 0, 52 [SEP] 4, Statue, -1.459, 0.598, 0.185, 0, 0, 0, 48 [SEP] 5, Statue, -5.534, 1.044, 0.239, 0, 0, 0, 40 [SEP] 6, Watch, -2.244, 0.034, 0.265, 0, 90, 0, 41 [SEP] 7, KeyChain, -0.787, 0.609, 3.545, 0, 0, 0, 62 [SEP] 8, KeyChain, -4.684, 1.039, 0.504, 0, 0, 0, 40 [SEP] 9, CreditCard, -0.623, 0.608, 2.488, 0, 0, 0, 62 [SEP] 10, CreditCard, -1.709, 0.589, 4.297, 0, 0, 0, 52 [SEP] 11, Box, -3.570, 0.425, 4.587, 0, 0, 0, 56 [SEP] 12, Pillow, -0.870, 0.700, 2.753, 0, 0, 0, 62 [SEP] 13, Pillow, -1.584, 0.668, 4.211, 0, 0, 0, 52 [SEP] 14, Box, -3.052, 0.421, 4.342, 0, 180, 0, 57 [SEP] 15, Watch, -2.404, 0.034, 0.108, 0, 90, 0, 41 [SEP] 16, Pillow, -2.031, 0.668, 4.421, 0, 0, 0, 52 [SEP] 17, TissueBox, -3.570, 0.205, 4.331, 0, 90, 0, 56 [SEP] 18, Newspaper, -0.870, 0.615, 1.960, 0, 0, 0, 62 [SEP] 19, CreditCard, -0.312, 0.073, 1.285, 0, 270, 0, 43 [SEP] 20, KeyChain, -1.275, 0.074, 0.312, 0, 0, 0, 47 [SEP] 21, CellPhone, -0.787, 0.609, 2.224, 0, 0, 0, 62 [SEP] 22, Statue, -4.505, 1.117, 4.490, 0, 90, 0, 58 [SEP] 23, Laptop, -3.393, 1.104, 4.492, 0, 191.867, 0, 58 [SEP] 24, RemoteControl, -3.863, 1.113, 4.292, 0, 90, 0, 54 [SEP] 25, Vase, -3.864, 1.115, 4.786, 0, 90, 0, 58 [SEP] 26, DeskLamp, -4.649, 1.051, 0.268, 0, 0, 0, [SEP] 27, DeskLamp, -2.992, 1.107, 4.522, 0, 0, 0, [SEP] 28, FloorLamp, -0.650, 0.007, 4.431, 0, 0, 0, [SEP] 29, FloorLamp, -5.607, 0.007, 4.641, 0, 0, 0, [SEP] 30, Shelf, -5.237, 1.776, 0.070, 0, 0, 0, [SEP] 31, Shelf, -5.238, 1.968, 0.085, 0, 0, 0, [SEP] 32, Shelf, -5.242, 1.391, 0.086, 0, 0, 0, [SEP] 33, Shelf, -5.241, 1.582, 0.065, 0, 0, 0, [SEP] 34, LightSwitch, -6.002, 1.353, 3.404, 0, 90, 0, [SEP] 35, GarbageCan, -5.794, -0.033, 4.073, 0, 90, 0, [SEP] 36, Painting, -6.017, 1.802, 4.177, 90, 270, 0, [SEP] 37, HousePlant, -3.966, 1.625, 0.135, 0, 315, 0, [SEP] 38, Television, -3.355, 0.833, 0.027, 0, 0, 0, [SEP] 39, Drawer, -5.024, 0.903, 0.370, 0, 0, 0, [SEP] 40, SideTable, -5.024, 0.008, 0.267, 0, 0, 0, [SEP] 41, Safe, -2.298, 5.778, 0.268, 0, 90, 0, [SEP] 42, Shelf, -0.253, 0.781, 1.058, 0, 270, 0, [SEP] 43, Shelf, -0.283, 0.274, 1.066, 0, 270, 0, [SEP] 44, Shelf, -1.224, 1.288, 0.270, 0, 0, 0, [SEP] 45, Shelf, -1.218, 1.810, 0.275, 0, 0, 0, [SEP] 46, Shelf, -0.280, 1.810, 1.057, 0, 270, 0, [SEP] 47, Shelf, -1.218, 0.274, 0.262, 0, 0, 0, [SEP] 48, Shelf, -1.223, 0.782, 0.237, 0, 0, 0, [SEP] 49, Shelf, -0.280, 1.288, 1.055, 0, 270, 0, [SEP] 50, ShelvingUnit, -0.268, 0.004, 1.067, 0, 270, 0, [SEP] 51, ShelvingUnit, -1.218, 0.004, 0.244, 0, 0, 0, [SEP] 52, ArmChair, -2.027, 0.001, 4.422, 0, 178.692, 0, [SEP] 53, Drawer, -4.329, 1.014, 4.311, 0, 180, 0, [SEP] 54, Drawer, -3.750, 1.014, 4.311, 0, 180, 0, [SEP] 55, Cabinet, -4.049, 0.561, 4.212, 0, 180, 0, [SEP] 56, Cabinet, -4.032, 0.561, 4.212, 0, 180, 0, [SEP] 57, Cabinet, -2.884, 0.561, 4.212, 0, 180, 0, [SEP] 58, Dresser, -4.041, -0.000, 4.589, 0, 180, 0, [SEP] 59, Drawer, -4.916, 1.014, 4.311, 0, 180, 0, [SEP] 60, Drawer, -3.166, 1.014, 4.311, 0, 180, 0, [SEP] 61, Cabinet, -5.196, 0.561, 4.212, 0, 180, 0, [SEP] 62, Sofa, -0.705, -0.002, 2.753, 0, 270, 0, [SEP] 63, NorthWall, , , , , , , [SEP] 64, SouthWall, , , , , , , [SEP] 65, SouthWall, , , , , , , ", "output": ["STEP 1: Turn to the right and then the left to find the computer. | STEP 2: Pick up the vase from the back of the dresser. | STEP 3: Carry the vase and turn to the right, then right again to find the tall white bookshelf. | STEP 4: Open the safe on the floor and place the vase inside. Shut the door. | END"]} +{"id": "trial_T20190908_205221_748352-2", "input": "Store a vase in a safe. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -5.5, 0.901, 1.25, 0, 0, 0, [SEP] 1, Newspaper, -4.826, 1.114, 4.490, 0, 90, 0, 58 [SEP] 2, Newspaper, -4.184, 1.114, 4.588, 0, 90, 0, 58 [SEP] 3, CellPhone, -1.960, 0.590, 4.211, 0, 0, 0, 52 [SEP] 4, Statue, -1.459, 0.598, 0.185, 0, 0, 0, 48 [SEP] 5, Statue, -5.534, 1.044, 0.239, 0, 0, 0, 40 [SEP] 6, Watch, -2.244, 0.034, 0.265, 0, 90, 0, 41 [SEP] 7, KeyChain, -0.787, 0.609, 3.545, 0, 0, 0, 62 [SEP] 8, KeyChain, -4.684, 1.039, 0.504, 0, 0, 0, 40 [SEP] 9, CreditCard, -0.623, 0.608, 2.488, 0, 0, 0, 62 [SEP] 10, CreditCard, -1.709, 0.589, 4.297, 0, 0, 0, 52 [SEP] 11, Box, -3.570, 0.425, 4.587, 0, 0, 0, 56 [SEP] 12, Pillow, -0.870, 0.700, 2.753, 0, 0, 0, 62 [SEP] 13, Pillow, -1.584, 0.668, 4.211, 0, 0, 0, 52 [SEP] 14, Box, -3.052, 0.421, 4.342, 0, 180, 0, 57 [SEP] 15, Watch, -2.404, 0.034, 0.108, 0, 90, 0, 41 [SEP] 16, Pillow, -2.031, 0.668, 4.421, 0, 0, 0, 52 [SEP] 17, TissueBox, -3.570, 0.205, 4.331, 0, 90, 0, 56 [SEP] 18, Newspaper, -0.870, 0.615, 1.960, 0, 0, 0, 62 [SEP] 19, CreditCard, -0.312, 0.073, 1.285, 0, 270, 0, 43 [SEP] 20, KeyChain, -1.275, 0.074, 0.312, 0, 0, 0, 47 [SEP] 21, CellPhone, -0.787, 0.609, 2.224, 0, 0, 0, 62 [SEP] 22, Statue, -4.505, 1.117, 4.490, 0, 90, 0, 58 [SEP] 23, Laptop, -3.393, 1.104, 4.492, 0, 191.867, 0, 58 [SEP] 24, RemoteControl, -3.863, 1.113, 4.292, 0, 90, 0, 54 [SEP] 25, Vase, -3.864, 1.115, 4.786, 0, 90, 0, 58 [SEP] 26, DeskLamp, -4.649, 1.051, 0.268, 0, 0, 0, [SEP] 27, DeskLamp, -2.992, 1.107, 4.522, 0, 0, 0, [SEP] 28, FloorLamp, -0.650, 0.007, 4.431, 0, 0, 0, [SEP] 29, FloorLamp, -5.607, 0.007, 4.641, 0, 0, 0, [SEP] 30, Shelf, -5.237, 1.776, 0.070, 0, 0, 0, [SEP] 31, Shelf, -5.238, 1.968, 0.085, 0, 0, 0, [SEP] 32, Shelf, -5.242, 1.391, 0.086, 0, 0, 0, [SEP] 33, Shelf, -5.241, 1.582, 0.065, 0, 0, 0, [SEP] 34, LightSwitch, -6.002, 1.353, 3.404, 0, 90, 0, [SEP] 35, GarbageCan, -5.794, -0.033, 4.073, 0, 90, 0, [SEP] 36, Painting, -6.017, 1.802, 4.177, 90, 270, 0, [SEP] 37, HousePlant, -3.966, 1.625, 0.135, 0, 315, 0, [SEP] 38, Television, -3.355, 0.833, 0.027, 0, 0, 0, [SEP] 39, Drawer, -5.024, 0.903, 0.370, 0, 0, 0, [SEP] 40, SideTable, -5.024, 0.008, 0.267, 0, 0, 0, [SEP] 41, Safe, -2.298, 5.778, 0.268, 0, 90, 0, [SEP] 42, Shelf, -0.253, 0.781, 1.058, 0, 270, 0, [SEP] 43, Shelf, -0.283, 0.274, 1.066, 0, 270, 0, [SEP] 44, Shelf, -1.224, 1.288, 0.270, 0, 0, 0, [SEP] 45, Shelf, -1.218, 1.810, 0.275, 0, 0, 0, [SEP] 46, Shelf, -0.280, 1.810, 1.057, 0, 270, 0, [SEP] 47, Shelf, -1.218, 0.274, 0.262, 0, 0, 0, [SEP] 48, Shelf, -1.223, 0.782, 0.237, 0, 0, 0, [SEP] 49, Shelf, -0.280, 1.288, 1.055, 0, 270, 0, [SEP] 50, ShelvingUnit, -0.268, 0.004, 1.067, 0, 270, 0, [SEP] 51, ShelvingUnit, -1.218, 0.004, 0.244, 0, 0, 0, [SEP] 52, ArmChair, -2.027, 0.001, 4.422, 0, 178.692, 0, [SEP] 53, Drawer, -4.329, 1.014, 4.311, 0, 180, 0, [SEP] 54, Drawer, -3.750, 1.014, 4.311, 0, 180, 0, [SEP] 55, Cabinet, -4.049, 0.561, 4.212, 0, 180, 0, [SEP] 56, Cabinet, -4.032, 0.561, 4.212, 0, 180, 0, [SEP] 57, Cabinet, -2.884, 0.561, 4.212, 0, 180, 0, [SEP] 58, Dresser, -4.041, -0.000, 4.589, 0, 180, 0, [SEP] 59, Drawer, -4.916, 1.014, 4.311, 0, 180, 0, [SEP] 60, Drawer, -3.166, 1.014, 4.311, 0, 180, 0, [SEP] 61, Cabinet, -5.196, 0.561, 4.212, 0, 180, 0, [SEP] 62, Sofa, -0.705, -0.002, 2.753, 0, 270, 0, [SEP] 63, NorthWall, , , , , , , [SEP] 64, SouthWall, , , , , , , [SEP] 65, SouthWall, , , , , , , ", "output": ["STEP 1: Walk to the dresser ahead of you. | STEP 2: Grab a vase from the dresser. | STEP 3: Walk to the shelf behind you on your right. | STEP 4: Place the vase in the safe. | END"]} +{"id": "trial_T20190909_103526_341991-0", "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, -1.25, 0.901, 0.75, 0, 90, 0, [SEP] 1, TissueBox, -1.372, 1.593, 0.169, 0, 0, 0, 45 [SEP] 2, Newspaper, -4.184, 1.117, 4.786, 0, 90, 0, 58 [SEP] 3, CellPhone, -1.459, 0.590, 4.470, 0, 0, 0, 52 [SEP] 4, Statue, -3.863, 1.113, 4.490, 0, 90, 0, 58 [SEP] 5, Vase, -1.097, 1.595, 0.376, 0, 0, 0, 45 [SEP] 6, Vase, -5.534, 1.043, 0.306, 0, 0, 0, 40 [SEP] 7, KeyChain, -4.912, 0.996, 4.359, 0, 180, 0, 59 [SEP] 8, KeyChain, -1.459, 0.590, 4.557, 0, 0, 0, 52 [SEP] 9, KeyChain, -0.213, 0.074, 1.194, 0, 270, 0, 43 [SEP] 10, RemoteControl, -1.709, 0.592, 4.297, 0, 0, 0, 52 [SEP] 11, RemoteControl, -1.277, 1.104, 0.229, 0, 0, 0, 44 [SEP] 12, Box, -3.052, 0.421, 4.404, 0, 180, 0, 57 [SEP] 13, Box, -4.154, 0.421, 4.342, 0, 180, 0, 55 [SEP] 14, Box, -0.787, 0.830, 1.960, 0, 180, 0, 62 [SEP] 15, Watch, -4.854, 1.039, 0.438, 0, 0, 0, 40 [SEP] 16, Pillow, -0.870, 0.700, 2.753, 0, 0, 0, 62 [SEP] 17, TissueBox, -4.854, 1.040, 0.173, 0, 0, 0, 40 [SEP] 18, Newspaper, -0.272, 1.597, 0.823, 0, 270, 0, 49 [SEP] 19, CreditCard, -1.459, 0.591, 4.124, 0, 0, 0, 52 [SEP] 20, KeyChain, -4.826, 1.112, 4.588, 0, 180, 0, 58 [SEP] 21, CellPhone, -1.835, 0.590, 4.297, 0, 0, 0, 52 [SEP] 22, Statue, -1.185, 0.598, 0.258, 0, 0, 0, 48 [SEP] 23, Laptop, -3.393, 1.104, 4.492, 0, 191.867, 0, 58 [SEP] 24, RemoteControl, -0.705, 0.611, 3.281, 0, 0, 0, 62 [SEP] 25, Vase, -4.184, 1.111, 4.490, 0, 90, 0, 58 [SEP] 26, DeskLamp, -4.649, 1.051, 0.268, 0, 0, 0, [SEP] 27, DeskLamp, -2.992, 1.107, 4.522, 0, 0, 0, [SEP] 28, FloorLamp, -0.650, 0.007, 4.431, 0, 0, 0, [SEP] 29, FloorLamp, -5.607, 0.007, 4.641, 0, 0, 0, [SEP] 30, Shelf, -5.237, 1.776, 0.070, 0, 0, 0, [SEP] 31, Shelf, -5.238, 1.968, 0.085, 0, 0, 0, [SEP] 32, Shelf, -5.242, 1.391, 0.086, 0, 0, 0, [SEP] 33, Shelf, -5.241, 1.582, 0.065, 0, 0, 0, [SEP] 34, LightSwitch, -6.002, 1.353, 3.404, 0, 90, 0, [SEP] 35, GarbageCan, -5.794, -0.033, 4.073, 0, 90, 0, [SEP] 36, Painting, -6.017, 1.802, 4.177, 90, 270, 0, [SEP] 37, HousePlant, -3.966, 1.625, 0.135, 0, 315, 0, [SEP] 38, Television, -3.355, 0.833, 0.027, 0, 0, 0, [SEP] 39, Drawer, -5.024, 0.903, 0.370, 0, 0, 0, [SEP] 40, SideTable, -5.024, 0.008, 0.267, 0, 0, 0, [SEP] 41, Safe, -2.298, 5.778, 0.268, 0, 90, 0, [SEP] 42, Shelf, -0.253, 0.781, 1.058, 0, 270, 0, [SEP] 43, Shelf, -0.283, 0.274, 1.066, 0, 270, 0, [SEP] 44, Shelf, -1.224, 1.288, 0.270, 0, 0, 0, [SEP] 45, Shelf, -1.218, 1.810, 0.275, 0, 0, 0, [SEP] 46, Shelf, -0.280, 1.810, 1.057, 0, 270, 0, [SEP] 47, Shelf, -1.218, 0.274, 0.262, 0, 0, 0, [SEP] 48, Shelf, -1.223, 0.782, 0.237, 0, 0, 0, [SEP] 49, Shelf, -0.280, 1.288, 1.055, 0, 270, 0, [SEP] 50, ShelvingUnit, -0.268, 0.004, 1.067, 0, 270, 0, [SEP] 51, ShelvingUnit, -1.218, 0.004, 0.244, 0, 0, 0, [SEP] 52, ArmChair, -2.027, 0.001, 4.422, 0, 178.692, 0, [SEP] 53, Drawer, -4.329, 1.014, 4.311, 0, 180, 0, [SEP] 54, Drawer, -3.750, 1.014, 4.311, 0, 180, 0, [SEP] 55, Cabinet, -4.049, 0.561, 4.212, 0, 180, 0, [SEP] 56, Cabinet, -4.032, 0.561, 4.212, 0, 180, 0, [SEP] 57, Cabinet, -2.884, 0.561, 4.212, 0, 180, 0, [SEP] 58, Dresser, -4.041, -0.000, 4.589, 0, 180, 0, [SEP] 59, Drawer, -4.916, 1.014, 4.311, 0, 180, 0, [SEP] 60, Drawer, -3.166, 1.014, 4.311, 0, 180, 0, [SEP] 61, Cabinet, -5.196, 0.561, 4.212, 0, 180, 0, [SEP] 62, Sofa, -0.705, -0.002, 2.753, 0, 270, 0, [SEP] 63, NorthWall, , , , , , , [SEP] 64, SouthWall, , , , , , , [SEP] 65, SouthWall, , , , , , , ", "output": ["STEP 1: Turn around and walk to the blue chair on the right. | STEP 2: Pick up the set of keys in the back right corner of the chair. | STEP 3: Turn right to face the couch next to the tall lamp. | STEP 4: Turn on the tall lamp to the left. | END"]} +{"id": "trial_T20190909_103526_341991-1", "input": "pick up the keys and view them 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, -1.25, 0.901, 0.75, 0, 90, 0, [SEP] 1, TissueBox, -1.372, 1.593, 0.169, 0, 0, 0, 45 [SEP] 2, Newspaper, -4.184, 1.117, 4.786, 0, 90, 0, 58 [SEP] 3, CellPhone, -1.459, 0.590, 4.470, 0, 0, 0, 52 [SEP] 4, Statue, -3.863, 1.113, 4.490, 0, 90, 0, 58 [SEP] 5, Vase, -1.097, 1.595, 0.376, 0, 0, 0, 45 [SEP] 6, Vase, -5.534, 1.043, 0.306, 0, 0, 0, 40 [SEP] 7, KeyChain, -4.912, 0.996, 4.359, 0, 180, 0, 59 [SEP] 8, KeyChain, -1.459, 0.590, 4.557, 0, 0, 0, 52 [SEP] 9, KeyChain, -0.213, 0.074, 1.194, 0, 270, 0, 43 [SEP] 10, RemoteControl, -1.709, 0.592, 4.297, 0, 0, 0, 52 [SEP] 11, RemoteControl, -1.277, 1.104, 0.229, 0, 0, 0, 44 [SEP] 12, Box, -3.052, 0.421, 4.404, 0, 180, 0, 57 [SEP] 13, Box, -4.154, 0.421, 4.342, 0, 180, 0, 55 [SEP] 14, Box, -0.787, 0.830, 1.960, 0, 180, 0, 62 [SEP] 15, Watch, -4.854, 1.039, 0.438, 0, 0, 0, 40 [SEP] 16, Pillow, -0.870, 0.700, 2.753, 0, 0, 0, 62 [SEP] 17, TissueBox, -4.854, 1.040, 0.173, 0, 0, 0, 40 [SEP] 18, Newspaper, -0.272, 1.597, 0.823, 0, 270, 0, 49 [SEP] 19, CreditCard, -1.459, 0.591, 4.124, 0, 0, 0, 52 [SEP] 20, KeyChain, -4.826, 1.112, 4.588, 0, 180, 0, 58 [SEP] 21, CellPhone, -1.835, 0.590, 4.297, 0, 0, 0, 52 [SEP] 22, Statue, -1.185, 0.598, 0.258, 0, 0, 0, 48 [SEP] 23, Laptop, -3.393, 1.104, 4.492, 0, 191.867, 0, 58 [SEP] 24, RemoteControl, -0.705, 0.611, 3.281, 0, 0, 0, 62 [SEP] 25, Vase, -4.184, 1.111, 4.490, 0, 90, 0, 58 [SEP] 26, DeskLamp, -4.649, 1.051, 0.268, 0, 0, 0, [SEP] 27, DeskLamp, -2.992, 1.107, 4.522, 0, 0, 0, [SEP] 28, FloorLamp, -0.650, 0.007, 4.431, 0, 0, 0, [SEP] 29, FloorLamp, -5.607, 0.007, 4.641, 0, 0, 0, [SEP] 30, Shelf, -5.237, 1.776, 0.070, 0, 0, 0, [SEP] 31, Shelf, -5.238, 1.968, 0.085, 0, 0, 0, [SEP] 32, Shelf, -5.242, 1.391, 0.086, 0, 0, 0, [SEP] 33, Shelf, -5.241, 1.582, 0.065, 0, 0, 0, [SEP] 34, LightSwitch, -6.002, 1.353, 3.404, 0, 90, 0, [SEP] 35, GarbageCan, -5.794, -0.033, 4.073, 0, 90, 0, [SEP] 36, Painting, -6.017, 1.802, 4.177, 90, 270, 0, [SEP] 37, HousePlant, -3.966, 1.625, 0.135, 0, 315, 0, [SEP] 38, Television, -3.355, 0.833, 0.027, 0, 0, 0, [SEP] 39, Drawer, -5.024, 0.903, 0.370, 0, 0, 0, [SEP] 40, SideTable, -5.024, 0.008, 0.267, 0, 0, 0, [SEP] 41, Safe, -2.298, 5.778, 0.268, 0, 90, 0, [SEP] 42, Shelf, -0.253, 0.781, 1.058, 0, 270, 0, [SEP] 43, Shelf, -0.283, 0.274, 1.066, 0, 270, 0, [SEP] 44, Shelf, -1.224, 1.288, 0.270, 0, 0, 0, [SEP] 45, Shelf, -1.218, 1.810, 0.275, 0, 0, 0, [SEP] 46, Shelf, -0.280, 1.810, 1.057, 0, 270, 0, [SEP] 47, Shelf, -1.218, 0.274, 0.262, 0, 0, 0, [SEP] 48, Shelf, -1.223, 0.782, 0.237, 0, 0, 0, [SEP] 49, Shelf, -0.280, 1.288, 1.055, 0, 270, 0, [SEP] 50, ShelvingUnit, -0.268, 0.004, 1.067, 0, 270, 0, [SEP] 51, ShelvingUnit, -1.218, 0.004, 0.244, 0, 0, 0, [SEP] 52, ArmChair, -2.027, 0.001, 4.422, 0, 178.692, 0, [SEP] 53, Drawer, -4.329, 1.014, 4.311, 0, 180, 0, [SEP] 54, Drawer, -3.750, 1.014, 4.311, 0, 180, 0, [SEP] 55, Cabinet, -4.049, 0.561, 4.212, 0, 180, 0, [SEP] 56, Cabinet, -4.032, 0.561, 4.212, 0, 180, 0, [SEP] 57, Cabinet, -2.884, 0.561, 4.212, 0, 180, 0, [SEP] 58, Dresser, -4.041, -0.000, 4.589, 0, 180, 0, [SEP] 59, Drawer, -4.916, 1.014, 4.311, 0, 180, 0, [SEP] 60, Drawer, -3.166, 1.014, 4.311, 0, 180, 0, [SEP] 61, Cabinet, -5.196, 0.561, 4.212, 0, 180, 0, [SEP] 62, Sofa, -0.705, -0.002, 2.753, 0, 270, 0, [SEP] 63, NorthWall, , , , , , , [SEP] 64, SouthWall, , , , , , , [SEP] 65, SouthWall, , , , , , , ", "output": ["STEP 1: turn around and walk straight then turn right and walk straight towards the blue chair | STEP 2: pick up the keys on the chair | STEP 3: turn right and look up at the lamp | STEP 4: turn the lamp on | END"]} +{"id": "trial_T20190909_103526_341991-2", "input": "Examine a set of keys 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, -1.25, 0.901, 0.75, 0, 90, 0, [SEP] 1, TissueBox, -1.372, 1.593, 0.169, 0, 0, 0, 45 [SEP] 2, Newspaper, -4.184, 1.117, 4.786, 0, 90, 0, 58 [SEP] 3, CellPhone, -1.459, 0.590, 4.470, 0, 0, 0, 52 [SEP] 4, Statue, -3.863, 1.113, 4.490, 0, 90, 0, 58 [SEP] 5, Vase, -1.097, 1.595, 0.376, 0, 0, 0, 45 [SEP] 6, Vase, -5.534, 1.043, 0.306, 0, 0, 0, 40 [SEP] 7, KeyChain, -4.912, 0.996, 4.359, 0, 180, 0, 59 [SEP] 8, KeyChain, -1.459, 0.590, 4.557, 0, 0, 0, 52 [SEP] 9, KeyChain, -0.213, 0.074, 1.194, 0, 270, 0, 43 [SEP] 10, RemoteControl, -1.709, 0.592, 4.297, 0, 0, 0, 52 [SEP] 11, RemoteControl, -1.277, 1.104, 0.229, 0, 0, 0, 44 [SEP] 12, Box, -3.052, 0.421, 4.404, 0, 180, 0, 57 [SEP] 13, Box, -4.154, 0.421, 4.342, 0, 180, 0, 55 [SEP] 14, Box, -0.787, 0.830, 1.960, 0, 180, 0, 62 [SEP] 15, Watch, -4.854, 1.039, 0.438, 0, 0, 0, 40 [SEP] 16, Pillow, -0.870, 0.700, 2.753, 0, 0, 0, 62 [SEP] 17, TissueBox, -4.854, 1.040, 0.173, 0, 0, 0, 40 [SEP] 18, Newspaper, -0.272, 1.597, 0.823, 0, 270, 0, 49 [SEP] 19, CreditCard, -1.459, 0.591, 4.124, 0, 0, 0, 52 [SEP] 20, KeyChain, -4.826, 1.112, 4.588, 0, 180, 0, 58 [SEP] 21, CellPhone, -1.835, 0.590, 4.297, 0, 0, 0, 52 [SEP] 22, Statue, -1.185, 0.598, 0.258, 0, 0, 0, 48 [SEP] 23, Laptop, -3.393, 1.104, 4.492, 0, 191.867, 0, 58 [SEP] 24, RemoteControl, -0.705, 0.611, 3.281, 0, 0, 0, 62 [SEP] 25, Vase, -4.184, 1.111, 4.490, 0, 90, 0, 58 [SEP] 26, DeskLamp, -4.649, 1.051, 0.268, 0, 0, 0, [SEP] 27, DeskLamp, -2.992, 1.107, 4.522, 0, 0, 0, [SEP] 28, FloorLamp, -0.650, 0.007, 4.431, 0, 0, 0, [SEP] 29, FloorLamp, -5.607, 0.007, 4.641, 0, 0, 0, [SEP] 30, Shelf, -5.237, 1.776, 0.070, 0, 0, 0, [SEP] 31, Shelf, -5.238, 1.968, 0.085, 0, 0, 0, [SEP] 32, Shelf, -5.242, 1.391, 0.086, 0, 0, 0, [SEP] 33, Shelf, -5.241, 1.582, 0.065, 0, 0, 0, [SEP] 34, LightSwitch, -6.002, 1.353, 3.404, 0, 90, 0, [SEP] 35, GarbageCan, -5.794, -0.033, 4.073, 0, 90, 0, [SEP] 36, Painting, -6.017, 1.802, 4.177, 90, 270, 0, [SEP] 37, HousePlant, -3.966, 1.625, 0.135, 0, 315, 0, [SEP] 38, Television, -3.355, 0.833, 0.027, 0, 0, 0, [SEP] 39, Drawer, -5.024, 0.903, 0.370, 0, 0, 0, [SEP] 40, SideTable, -5.024, 0.008, 0.267, 0, 0, 0, [SEP] 41, Safe, -2.298, 5.778, 0.268, 0, 90, 0, [SEP] 42, Shelf, -0.253, 0.781, 1.058, 0, 270, 0, [SEP] 43, Shelf, -0.283, 0.274, 1.066, 0, 270, 0, [SEP] 44, Shelf, -1.224, 1.288, 0.270, 0, 0, 0, [SEP] 45, Shelf, -1.218, 1.810, 0.275, 0, 0, 0, [SEP] 46, Shelf, -0.280, 1.810, 1.057, 0, 270, 0, [SEP] 47, Shelf, -1.218, 0.274, 0.262, 0, 0, 0, [SEP] 48, Shelf, -1.223, 0.782, 0.237, 0, 0, 0, [SEP] 49, Shelf, -0.280, 1.288, 1.055, 0, 270, 0, [SEP] 50, ShelvingUnit, -0.268, 0.004, 1.067, 0, 270, 0, [SEP] 51, ShelvingUnit, -1.218, 0.004, 0.244, 0, 0, 0, [SEP] 52, ArmChair, -2.027, 0.001, 4.422, 0, 178.692, 0, [SEP] 53, Drawer, -4.329, 1.014, 4.311, 0, 180, 0, [SEP] 54, Drawer, -3.750, 1.014, 4.311, 0, 180, 0, [SEP] 55, Cabinet, -4.049, 0.561, 4.212, 0, 180, 0, [SEP] 56, Cabinet, -4.032, 0.561, 4.212, 0, 180, 0, [SEP] 57, Cabinet, -2.884, 0.561, 4.212, 0, 180, 0, [SEP] 58, Dresser, -4.041, -0.000, 4.589, 0, 180, 0, [SEP] 59, Drawer, -4.916, 1.014, 4.311, 0, 180, 0, [SEP] 60, Drawer, -3.166, 1.014, 4.311, 0, 180, 0, [SEP] 61, Cabinet, -5.196, 0.561, 4.212, 0, 180, 0, [SEP] 62, Sofa, -0.705, -0.002, 2.753, 0, 270, 0, [SEP] 63, NorthWall, , , , , , , [SEP] 64, SouthWall, , , , , , , [SEP] 65, SouthWall, , , , , , , ", "output": ["STEP 1: Turn around and move forward, then turn right and go straight to the blue chair. | STEP 2: Pick up the keys from the blue chair. | STEP 3: Turn right and look up to face the lamp. | STEP 4: Turn on the lamp. | END"]} +{"id": "trial_T20190909_103610_740356-0", "input": "Carry a credit card 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, -3.0, 0.901, 1.25, 0, 270, 0, [SEP] 1, TissueBox, -3.863, 1.109, 4.391, 0, 90, 0, 58 [SEP] 2, TissueBox, -4.016, 0.201, 4.342, 0, 90, 0, 56 [SEP] 3, CellPhone, -4.505, 1.108, 4.687, 0, 90, 0, 58 [SEP] 4, CellPhone, -2.244, 0.034, 0.265, 0, 90, 0, 41 [SEP] 5, Statue, -4.184, 1.117, 4.786, 0, 90, 0, 58 [SEP] 6, Vase, -4.184, 1.115, 4.490, 0, 90, 0, 58 [SEP] 7, Vase, -2.351, 0.037, 0.212, 0, 90, 0, 41 [SEP] 8, Watch, -0.331, 0.593, 0.735, 0, 270, 0, 42 [SEP] 9, KeyChain, -0.705, 0.609, 3.017, 0, 0, 0, 62 [SEP] 10, CreditCard, -0.114, 0.073, 1.194, 0, 270, 0, 43 [SEP] 11, CreditCard, -4.100, 0.995, 4.359, 0, 90, 0, 53 [SEP] 12, CreditCard, -0.870, 0.608, 3.545, 0, 0, 0, 62 [SEP] 13, Box, -1.584, 0.811, 4.470, 0, 0, 0, 52 [SEP] 14, Box, -3.863, 1.332, 4.589, 0, 90, 0, 58 [SEP] 15, Watch, -0.302, 1.102, 1.009, 0, 270, 0, 46 [SEP] 16, Pillow, -0.870, 0.700, 2.753, 0, 0, 0, 62 [SEP] 17, TissueBox, -5.534, 1.040, 0.372, 0, 0, 0, 40 [SEP] 18, Newspaper, -2.901, 1.117, 4.786, 0, 90, 0, 58 [SEP] 19, CreditCard, -0.112, 0.592, 1.101, 0, 270, 0, 42 [SEP] 20, KeyChain, -1.709, 0.590, 4.557, 0, 0, 0, 52 [SEP] 21, CellPhone, -3.864, 1.111, 4.786, 0, 90, 0, 58 [SEP] 22, Statue, -0.221, 1.597, 1.189, 0, 270, 0, 46 [SEP] 23, Laptop, -3.393, 1.104, 4.492, 0, 191.867, 0, 58 [SEP] 24, RemoteControl, -1.460, 1.104, 0.228, 0, 0, 0, 44 [SEP] 25, Vase, -4.505, 1.111, 4.391, 0, 90, 0, 58 [SEP] 26, DeskLamp, -4.649, 1.051, 0.268, 0, 0, 0, [SEP] 27, DeskLamp, -2.992, 1.107, 4.522, 0, 0, 0, [SEP] 28, FloorLamp, -0.650, 0.007, 4.431, 0, 0, 0, [SEP] 29, FloorLamp, -5.607, 0.007, 4.641, 0, 0, 0, [SEP] 30, Shelf, -5.237, 1.776, 0.070, 0, 0, 0, [SEP] 31, Shelf, -5.238, 1.968, 0.085, 0, 0, 0, [SEP] 32, Shelf, -5.242, 1.391, 0.086, 0, 0, 0, [SEP] 33, Shelf, -5.241, 1.582, 0.065, 0, 0, 0, [SEP] 34, LightSwitch, -6.002, 1.353, 3.404, 0, 90, 0, [SEP] 35, GarbageCan, -5.794, -0.033, 4.073, 0, 90, 0, [SEP] 36, Painting, -6.017, 1.802, 4.177, 90, 270, 0, [SEP] 37, HousePlant, -3.966, 1.625, 0.135, 0, 315, 0, [SEP] 38, Television, -3.355, 0.833, 0.027, 0, 0, 0, [SEP] 39, Drawer, -5.024, 0.903, 0.370, 0, 0, 0, [SEP] 40, SideTable, -5.024, 0.008, 0.267, 0, 0, 0, [SEP] 41, Safe, -2.298, 5.778, 0.268, 0, 90, 0, [SEP] 42, Shelf, -0.253, 0.781, 1.058, 0, 270, 0, [SEP] 43, Shelf, -0.283, 0.274, 1.066, 0, 270, 0, [SEP] 44, Shelf, -1.224, 1.288, 0.270, 0, 0, 0, [SEP] 45, Shelf, -1.218, 1.810, 0.275, 0, 0, 0, [SEP] 46, Shelf, -0.280, 1.810, 1.057, 0, 270, 0, [SEP] 47, Shelf, -1.218, 0.274, 0.262, 0, 0, 0, [SEP] 48, Shelf, -1.223, 0.782, 0.237, 0, 0, 0, [SEP] 49, Shelf, -0.280, 1.288, 1.055, 0, 270, 0, [SEP] 50, ShelvingUnit, -0.268, 0.004, 1.067, 0, 270, 0, [SEP] 51, ShelvingUnit, -1.218, 0.004, 0.244, 0, 0, 0, [SEP] 52, ArmChair, -2.027, 0.001, 4.422, 0, 178.692, 0, [SEP] 53, Drawer, -4.329, 1.014, 4.311, 0, 180, 0, [SEP] 54, Drawer, -3.750, 1.014, 4.311, 0, 180, 0, [SEP] 55, Cabinet, -4.049, 0.561, 4.212, 0, 180, 0, [SEP] 56, Cabinet, -4.032, 0.561, 4.212, 0, 180, 0, [SEP] 57, Cabinet, -2.884, 0.561, 4.212, 0, 180, 0, [SEP] 58, Dresser, -4.041, -0.000, 4.589, 0, 180, 0, [SEP] 59, Drawer, -4.916, 1.014, 4.311, 0, 180, 0, [SEP] 60, Drawer, -3.166, 1.014, 4.311, 0, 180, 0, [SEP] 61, Cabinet, -5.196, 0.561, 4.212, 0, 180, 0, [SEP] 62, Sofa, -0.705, -0.002, 2.753, 0, 270, 0, [SEP] 63, NorthWall, , , , , , , [SEP] 64, SouthWall, , , , , , , [SEP] 65, SouthWall, , , , , , , ", "output": ["STEP 1: Move to the left side of the tan sofa where the credit card is | STEP 2: Pick up the credit card on top of the sofa | STEP 3: Carry the credit card to the left corner of the room facing the floor lamp | STEP 4: Turn on the lamp | END"]} +{"id": "trial_T20190909_103610_740356-1", "input": "turn on lamp with credit card in hand 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, 1.25, 0, 270, 0, [SEP] 1, TissueBox, -3.863, 1.109, 4.391, 0, 90, 0, 58 [SEP] 2, TissueBox, -4.016, 0.201, 4.342, 0, 90, 0, 56 [SEP] 3, CellPhone, -4.505, 1.108, 4.687, 0, 90, 0, 58 [SEP] 4, CellPhone, -2.244, 0.034, 0.265, 0, 90, 0, 41 [SEP] 5, Statue, -4.184, 1.117, 4.786, 0, 90, 0, 58 [SEP] 6, Vase, -4.184, 1.115, 4.490, 0, 90, 0, 58 [SEP] 7, Vase, -2.351, 0.037, 0.212, 0, 90, 0, 41 [SEP] 8, Watch, -0.331, 0.593, 0.735, 0, 270, 0, 42 [SEP] 9, KeyChain, -0.705, 0.609, 3.017, 0, 0, 0, 62 [SEP] 10, CreditCard, -0.114, 0.073, 1.194, 0, 270, 0, 43 [SEP] 11, CreditCard, -4.100, 0.995, 4.359, 0, 90, 0, 53 [SEP] 12, CreditCard, -0.870, 0.608, 3.545, 0, 0, 0, 62 [SEP] 13, Box, -1.584, 0.811, 4.470, 0, 0, 0, 52 [SEP] 14, Box, -3.863, 1.332, 4.589, 0, 90, 0, 58 [SEP] 15, Watch, -0.302, 1.102, 1.009, 0, 270, 0, 46 [SEP] 16, Pillow, -0.870, 0.700, 2.753, 0, 0, 0, 62 [SEP] 17, TissueBox, -5.534, 1.040, 0.372, 0, 0, 0, 40 [SEP] 18, Newspaper, -2.901, 1.117, 4.786, 0, 90, 0, 58 [SEP] 19, CreditCard, -0.112, 0.592, 1.101, 0, 270, 0, 42 [SEP] 20, KeyChain, -1.709, 0.590, 4.557, 0, 0, 0, 52 [SEP] 21, CellPhone, -3.864, 1.111, 4.786, 0, 90, 0, 58 [SEP] 22, Statue, -0.221, 1.597, 1.189, 0, 270, 0, 46 [SEP] 23, Laptop, -3.393, 1.104, 4.492, 0, 191.867, 0, 58 [SEP] 24, RemoteControl, -1.460, 1.104, 0.228, 0, 0, 0, 44 [SEP] 25, Vase, -4.505, 1.111, 4.391, 0, 90, 0, 58 [SEP] 26, DeskLamp, -4.649, 1.051, 0.268, 0, 0, 0, [SEP] 27, DeskLamp, -2.992, 1.107, 4.522, 0, 0, 0, [SEP] 28, FloorLamp, -0.650, 0.007, 4.431, 0, 0, 0, [SEP] 29, FloorLamp, -5.607, 0.007, 4.641, 0, 0, 0, [SEP] 30, Shelf, -5.237, 1.776, 0.070, 0, 0, 0, [SEP] 31, Shelf, -5.238, 1.968, 0.085, 0, 0, 0, [SEP] 32, Shelf, -5.242, 1.391, 0.086, 0, 0, 0, [SEP] 33, Shelf, -5.241, 1.582, 0.065, 0, 0, 0, [SEP] 34, LightSwitch, -6.002, 1.353, 3.404, 0, 90, 0, [SEP] 35, GarbageCan, -5.794, -0.033, 4.073, 0, 90, 0, [SEP] 36, Painting, -6.017, 1.802, 4.177, 90, 270, 0, [SEP] 37, HousePlant, -3.966, 1.625, 0.135, 0, 315, 0, [SEP] 38, Television, -3.355, 0.833, 0.027, 0, 0, 0, [SEP] 39, Drawer, -5.024, 0.903, 0.370, 0, 0, 0, [SEP] 40, SideTable, -5.024, 0.008, 0.267, 0, 0, 0, [SEP] 41, Safe, -2.298, 5.778, 0.268, 0, 90, 0, [SEP] 42, Shelf, -0.253, 0.781, 1.058, 0, 270, 0, [SEP] 43, Shelf, -0.283, 0.274, 1.066, 0, 270, 0, [SEP] 44, Shelf, -1.224, 1.288, 0.270, 0, 0, 0, [SEP] 45, Shelf, -1.218, 1.810, 0.275, 0, 0, 0, [SEP] 46, Shelf, -0.280, 1.810, 1.057, 0, 270, 0, [SEP] 47, Shelf, -1.218, 0.274, 0.262, 0, 0, 0, [SEP] 48, Shelf, -1.223, 0.782, 0.237, 0, 0, 0, [SEP] 49, Shelf, -0.280, 1.288, 1.055, 0, 270, 0, [SEP] 50, ShelvingUnit, -0.268, 0.004, 1.067, 0, 270, 0, [SEP] 51, ShelvingUnit, -1.218, 0.004, 0.244, 0, 0, 0, [SEP] 52, ArmChair, -2.027, 0.001, 4.422, 0, 178.692, 0, [SEP] 53, Drawer, -4.329, 1.014, 4.311, 0, 180, 0, [SEP] 54, Drawer, -3.750, 1.014, 4.311, 0, 180, 0, [SEP] 55, Cabinet, -4.049, 0.561, 4.212, 0, 180, 0, [SEP] 56, Cabinet, -4.032, 0.561, 4.212, 0, 180, 0, [SEP] 57, Cabinet, -2.884, 0.561, 4.212, 0, 180, 0, [SEP] 58, Dresser, -4.041, -0.000, 4.589, 0, 180, 0, [SEP] 59, Drawer, -4.916, 1.014, 4.311, 0, 180, 0, [SEP] 60, Drawer, -3.166, 1.014, 4.311, 0, 180, 0, [SEP] 61, Cabinet, -5.196, 0.561, 4.212, 0, 180, 0, [SEP] 62, Sofa, -0.705, -0.002, 2.753, 0, 270, 0, [SEP] 63, NorthWall, , , , , , , [SEP] 64, SouthWall, , , , , , , [SEP] 65, SouthWall, , , , , , , ", "output": ["STEP 1: walk to face couch | STEP 2: pick up red credit card from couch | STEP 3: walk left to face lamp | STEP 4: turn on lamp near couch | END"]} +{"id": "trial_T20190909_103610_740356-2", "input": "TO examine a card 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, -3.0, 0.901, 1.25, 0, 270, 0, [SEP] 1, TissueBox, -3.863, 1.109, 4.391, 0, 90, 0, 58 [SEP] 2, TissueBox, -4.016, 0.201, 4.342, 0, 90, 0, 56 [SEP] 3, CellPhone, -4.505, 1.108, 4.687, 0, 90, 0, 58 [SEP] 4, CellPhone, -2.244, 0.034, 0.265, 0, 90, 0, 41 [SEP] 5, Statue, -4.184, 1.117, 4.786, 0, 90, 0, 58 [SEP] 6, Vase, -4.184, 1.115, 4.490, 0, 90, 0, 58 [SEP] 7, Vase, -2.351, 0.037, 0.212, 0, 90, 0, 41 [SEP] 8, Watch, -0.331, 0.593, 0.735, 0, 270, 0, 42 [SEP] 9, KeyChain, -0.705, 0.609, 3.017, 0, 0, 0, 62 [SEP] 10, CreditCard, -0.114, 0.073, 1.194, 0, 270, 0, 43 [SEP] 11, CreditCard, -4.100, 0.995, 4.359, 0, 90, 0, 53 [SEP] 12, CreditCard, -0.870, 0.608, 3.545, 0, 0, 0, 62 [SEP] 13, Box, -1.584, 0.811, 4.470, 0, 0, 0, 52 [SEP] 14, Box, -3.863, 1.332, 4.589, 0, 90, 0, 58 [SEP] 15, Watch, -0.302, 1.102, 1.009, 0, 270, 0, 46 [SEP] 16, Pillow, -0.870, 0.700, 2.753, 0, 0, 0, 62 [SEP] 17, TissueBox, -5.534, 1.040, 0.372, 0, 0, 0, 40 [SEP] 18, Newspaper, -2.901, 1.117, 4.786, 0, 90, 0, 58 [SEP] 19, CreditCard, -0.112, 0.592, 1.101, 0, 270, 0, 42 [SEP] 20, KeyChain, -1.709, 0.590, 4.557, 0, 0, 0, 52 [SEP] 21, CellPhone, -3.864, 1.111, 4.786, 0, 90, 0, 58 [SEP] 22, Statue, -0.221, 1.597, 1.189, 0, 270, 0, 46 [SEP] 23, Laptop, -3.393, 1.104, 4.492, 0, 191.867, 0, 58 [SEP] 24, RemoteControl, -1.460, 1.104, 0.228, 0, 0, 0, 44 [SEP] 25, Vase, -4.505, 1.111, 4.391, 0, 90, 0, 58 [SEP] 26, DeskLamp, -4.649, 1.051, 0.268, 0, 0, 0, [SEP] 27, DeskLamp, -2.992, 1.107, 4.522, 0, 0, 0, [SEP] 28, FloorLamp, -0.650, 0.007, 4.431, 0, 0, 0, [SEP] 29, FloorLamp, -5.607, 0.007, 4.641, 0, 0, 0, [SEP] 30, Shelf, -5.237, 1.776, 0.070, 0, 0, 0, [SEP] 31, Shelf, -5.238, 1.968, 0.085, 0, 0, 0, [SEP] 32, Shelf, -5.242, 1.391, 0.086, 0, 0, 0, [SEP] 33, Shelf, -5.241, 1.582, 0.065, 0, 0, 0, [SEP] 34, LightSwitch, -6.002, 1.353, 3.404, 0, 90, 0, [SEP] 35, GarbageCan, -5.794, -0.033, 4.073, 0, 90, 0, [SEP] 36, Painting, -6.017, 1.802, 4.177, 90, 270, 0, [SEP] 37, HousePlant, -3.966, 1.625, 0.135, 0, 315, 0, [SEP] 38, Television, -3.355, 0.833, 0.027, 0, 0, 0, [SEP] 39, Drawer, -5.024, 0.903, 0.370, 0, 0, 0, [SEP] 40, SideTable, -5.024, 0.008, 0.267, 0, 0, 0, [SEP] 41, Safe, -2.298, 5.778, 0.268, 0, 90, 0, [SEP] 42, Shelf, -0.253, 0.781, 1.058, 0, 270, 0, [SEP] 43, Shelf, -0.283, 0.274, 1.066, 0, 270, 0, [SEP] 44, Shelf, -1.224, 1.288, 0.270, 0, 0, 0, [SEP] 45, Shelf, -1.218, 1.810, 0.275, 0, 0, 0, [SEP] 46, Shelf, -0.280, 1.810, 1.057, 0, 270, 0, [SEP] 47, Shelf, -1.218, 0.274, 0.262, 0, 0, 0, [SEP] 48, Shelf, -1.223, 0.782, 0.237, 0, 0, 0, [SEP] 49, Shelf, -0.280, 1.288, 1.055, 0, 270, 0, [SEP] 50, ShelvingUnit, -0.268, 0.004, 1.067, 0, 270, 0, [SEP] 51, ShelvingUnit, -1.218, 0.004, 0.244, 0, 0, 0, [SEP] 52, ArmChair, -2.027, 0.001, 4.422, 0, 178.692, 0, [SEP] 53, Drawer, -4.329, 1.014, 4.311, 0, 180, 0, [SEP] 54, Drawer, -3.750, 1.014, 4.311, 0, 180, 0, [SEP] 55, Cabinet, -4.049, 0.561, 4.212, 0, 180, 0, [SEP] 56, Cabinet, -4.032, 0.561, 4.212, 0, 180, 0, [SEP] 57, Cabinet, -2.884, 0.561, 4.212, 0, 180, 0, [SEP] 58, Dresser, -4.041, -0.000, 4.589, 0, 180, 0, [SEP] 59, Drawer, -4.916, 1.014, 4.311, 0, 180, 0, [SEP] 60, Drawer, -3.166, 1.014, 4.311, 0, 180, 0, [SEP] 61, Cabinet, -5.196, 0.561, 4.212, 0, 180, 0, [SEP] 62, Sofa, -0.705, -0.002, 2.753, 0, 270, 0, [SEP] 63, NorthWall, , , , , , , [SEP] 64, SouthWall, , , , , , , [SEP] 65, SouthWall, , , , , , , ", "output": ["STEP 1: Turn around and walk forward to face the card on the left end of the couch. | STEP 2: Pick up the card on the couch. | STEP 3: Look to the left to face the lamp in the corner of the room. | STEP 4: Cut on the lamp to examine the card. | END"]} +{"id": "trial_T20190909_110445_675754-0", "input": "Place a clean knife on a plate 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, -3.25, 0.900, -1.75, 0, 270, 0, [SEP] 1, Pan, 1.026, 1.640, 1.158, 0, 90, 0, 83 [SEP] 2, Statue, 0.859, 0.914, -0.729, 0, 0, 0, 61 [SEP] 3, Statue, -1.292, 0.936, -0.118, 0, 0, 0, 60 [SEP] 4, Potato, 0.783, 1.165, 1.063, 0, 270, 0, 83 [SEP] 5, Potato, 0.783, 1.432, 1.349, 0, 270, 0, 83 [SEP] 6, ButterKnife, -1.229, 0.933, -1.167, 0, 0, 0, 60 [SEP] 7, Glassbottle, 1.148, 1.667, -2.234, 0, 270, 0, 59 [SEP] 8, Glassbottle, 1.240, 1.667, -0.593, 0, 270, 0, 69 [SEP] 9, Fork, 0.875, 0.703, -0.731, 0, 0, 0, 58 [SEP] 10, Fork, -0.697, 0.777, -0.832, 0, 90, 0, 81 [SEP] 11, Spoon, 0.875, 0.496, -0.648, 0, 270, 0, 64 [SEP] 12, Spatula, -0.698, 0.948, -1.308, 0, 0, 0, 60 [SEP] 13, Knife, 1.029, 0.934, -0.208, 0, 0, 0, 61 [SEP] 14, Plate, 1.194, 1.669, -2.029, 0, 270, 0, 59 [SEP] 15, Plate, 0.859, 0.914, -0.381, 0, 0, 0, 61 [SEP] 16, Tomato, -0.772, 0.974, -1.540, 0, 0, 0, 60 [SEP] 17, Tomato, -1.104, 0.974, -0.118, 0, 0, 0, 60 [SEP] 18, SoapBottle, 0.913, 0.121, 0.349, 0, 270, 0, 55 [SEP] 19, Bowl, 1.087, 1.646, 1.540, 0, 270, 0, 83 [SEP] 20, Lettuce, 0.688, 0.988, -1.879, 0, 0, 0, 66 [SEP] 21, Lettuce, -0.642, 0.857, -0.745, 0, 90, 0, 81 [SEP] 22, Bread, 0.905, 0.944, 1.254, 0, 270, 0, 83 [SEP] 23, Bread, -0.550, 1.014, -1.231, 0, 0, 0, 60 [SEP] 24, Mug, 0.944, 0.906, -1.793, 0, 0, 0, 66 [SEP] 25, Mug, 1.147, 1.661, 0.025, 0, 270, 0, 68 [SEP] 26, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 60 [SEP] 27, Glassbottle, 1.114, 0.912, -0.555, 0, 0, 0, 61 [SEP] 28, Bread, 0.966, 1.482, 1.254, 0, 270, 0, 83 [SEP] 29, CreditCard, -0.624, 0.930, 0.162, 0, 0, 0, 60 [SEP] 30, CellPhone, -1.418, 0.930, -0.905, 0, 0, 0, 60 [SEP] 31, Potato, 0.688, 0.941, -0.381, 0, 0, 0, 61 [SEP] 32, Knife, -1.167, 0.957, 0.144, 0, 0, 0, 60 [SEP] 33, Fork, -1.104, 0.934, -0.380, 0, 0, 0, 60 [SEP] 34, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 54 [SEP] 35, Lettuce, 1.026, 1.212, 1.063, 0, 270, 0, 83 [SEP] 36, Plate, 0.861, 0.111, -1.972, 0, 0, 0, 65 [SEP] 37, Apple, 1.026, 1.185, 1.254, 0, 270, 0, 83 [SEP] 38, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 56 [SEP] 39, Spatula, -0.587, 0.795, -0.573, 0, 0, 0, 81 [SEP] 40, PaperTowelRoll, -1.985, 0.658, 2.874, 0, 0, 0, 86 [SEP] 41, Tomato, -1.104, 0.974, -0.905, 0, 0, 0, 60 [SEP] 42, Egg, 0.905, 1.172, 1.444, 0, 270, 0, 83 [SEP] 43, SaltShaker, 1.240, 1.662, -2.302, 0, 270, 0, 59 [SEP] 44, PepperShaker, 1.199, 0.907, -1.965, 0, 0, 0, 66 [SEP] 45, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 86 [SEP] 46, ButterKnife, 0.834, 0.703, -0.648, 0, 270, 0, 58 [SEP] 47, SoapBottle, -1.007, 0.179, 0.608, 0, 180, 0, 80 [SEP] 48, Vase, -0.846, 0.934, 0.239, 0, 0, 0, 60 [SEP] 49, Bowl, 1.126, 2.211, -1.408, 0, 270, 0, 67 [SEP] 50, DishSponge, 1.114, 0.910, -0.729, 0, 0, 0, 61 [SEP] 51, Spoon, 0.773, 0.912, -1.965, 0, 0, 0, 66 [SEP] 52, Cup, 0.688, 0.908, -0.208, 0, 0, 0, 61 [SEP] 53, Mug, 0.905, 0.858, 1.540, 0, 270, 0, 83 [SEP] 54, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 55, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 56, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 57, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 58, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 59, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 60, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 61, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 62, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 63, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 64, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 65, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 66, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 67, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 68, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 69, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 70, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 71, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 72, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 73, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 74, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 75, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 76, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 77, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 78, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 79, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 80, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 81, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 82, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 83, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 84, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 85, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 86, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 87, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 88, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 89, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 90, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 91, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 92, NorthWall, , , , , , , [SEP] 93, EastWall, , , , , , , [SEP] 94, SouthWall, , , , , , , [SEP] 95, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and move to the gray coffee maker to the right of the lettuce, then move to the silver dishwasher to the right of the black toaster. | STEP 2: Pick up the yellow handled knife to the left of the square plate from the counter. | STEP 3: Turn around and move to the sink to the right of the loaf of bread. | STEP 4: Place the knife in the sink to the left of the lettuce, turn on the faucet to rinse the knife, then pick up the knife from the sink. | STEP 5: Turn around and face the dishwasher underneath the green glass. | STEP 6: Place the knife on the plate to the rear of the potato on the counter. | END"]} +{"id": "trial_T20190909_110445_675754-1", "input": "Rinse a knife and put it on a plate. 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, -1.75, 0, 270, 0, [SEP] 1, Pan, 1.026, 1.640, 1.158, 0, 90, 0, 83 [SEP] 2, Statue, 0.859, 0.914, -0.729, 0, 0, 0, 61 [SEP] 3, Statue, -1.292, 0.936, -0.118, 0, 0, 0, 60 [SEP] 4, Potato, 0.783, 1.165, 1.063, 0, 270, 0, 83 [SEP] 5, Potato, 0.783, 1.432, 1.349, 0, 270, 0, 83 [SEP] 6, ButterKnife, -1.229, 0.933, -1.167, 0, 0, 0, 60 [SEP] 7, Glassbottle, 1.148, 1.667, -2.234, 0, 270, 0, 59 [SEP] 8, Glassbottle, 1.240, 1.667, -0.593, 0, 270, 0, 69 [SEP] 9, Fork, 0.875, 0.703, -0.731, 0, 0, 0, 58 [SEP] 10, Fork, -0.697, 0.777, -0.832, 0, 90, 0, 81 [SEP] 11, Spoon, 0.875, 0.496, -0.648, 0, 270, 0, 64 [SEP] 12, Spatula, -0.698, 0.948, -1.308, 0, 0, 0, 60 [SEP] 13, Knife, 1.029, 0.934, -0.208, 0, 0, 0, 61 [SEP] 14, Plate, 1.194, 1.669, -2.029, 0, 270, 0, 59 [SEP] 15, Plate, 0.859, 0.914, -0.381, 0, 0, 0, 61 [SEP] 16, Tomato, -0.772, 0.974, -1.540, 0, 0, 0, 60 [SEP] 17, Tomato, -1.104, 0.974, -0.118, 0, 0, 0, 60 [SEP] 18, SoapBottle, 0.913, 0.121, 0.349, 0, 270, 0, 55 [SEP] 19, Bowl, 1.087, 1.646, 1.540, 0, 270, 0, 83 [SEP] 20, Lettuce, 0.688, 0.988, -1.879, 0, 0, 0, 66 [SEP] 21, Lettuce, -0.642, 0.857, -0.745, 0, 90, 0, 81 [SEP] 22, Bread, 0.905, 0.944, 1.254, 0, 270, 0, 83 [SEP] 23, Bread, -0.550, 1.014, -1.231, 0, 0, 0, 60 [SEP] 24, Mug, 0.944, 0.906, -1.793, 0, 0, 0, 66 [SEP] 25, Mug, 1.147, 1.661, 0.025, 0, 270, 0, 68 [SEP] 26, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 60 [SEP] 27, Glassbottle, 1.114, 0.912, -0.555, 0, 0, 0, 61 [SEP] 28, Bread, 0.966, 1.482, 1.254, 0, 270, 0, 83 [SEP] 29, CreditCard, -0.624, 0.930, 0.162, 0, 0, 0, 60 [SEP] 30, CellPhone, -1.418, 0.930, -0.905, 0, 0, 0, 60 [SEP] 31, Potato, 0.688, 0.941, -0.381, 0, 0, 0, 61 [SEP] 32, Knife, -1.167, 0.957, 0.144, 0, 0, 0, 60 [SEP] 33, Fork, -1.104, 0.934, -0.380, 0, 0, 0, 60 [SEP] 34, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 54 [SEP] 35, Lettuce, 1.026, 1.212, 1.063, 0, 270, 0, 83 [SEP] 36, Plate, 0.861, 0.111, -1.972, 0, 0, 0, 65 [SEP] 37, Apple, 1.026, 1.185, 1.254, 0, 270, 0, 83 [SEP] 38, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 56 [SEP] 39, Spatula, -0.587, 0.795, -0.573, 0, 0, 0, 81 [SEP] 40, PaperTowelRoll, -1.985, 0.658, 2.874, 0, 0, 0, 86 [SEP] 41, Tomato, -1.104, 0.974, -0.905, 0, 0, 0, 60 [SEP] 42, Egg, 0.905, 1.172, 1.444, 0, 270, 0, 83 [SEP] 43, SaltShaker, 1.240, 1.662, -2.302, 0, 270, 0, 59 [SEP] 44, PepperShaker, 1.199, 0.907, -1.965, 0, 0, 0, 66 [SEP] 45, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 86 [SEP] 46, ButterKnife, 0.834, 0.703, -0.648, 0, 270, 0, 58 [SEP] 47, SoapBottle, -1.007, 0.179, 0.608, 0, 180, 0, 80 [SEP] 48, Vase, -0.846, 0.934, 0.239, 0, 0, 0, 60 [SEP] 49, Bowl, 1.126, 2.211, -1.408, 0, 270, 0, 67 [SEP] 50, DishSponge, 1.114, 0.910, -0.729, 0, 0, 0, 61 [SEP] 51, Spoon, 0.773, 0.912, -1.965, 0, 0, 0, 66 [SEP] 52, Cup, 0.688, 0.908, -0.208, 0, 0, 0, 61 [SEP] 53, Mug, 0.905, 0.858, 1.540, 0, 270, 0, 83 [SEP] 54, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 55, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 56, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 57, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 58, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 59, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 60, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 61, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 62, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 63, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 64, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 65, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 66, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 67, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 68, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 69, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 70, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 71, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 72, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 73, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 74, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 75, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 76, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 77, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 78, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 79, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 80, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 81, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 82, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 83, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 84, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 85, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 86, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 87, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 88, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 89, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 90, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 91, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 92, NorthWall, , , , , , , [SEP] 93, EastWall, , , , , , , [SEP] 94, SouthWall, , , , , , , [SEP] 95, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and move through the room. Turn left and then face the counter on the right, where the dishwasher is. | STEP 2: Pick up the knife from the counter. | STEP 3: Hold the knife and turn around to the sink. | STEP 4: Place the knife in the sink and turn the water on. Turn the water off and pick up the knife. | STEP 5: Carry the knife and turn around to the counter. | STEP 6: Place the knife on the plate, that is on the counter. | END"]} +{"id": "trial_T20190909_110445_675754-2", "input": "clean a knife and put it back 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, -3.25, 0.900, -1.75, 0, 270, 0, [SEP] 1, Pan, 1.026, 1.640, 1.158, 0, 90, 0, 83 [SEP] 2, Statue, 0.859, 0.914, -0.729, 0, 0, 0, 61 [SEP] 3, Statue, -1.292, 0.936, -0.118, 0, 0, 0, 60 [SEP] 4, Potato, 0.783, 1.165, 1.063, 0, 270, 0, 83 [SEP] 5, Potato, 0.783, 1.432, 1.349, 0, 270, 0, 83 [SEP] 6, ButterKnife, -1.229, 0.933, -1.167, 0, 0, 0, 60 [SEP] 7, Glassbottle, 1.148, 1.667, -2.234, 0, 270, 0, 59 [SEP] 8, Glassbottle, 1.240, 1.667, -0.593, 0, 270, 0, 69 [SEP] 9, Fork, 0.875, 0.703, -0.731, 0, 0, 0, 58 [SEP] 10, Fork, -0.697, 0.777, -0.832, 0, 90, 0, 81 [SEP] 11, Spoon, 0.875, 0.496, -0.648, 0, 270, 0, 64 [SEP] 12, Spatula, -0.698, 0.948, -1.308, 0, 0, 0, 60 [SEP] 13, Knife, 1.029, 0.934, -0.208, 0, 0, 0, 61 [SEP] 14, Plate, 1.194, 1.669, -2.029, 0, 270, 0, 59 [SEP] 15, Plate, 0.859, 0.914, -0.381, 0, 0, 0, 61 [SEP] 16, Tomato, -0.772, 0.974, -1.540, 0, 0, 0, 60 [SEP] 17, Tomato, -1.104, 0.974, -0.118, 0, 0, 0, 60 [SEP] 18, SoapBottle, 0.913, 0.121, 0.349, 0, 270, 0, 55 [SEP] 19, Bowl, 1.087, 1.646, 1.540, 0, 270, 0, 83 [SEP] 20, Lettuce, 0.688, 0.988, -1.879, 0, 0, 0, 66 [SEP] 21, Lettuce, -0.642, 0.857, -0.745, 0, 90, 0, 81 [SEP] 22, Bread, 0.905, 0.944, 1.254, 0, 270, 0, 83 [SEP] 23, Bread, -0.550, 1.014, -1.231, 0, 0, 0, 60 [SEP] 24, Mug, 0.944, 0.906, -1.793, 0, 0, 0, 66 [SEP] 25, Mug, 1.147, 1.661, 0.025, 0, 270, 0, 68 [SEP] 26, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 60 [SEP] 27, Glassbottle, 1.114, 0.912, -0.555, 0, 0, 0, 61 [SEP] 28, Bread, 0.966, 1.482, 1.254, 0, 270, 0, 83 [SEP] 29, CreditCard, -0.624, 0.930, 0.162, 0, 0, 0, 60 [SEP] 30, CellPhone, -1.418, 0.930, -0.905, 0, 0, 0, 60 [SEP] 31, Potato, 0.688, 0.941, -0.381, 0, 0, 0, 61 [SEP] 32, Knife, -1.167, 0.957, 0.144, 0, 0, 0, 60 [SEP] 33, Fork, -1.104, 0.934, -0.380, 0, 0, 0, 60 [SEP] 34, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 54 [SEP] 35, Lettuce, 1.026, 1.212, 1.063, 0, 270, 0, 83 [SEP] 36, Plate, 0.861, 0.111, -1.972, 0, 0, 0, 65 [SEP] 37, Apple, 1.026, 1.185, 1.254, 0, 270, 0, 83 [SEP] 38, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 56 [SEP] 39, Spatula, -0.587, 0.795, -0.573, 0, 0, 0, 81 [SEP] 40, PaperTowelRoll, -1.985, 0.658, 2.874, 0, 0, 0, 86 [SEP] 41, Tomato, -1.104, 0.974, -0.905, 0, 0, 0, 60 [SEP] 42, Egg, 0.905, 1.172, 1.444, 0, 270, 0, 83 [SEP] 43, SaltShaker, 1.240, 1.662, -2.302, 0, 270, 0, 59 [SEP] 44, PepperShaker, 1.199, 0.907, -1.965, 0, 0, 0, 66 [SEP] 45, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 86 [SEP] 46, ButterKnife, 0.834, 0.703, -0.648, 0, 270, 0, 58 [SEP] 47, SoapBottle, -1.007, 0.179, 0.608, 0, 180, 0, 80 [SEP] 48, Vase, -0.846, 0.934, 0.239, 0, 0, 0, 60 [SEP] 49, Bowl, 1.126, 2.211, -1.408, 0, 270, 0, 67 [SEP] 50, DishSponge, 1.114, 0.910, -0.729, 0, 0, 0, 61 [SEP] 51, Spoon, 0.773, 0.912, -1.965, 0, 0, 0, 66 [SEP] 52, Cup, 0.688, 0.908, -0.208, 0, 0, 0, 61 [SEP] 53, Mug, 0.905, 0.858, 1.540, 0, 270, 0, 83 [SEP] 54, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 55, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 56, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 57, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 58, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 59, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 60, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 61, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 62, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 63, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 64, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 65, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 66, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 67, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 68, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 69, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 70, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 71, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 72, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 73, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 74, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 75, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 76, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 77, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 78, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 79, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 80, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 81, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 82, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 83, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 84, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 85, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 86, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 87, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 88, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 89, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 90, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 91, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 92, NorthWall, , , , , , , [SEP] 93, EastWall, , , , , , , [SEP] 94, SouthWall, , , , , , , [SEP] 95, WestWall, , , , , , , ", "output": ["STEP 1: turn left walk straight then turn left and walk towards the coffee machine and turn left and walk straight towards the dishwasher and turn right | STEP 2: pick up the knife on the counter top | STEP 3: turn right walk straight then turn right towards the sink | STEP 4: put the knife inside the sink and fill it with water then drain the water and remove the knife | STEP 5: turn right then walk straight then turn right again towards the counter | STEP 6: put the knife down on the counter top | END"]} +{"id": "trial_T20190908_113523_123938-0", "input": "place a microwaved egg inside the garbage bin SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.900, -2.0, 0, 180, 0, [SEP] 1, Potato, 1.087, 1.432, 0.967, 0, 270, 0, 76 [SEP] 2, CreditCard, 1.199, 0.908, 0.313, 0, 0, 0, 54 [SEP] 3, CellPhone, 1.199, 0.908, 0.139, 0, 0, 0, 54 [SEP] 4, CellPhone, 0.688, 0.908, -1.879, 0, 0, 0, 59 [SEP] 5, Glassbottle, -0.846, 0.934, -1.463, 0, 0, 0, 53 [SEP] 6, Glassbottle, 1.240, 1.667, -0.273, 0, 270, 0, 62 [SEP] 7, Fork, -0.642, 0.781, -0.745, 0, 0, 0, 74 [SEP] 8, Spoon, -0.772, 0.934, -1.308, 0, 180, 0, 53 [SEP] 9, Spoon, 1.114, 0.912, -0.381, 0, 0, 0, 54 [SEP] 10, Spatula, -0.753, 0.795, -0.659, 0, 180, 0, 74 [SEP] 11, Egg, -0.818, 0.216, 0.641, 0, 180, 0, 73 [SEP] 12, Cup, 1.087, 1.399, 1.540, 0, 270, 0, 76 [SEP] 13, SaltShaker, -0.846, 0.929, 0.086, 0, 0, 0, 53 [SEP] 14, SaltShaker, -1.571, 0.878, 2.746, 0, 0, 0, 80 [SEP] 15, PepperShaker, 0.688, 0.907, -2.222, 0, 0, 0, 59 [SEP] 16, Lettuce, -0.698, 1.010, 0.162, 0, 0, 0, 53 [SEP] 17, Lettuce, 0.905, 0.940, 1.254, 0, 270, 0, 76 [SEP] 18, Apple, -0.912, 0.229, 0.608, 0, 180, 0, 73 [SEP] 19, Statue, 1.114, 0.914, -0.729, 0, 0, 0, 54 [SEP] 20, Glassbottle, 0.964, 0.121, 0.349, 0, 270, 0, 48 [SEP] 21, Bread, 0.944, 0.992, 0.139, 0, 0, 0, 54 [SEP] 22, CreditCard, 0.859, 0.908, 0.139, 0, 0, 0, 54 [SEP] 23, CellPhone, 0.874, 0.150, -0.650, 0, 90, 0, 56 [SEP] 24, Potato, 0.783, 1.673, 1.444, 0, 270, 0, 76 [SEP] 25, Knife, -1.167, 0.957, -0.905, 0, 0, 0, 53 [SEP] 26, Fork, -0.698, 0.934, -1.154, 0, 0, 0, 53 [SEP] 27, Pan, 0.842, 0.950, -1.504, 0, 0, 0, 50 [SEP] 28, Lettuce, 0.944, 0.988, -0.381, 0, 0, 0, 54 [SEP] 29, Plate, 1.126, 2.211, -1.191, 0, 270, 0, 60 [SEP] 30, Apple, 1.087, 1.452, 1.349, 0, 270, 0, 76 [SEP] 31, Pot, 1.077, 0.950, -1.098, 0, 0, 0, 55 [SEP] 32, Spatula, 0.834, 0.717, -0.731, 0, 90, 0, 51 [SEP] 33, PaperTowelRoll, -1.363, 0.658, 2.718, 0, 0, 0, 79 [SEP] 34, Tomato, -1.167, 0.974, -0.643, 0, 0, 0, 53 [SEP] 35, Egg, -1.101, 0.216, 0.543, 0, 180, 0, 73 [SEP] 36, SaltShaker, 1.147, 1.662, 0.153, 0, 270, 0, 61 [SEP] 37, PepperShaker, 0.793, 0.150, -0.650, 0, 270, 0, 56 [SEP] 38, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 79 [SEP] 39, ButterKnife, -0.772, 0.933, 0.315, 0, 0, 0, 53 [SEP] 40, SoapBottle, -0.477, 0.933, -1.231, 0, 0, 0, 53 [SEP] 41, Vase, -1.881, 0.555, 2.667, 0, 0, 0, 79 [SEP] 42, Bowl, 1.102, 1.669, -0.401, 0, 270, 0, 62 [SEP] 43, DishSponge, 0.915, 0.493, -0.648, 0, 270, 0, 57 [SEP] 44, Spoon, -0.753, 0.781, -0.918, 0, 180, 0, 74 [SEP] 45, Cup, 1.026, 1.640, 1.349, 0, 270, 0, 76 [SEP] 46, Mug, 0.688, 0.906, 0.313, 0, 0, 0, 54 [SEP] 47, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 48, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 49, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 50, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 51, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 52, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 53, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 54, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 55, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 56, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 57, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 58, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 59, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 60, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 61, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 62, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 63, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 64, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 65, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 66, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 67, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 68, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 69, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 70, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 71, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 72, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 73, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 74, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 75, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 76, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 77, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 78, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 79, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 80, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 81, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 82, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 83, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 84, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 85, NorthWall, , , , , , , [SEP] 86, EastWall, , , , , , , [SEP] 87, SouthWall, , , , , , , [SEP] 88, WestWall, , , , , , , ", "output": ["STEP 1: turn around and walk to the end of the kitchen island on your right, then turn right and walk to the garbage bin on the floor to your right | STEP 2: grab the egg out of the garbage bin | STEP 3: turn left and walk over to the fridge, then turn right and walk to the stove on the left side of the kitchen | STEP 4: place the egg in the microwave above the kitchen stove, let it cook in there, then take it back out | STEP 5: turn left and walk over to the fridge on your right, then turn left to walk back over to the garbage bin on your left | STEP 6: place the egg inside the garbage bin | END"]} +{"id": "trial_T20190908_113523_123938-1", "input": "Put a microwaved egg 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, 0.900, -2.0, 0, 180, 0, [SEP] 1, Potato, 1.087, 1.432, 0.967, 0, 270, 0, 76 [SEP] 2, CreditCard, 1.199, 0.908, 0.313, 0, 0, 0, 54 [SEP] 3, CellPhone, 1.199, 0.908, 0.139, 0, 0, 0, 54 [SEP] 4, CellPhone, 0.688, 0.908, -1.879, 0, 0, 0, 59 [SEP] 5, Glassbottle, -0.846, 0.934, -1.463, 0, 0, 0, 53 [SEP] 6, Glassbottle, 1.240, 1.667, -0.273, 0, 270, 0, 62 [SEP] 7, Fork, -0.642, 0.781, -0.745, 0, 0, 0, 74 [SEP] 8, Spoon, -0.772, 0.934, -1.308, 0, 180, 0, 53 [SEP] 9, Spoon, 1.114, 0.912, -0.381, 0, 0, 0, 54 [SEP] 10, Spatula, -0.753, 0.795, -0.659, 0, 180, 0, 74 [SEP] 11, Egg, -0.818, 0.216, 0.641, 0, 180, 0, 73 [SEP] 12, Cup, 1.087, 1.399, 1.540, 0, 270, 0, 76 [SEP] 13, SaltShaker, -0.846, 0.929, 0.086, 0, 0, 0, 53 [SEP] 14, SaltShaker, -1.571, 0.878, 2.746, 0, 0, 0, 80 [SEP] 15, PepperShaker, 0.688, 0.907, -2.222, 0, 0, 0, 59 [SEP] 16, Lettuce, -0.698, 1.010, 0.162, 0, 0, 0, 53 [SEP] 17, Lettuce, 0.905, 0.940, 1.254, 0, 270, 0, 76 [SEP] 18, Apple, -0.912, 0.229, 0.608, 0, 180, 0, 73 [SEP] 19, Statue, 1.114, 0.914, -0.729, 0, 0, 0, 54 [SEP] 20, Glassbottle, 0.964, 0.121, 0.349, 0, 270, 0, 48 [SEP] 21, Bread, 0.944, 0.992, 0.139, 0, 0, 0, 54 [SEP] 22, CreditCard, 0.859, 0.908, 0.139, 0, 0, 0, 54 [SEP] 23, CellPhone, 0.874, 0.150, -0.650, 0, 90, 0, 56 [SEP] 24, Potato, 0.783, 1.673, 1.444, 0, 270, 0, 76 [SEP] 25, Knife, -1.167, 0.957, -0.905, 0, 0, 0, 53 [SEP] 26, Fork, -0.698, 0.934, -1.154, 0, 0, 0, 53 [SEP] 27, Pan, 0.842, 0.950, -1.504, 0, 0, 0, 50 [SEP] 28, Lettuce, 0.944, 0.988, -0.381, 0, 0, 0, 54 [SEP] 29, Plate, 1.126, 2.211, -1.191, 0, 270, 0, 60 [SEP] 30, Apple, 1.087, 1.452, 1.349, 0, 270, 0, 76 [SEP] 31, Pot, 1.077, 0.950, -1.098, 0, 0, 0, 55 [SEP] 32, Spatula, 0.834, 0.717, -0.731, 0, 90, 0, 51 [SEP] 33, PaperTowelRoll, -1.363, 0.658, 2.718, 0, 0, 0, 79 [SEP] 34, Tomato, -1.167, 0.974, -0.643, 0, 0, 0, 53 [SEP] 35, Egg, -1.101, 0.216, 0.543, 0, 180, 0, 73 [SEP] 36, SaltShaker, 1.147, 1.662, 0.153, 0, 270, 0, 61 [SEP] 37, PepperShaker, 0.793, 0.150, -0.650, 0, 270, 0, 56 [SEP] 38, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 79 [SEP] 39, ButterKnife, -0.772, 0.933, 0.315, 0, 0, 0, 53 [SEP] 40, SoapBottle, -0.477, 0.933, -1.231, 0, 0, 0, 53 [SEP] 41, Vase, -1.881, 0.555, 2.667, 0, 0, 0, 79 [SEP] 42, Bowl, 1.102, 1.669, -0.401, 0, 270, 0, 62 [SEP] 43, DishSponge, 0.915, 0.493, -0.648, 0, 270, 0, 57 [SEP] 44, Spoon, -0.753, 0.781, -0.918, 0, 180, 0, 74 [SEP] 45, Cup, 1.026, 1.640, 1.349, 0, 270, 0, 76 [SEP] 46, Mug, 0.688, 0.906, 0.313, 0, 0, 0, 54 [SEP] 47, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 48, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 49, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 50, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 51, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 52, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 53, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 54, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 55, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 56, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 57, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 58, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 59, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 60, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 61, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 62, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 63, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 64, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 65, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 66, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 67, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 68, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 69, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 70, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 71, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 72, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 73, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 74, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 75, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 76, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 77, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 78, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 79, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 80, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 81, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 82, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 83, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 84, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 85, NorthWall, , , , , , , [SEP] 86, EastWall, , , , , , , [SEP] 87, SouthWall, , , , , , , [SEP] 88, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and take two steps then turn right and walk past the chairs and counter then turn right at the end of the counter then turn right to face the garbage. | STEP 2: Pick up the egg that's in front of you in the garbage. | STEP 3: Turn left and walk to the fridge then turn right and walk to the stove then turn left when you get there. | STEP 4: Look up and cook the in the egg in the microwave then take it back out and close the door. | STEP 5: Go back to the garbage where you got the egg. | STEP 6: Put the egg in the top right corner of the garbage. | END"]} +{"id": "trial_T20190908_113523_123938-2", "input": "Put the heated egg on 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, -2.0, 0, 180, 0, [SEP] 1, Potato, 1.087, 1.432, 0.967, 0, 270, 0, 76 [SEP] 2, CreditCard, 1.199, 0.908, 0.313, 0, 0, 0, 54 [SEP] 3, CellPhone, 1.199, 0.908, 0.139, 0, 0, 0, 54 [SEP] 4, CellPhone, 0.688, 0.908, -1.879, 0, 0, 0, 59 [SEP] 5, Glassbottle, -0.846, 0.934, -1.463, 0, 0, 0, 53 [SEP] 6, Glassbottle, 1.240, 1.667, -0.273, 0, 270, 0, 62 [SEP] 7, Fork, -0.642, 0.781, -0.745, 0, 0, 0, 74 [SEP] 8, Spoon, -0.772, 0.934, -1.308, 0, 180, 0, 53 [SEP] 9, Spoon, 1.114, 0.912, -0.381, 0, 0, 0, 54 [SEP] 10, Spatula, -0.753, 0.795, -0.659, 0, 180, 0, 74 [SEP] 11, Egg, -0.818, 0.216, 0.641, 0, 180, 0, 73 [SEP] 12, Cup, 1.087, 1.399, 1.540, 0, 270, 0, 76 [SEP] 13, SaltShaker, -0.846, 0.929, 0.086, 0, 0, 0, 53 [SEP] 14, SaltShaker, -1.571, 0.878, 2.746, 0, 0, 0, 80 [SEP] 15, PepperShaker, 0.688, 0.907, -2.222, 0, 0, 0, 59 [SEP] 16, Lettuce, -0.698, 1.010, 0.162, 0, 0, 0, 53 [SEP] 17, Lettuce, 0.905, 0.940, 1.254, 0, 270, 0, 76 [SEP] 18, Apple, -0.912, 0.229, 0.608, 0, 180, 0, 73 [SEP] 19, Statue, 1.114, 0.914, -0.729, 0, 0, 0, 54 [SEP] 20, Glassbottle, 0.964, 0.121, 0.349, 0, 270, 0, 48 [SEP] 21, Bread, 0.944, 0.992, 0.139, 0, 0, 0, 54 [SEP] 22, CreditCard, 0.859, 0.908, 0.139, 0, 0, 0, 54 [SEP] 23, CellPhone, 0.874, 0.150, -0.650, 0, 90, 0, 56 [SEP] 24, Potato, 0.783, 1.673, 1.444, 0, 270, 0, 76 [SEP] 25, Knife, -1.167, 0.957, -0.905, 0, 0, 0, 53 [SEP] 26, Fork, -0.698, 0.934, -1.154, 0, 0, 0, 53 [SEP] 27, Pan, 0.842, 0.950, -1.504, 0, 0, 0, 50 [SEP] 28, Lettuce, 0.944, 0.988, -0.381, 0, 0, 0, 54 [SEP] 29, Plate, 1.126, 2.211, -1.191, 0, 270, 0, 60 [SEP] 30, Apple, 1.087, 1.452, 1.349, 0, 270, 0, 76 [SEP] 31, Pot, 1.077, 0.950, -1.098, 0, 0, 0, 55 [SEP] 32, Spatula, 0.834, 0.717, -0.731, 0, 90, 0, 51 [SEP] 33, PaperTowelRoll, -1.363, 0.658, 2.718, 0, 0, 0, 79 [SEP] 34, Tomato, -1.167, 0.974, -0.643, 0, 0, 0, 53 [SEP] 35, Egg, -1.101, 0.216, 0.543, 0, 180, 0, 73 [SEP] 36, SaltShaker, 1.147, 1.662, 0.153, 0, 270, 0, 61 [SEP] 37, PepperShaker, 0.793, 0.150, -0.650, 0, 270, 0, 56 [SEP] 38, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 79 [SEP] 39, ButterKnife, -0.772, 0.933, 0.315, 0, 0, 0, 53 [SEP] 40, SoapBottle, -0.477, 0.933, -1.231, 0, 0, 0, 53 [SEP] 41, Vase, -1.881, 0.555, 2.667, 0, 0, 0, 79 [SEP] 42, Bowl, 1.102, 1.669, -0.401, 0, 270, 0, 62 [SEP] 43, DishSponge, 0.915, 0.493, -0.648, 0, 270, 0, 57 [SEP] 44, Spoon, -0.753, 0.781, -0.918, 0, 180, 0, 74 [SEP] 45, Cup, 1.026, 1.640, 1.349, 0, 270, 0, 76 [SEP] 46, Mug, 0.688, 0.906, 0.313, 0, 0, 0, 54 [SEP] 47, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 48, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 49, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 50, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 51, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 52, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 53, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 54, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 55, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 56, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 57, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 58, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 59, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 60, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 61, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 62, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 63, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 64, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 65, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 66, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 67, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 68, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 69, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 70, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 71, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 72, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 73, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 74, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 75, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 76, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 77, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 78, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 79, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 80, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 81, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 82, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 83, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 84, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 85, NorthWall, , , , , , , [SEP] 86, EastWall, , , , , , , [SEP] 87, SouthWall, , , , , , , [SEP] 88, WestWall, , , , , , , ", "output": ["STEP 1: Turn to your right and head to the trash bin on your right | STEP 2: Pick up the egg on the trash bin | STEP 3: Turn left then right walk towards the microwave | STEP 4: Open the microwave put in and out the egg then close the microwave | STEP 5: Turn left then walk forward head to the trash bin | STEP 6: Put the egg in the trash bin | END"]} +{"id": "trial_T20190908_204424_983859-0", "input": "Put a chilled slice of lettuce 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, 0.25, 0.900, 0.75, 0, 90, 0, [SEP] 1, Vase, 1.082, 2.209, -1.626, 0, 270, 0, 65 [SEP] 2, Potato, 0.944, 0.941, -0.555, 0, 0, 0, 59 [SEP] 3, CreditCard, 1.114, 0.908, -0.555, 0, 0, 0, 59 [SEP] 4, CreditCard, 0.915, 0.699, -0.690, 0, 270, 0, 56 [SEP] 5, ButterKnife, -0.550, 0.933, -0.143, 0, 0, 0, 58 [SEP] 6, ButterKnife, -1.292, 0.933, -1.167, 0, 0, 0, 58 [SEP] 7, Glassbottle, -1.363, 0.554, 2.822, 0, 0, 0, 84 [SEP] 8, Glassbottle, 1.239, 1.667, 0.089, 0, 270, 0, 66 [SEP] 9, Fork, 0.794, 0.495, -0.690, 0, 180, 0, 62 [SEP] 10, Fork, 1.029, 0.911, -0.034, 0, 0, 0, 59 [SEP] 11, Spoon, -0.753, 0.781, -0.659, 0, 90, 0, 79 [SEP] 12, Spatula, -0.753, 0.795, -0.832, 0, 180, 0, 79 [SEP] 13, Spatula, 0.914, 0.168, -0.650, 0, 0, 0, 61 [SEP] 14, Egg, 0.966, 1.439, 1.349, 0, 270, 0, 81 [SEP] 15, Egg, 1.148, 1.439, 1.540, 0, 270, 0, 81 [SEP] 16, Tomato, -1.054, 0.219, 0.543, 0, 180, 0, 78 [SEP] 17, Bowl, 0.905, 0.866, 1.540, 0, 270, 0, 81 [SEP] 18, Bowl, 0.905, 1.138, 0.967, 0, 270, 0, 81 [SEP] 19, SaltShaker, 1.010, 1.662, -0.529, 0, 270, 0, 67 [SEP] 20, SaltShaker, -1.981, 0.878, 2.746, 0, 0, 0, 85 [SEP] 21, PepperShaker, 1.056, 1.662, -0.465, 0, 270, 0, 67 [SEP] 22, Bread, 0.966, 0.944, 1.254, 0, 270, 0, 81 [SEP] 23, Mug, 1.199, 0.906, -0.208, 0, 0, 0, 59 [SEP] 24, Statue, -0.624, 0.936, -1.308, 0, 0, 0, 58 [SEP] 25, Glassbottle, 1.055, 1.667, -2.029, 0, 270, 0, 57 [SEP] 26, Bread, -0.779, 0.996, 0.209, 0, 258.641, 0, 58 [SEP] 27, CreditCard, 0.833, 0.150, -0.729, 0, 270, 0, 61 [SEP] 28, CellPhone, 0.794, 0.699, -0.648, 0, 270, 0, 56 [SEP] 29, Potato, 1.093, 1.825, -1.132, 0, 270, 0, 80 [SEP] 30, Knife, 0.773, 0.934, -0.555, 0, 270, 0, 59 [SEP] 31, Fork, -1.229, 0.934, 0.144, 0, 0, 0, 58 [SEP] 32, Pan, 1.026, 1.132, 1.349, 0, 90, 0, 81 [SEP] 33, Lettuce, 0.773, 0.988, 0.139, 0, 0, 0, 59 [SEP] 34, Plate, -1.104, 0.936, -0.905, 0, 0, 0, 58 [SEP] 35, Apple, -0.912, 0.227, 0.543, 0, 180, 0, 78 [SEP] 36, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 54 [SEP] 37, Spatula, 0.944, 0.926, -0.381, 0, 0, 0, 59 [SEP] 38, PaperTowelRoll, -1.571, 0.986, 2.665, 0, 0, 0, 85 [SEP] 39, Tomato, 1.029, 0.952, -1.793, 0, 0, 0, 64 [SEP] 40, Egg, -0.818, 0.216, 0.543, 0, 180, 0, 78 [SEP] 41, SaltShaker, -1.881, 0.550, 2.770, 0, 0, 0, 84 [SEP] 42, PepperShaker, 0.713, 0.698, -0.565, 0, 270, 0, 56 [SEP] 43, Vase, 1.082, 2.207, -1.191, 0, 270, 0, 65 [SEP] 44, ButterKnife, 0.773, 0.911, 0.313, 0, 0, 0, 59 [SEP] 45, SoapBottle, -0.846, 0.933, -1.308, 0, 0, 0, 58 [SEP] 46, Vase, -1.292, 0.934, -0.380, 0, 0, 0, 58 [SEP] 47, Bowl, 1.055, 1.669, 0.280, 0, 270, 0, 66 [SEP] 48, DishSponge, -0.587, 0.780, -0.659, 0, 90, 0, 79 [SEP] 49, Spoon, -0.846, 0.934, -0.067, 0, 0, 0, 58 [SEP] 50, Cup, -1.469, 0.879, 2.719, 0, 0, 0, 85 [SEP] 51, Mug, 1.239, 1.661, 0.280, 0, 0, 0, 66 [SEP] 52, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 53, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 54, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 55, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 56, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 57, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 58, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 59, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 60, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 61, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 62, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 63, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 64, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 65, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 66, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 67, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 68, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 69, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 70, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 71, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 72, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 73, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 74, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 75, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 76, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 77, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 78, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 79, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 80, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 81, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 82, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 83, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 84, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 85, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 86, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 87, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 88, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 89, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 90, NorthWall, , , , , , , [SEP] 91, EastWall, , , , , , , [SEP] 92, SouthWall, , , , , , , [SEP] 93, WestWall, , , , , , , ", "output": ["STEP 1: Turn and go to the counter by the toaster. | STEP 2: Pick up a knife on the counter. | STEP 3: Go to the counter by the toaster. | STEP 4: Cut the lettuce on the counter. | STEP 5: Turn and go to the refrigerator. | STEP 6: Put the knife in the refrigerator. | STEP 7: Turn and go to the counter by the toaster. | STEP 8: Pick up a slice of lettuce on the counter. | STEP 9: Turn and go to the refrigerator. | STEP 10: Chill the slice of lettuce in the refrigerator. | STEP 11: Turn and go to the trash can. | STEP 12: Put the slice of lettuce in the trash can. | END"]} +{"id": "trial_T20190908_204424_983859-1", "input": "Put a cold slice of lettuce 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, 0.25, 0.900, 0.75, 0, 90, 0, [SEP] 1, Vase, 1.082, 2.209, -1.626, 0, 270, 0, 65 [SEP] 2, Potato, 0.944, 0.941, -0.555, 0, 0, 0, 59 [SEP] 3, CreditCard, 1.114, 0.908, -0.555, 0, 0, 0, 59 [SEP] 4, CreditCard, 0.915, 0.699, -0.690, 0, 270, 0, 56 [SEP] 5, ButterKnife, -0.550, 0.933, -0.143, 0, 0, 0, 58 [SEP] 6, ButterKnife, -1.292, 0.933, -1.167, 0, 0, 0, 58 [SEP] 7, Glassbottle, -1.363, 0.554, 2.822, 0, 0, 0, 84 [SEP] 8, Glassbottle, 1.239, 1.667, 0.089, 0, 270, 0, 66 [SEP] 9, Fork, 0.794, 0.495, -0.690, 0, 180, 0, 62 [SEP] 10, Fork, 1.029, 0.911, -0.034, 0, 0, 0, 59 [SEP] 11, Spoon, -0.753, 0.781, -0.659, 0, 90, 0, 79 [SEP] 12, Spatula, -0.753, 0.795, -0.832, 0, 180, 0, 79 [SEP] 13, Spatula, 0.914, 0.168, -0.650, 0, 0, 0, 61 [SEP] 14, Egg, 0.966, 1.439, 1.349, 0, 270, 0, 81 [SEP] 15, Egg, 1.148, 1.439, 1.540, 0, 270, 0, 81 [SEP] 16, Tomato, -1.054, 0.219, 0.543, 0, 180, 0, 78 [SEP] 17, Bowl, 0.905, 0.866, 1.540, 0, 270, 0, 81 [SEP] 18, Bowl, 0.905, 1.138, 0.967, 0, 270, 0, 81 [SEP] 19, SaltShaker, 1.010, 1.662, -0.529, 0, 270, 0, 67 [SEP] 20, SaltShaker, -1.981, 0.878, 2.746, 0, 0, 0, 85 [SEP] 21, PepperShaker, 1.056, 1.662, -0.465, 0, 270, 0, 67 [SEP] 22, Bread, 0.966, 0.944, 1.254, 0, 270, 0, 81 [SEP] 23, Mug, 1.199, 0.906, -0.208, 0, 0, 0, 59 [SEP] 24, Statue, -0.624, 0.936, -1.308, 0, 0, 0, 58 [SEP] 25, Glassbottle, 1.055, 1.667, -2.029, 0, 270, 0, 57 [SEP] 26, Bread, -0.779, 0.996, 0.209, 0, 258.641, 0, 58 [SEP] 27, CreditCard, 0.833, 0.150, -0.729, 0, 270, 0, 61 [SEP] 28, CellPhone, 0.794, 0.699, -0.648, 0, 270, 0, 56 [SEP] 29, Potato, 1.093, 1.825, -1.132, 0, 270, 0, 80 [SEP] 30, Knife, 0.773, 0.934, -0.555, 0, 270, 0, 59 [SEP] 31, Fork, -1.229, 0.934, 0.144, 0, 0, 0, 58 [SEP] 32, Pan, 1.026, 1.132, 1.349, 0, 90, 0, 81 [SEP] 33, Lettuce, 0.773, 0.988, 0.139, 0, 0, 0, 59 [SEP] 34, Plate, -1.104, 0.936, -0.905, 0, 0, 0, 58 [SEP] 35, Apple, -0.912, 0.227, 0.543, 0, 180, 0, 78 [SEP] 36, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 54 [SEP] 37, Spatula, 0.944, 0.926, -0.381, 0, 0, 0, 59 [SEP] 38, PaperTowelRoll, -1.571, 0.986, 2.665, 0, 0, 0, 85 [SEP] 39, Tomato, 1.029, 0.952, -1.793, 0, 0, 0, 64 [SEP] 40, Egg, -0.818, 0.216, 0.543, 0, 180, 0, 78 [SEP] 41, SaltShaker, -1.881, 0.550, 2.770, 0, 0, 0, 84 [SEP] 42, PepperShaker, 0.713, 0.698, -0.565, 0, 270, 0, 56 [SEP] 43, Vase, 1.082, 2.207, -1.191, 0, 270, 0, 65 [SEP] 44, ButterKnife, 0.773, 0.911, 0.313, 0, 0, 0, 59 [SEP] 45, SoapBottle, -0.846, 0.933, -1.308, 0, 0, 0, 58 [SEP] 46, Vase, -1.292, 0.934, -0.380, 0, 0, 0, 58 [SEP] 47, Bowl, 1.055, 1.669, 0.280, 0, 270, 0, 66 [SEP] 48, DishSponge, -0.587, 0.780, -0.659, 0, 90, 0, 79 [SEP] 49, Spoon, -0.846, 0.934, -0.067, 0, 0, 0, 58 [SEP] 50, Cup, -1.469, 0.879, 2.719, 0, 0, 0, 85 [SEP] 51, Mug, 1.239, 1.661, 0.280, 0, 0, 0, 66 [SEP] 52, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 53, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 54, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 55, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 56, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 57, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 58, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 59, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 60, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 61, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 62, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 63, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 64, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 65, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 66, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 67, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 68, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 69, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 70, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 71, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 72, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 73, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 74, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 75, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 76, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 77, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 78, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 79, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 80, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 81, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 82, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 83, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 84, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 85, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 86, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 87, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 88, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 89, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 90, NorthWall, , , , , , , [SEP] 91, EastWall, , , , , , , [SEP] 92, SouthWall, , , , , , , [SEP] 93, WestWall, , , , , , , ", "output": ["STEP 1: Go right and then turn left to face the toaster on the counter. | STEP 2: Pick up the knife off in front of the toaster. | STEP 3: Look up toward the lettuce on the counter. | STEP 4: Cut the lettuce on the counter. | STEP 5: Turn left and go to the fridge. | STEP 6: Put the knife in the fridge on the second shelf in front of the bread. | STEP 7: Turn right and go back to the lettuce on the left counter. | STEP 8: Pick up a slice of lettuce from the counter. | STEP 9: Go left and head back to the fridge. | STEP 10: Put the lettuce in the fridge to the right of the bread, close the fridge, open the fridge and pick up the lettuce. | STEP 11: Turn around, go to the end of the counter on the left and turn left to face the trash can. | STEP 12: Put the lettuce in the trash can in front of the tomato. | END"]} +{"id": "trial_T20190908_204424_983859-2", "input": "Slice lettuce, chill it, and put 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, 0.25, 0.900, 0.75, 0, 90, 0, [SEP] 1, Vase, 1.082, 2.209, -1.626, 0, 270, 0, 65 [SEP] 2, Potato, 0.944, 0.941, -0.555, 0, 0, 0, 59 [SEP] 3, CreditCard, 1.114, 0.908, -0.555, 0, 0, 0, 59 [SEP] 4, CreditCard, 0.915, 0.699, -0.690, 0, 270, 0, 56 [SEP] 5, ButterKnife, -0.550, 0.933, -0.143, 0, 0, 0, 58 [SEP] 6, ButterKnife, -1.292, 0.933, -1.167, 0, 0, 0, 58 [SEP] 7, Glassbottle, -1.363, 0.554, 2.822, 0, 0, 0, 84 [SEP] 8, Glassbottle, 1.239, 1.667, 0.089, 0, 270, 0, 66 [SEP] 9, Fork, 0.794, 0.495, -0.690, 0, 180, 0, 62 [SEP] 10, Fork, 1.029, 0.911, -0.034, 0, 0, 0, 59 [SEP] 11, Spoon, -0.753, 0.781, -0.659, 0, 90, 0, 79 [SEP] 12, Spatula, -0.753, 0.795, -0.832, 0, 180, 0, 79 [SEP] 13, Spatula, 0.914, 0.168, -0.650, 0, 0, 0, 61 [SEP] 14, Egg, 0.966, 1.439, 1.349, 0, 270, 0, 81 [SEP] 15, Egg, 1.148, 1.439, 1.540, 0, 270, 0, 81 [SEP] 16, Tomato, -1.054, 0.219, 0.543, 0, 180, 0, 78 [SEP] 17, Bowl, 0.905, 0.866, 1.540, 0, 270, 0, 81 [SEP] 18, Bowl, 0.905, 1.138, 0.967, 0, 270, 0, 81 [SEP] 19, SaltShaker, 1.010, 1.662, -0.529, 0, 270, 0, 67 [SEP] 20, SaltShaker, -1.981, 0.878, 2.746, 0, 0, 0, 85 [SEP] 21, PepperShaker, 1.056, 1.662, -0.465, 0, 270, 0, 67 [SEP] 22, Bread, 0.966, 0.944, 1.254, 0, 270, 0, 81 [SEP] 23, Mug, 1.199, 0.906, -0.208, 0, 0, 0, 59 [SEP] 24, Statue, -0.624, 0.936, -1.308, 0, 0, 0, 58 [SEP] 25, Glassbottle, 1.055, 1.667, -2.029, 0, 270, 0, 57 [SEP] 26, Bread, -0.779, 0.996, 0.209, 0, 258.641, 0, 58 [SEP] 27, CreditCard, 0.833, 0.150, -0.729, 0, 270, 0, 61 [SEP] 28, CellPhone, 0.794, 0.699, -0.648, 0, 270, 0, 56 [SEP] 29, Potato, 1.093, 1.825, -1.132, 0, 270, 0, 80 [SEP] 30, Knife, 0.773, 0.934, -0.555, 0, 270, 0, 59 [SEP] 31, Fork, -1.229, 0.934, 0.144, 0, 0, 0, 58 [SEP] 32, Pan, 1.026, 1.132, 1.349, 0, 90, 0, 81 [SEP] 33, Lettuce, 0.773, 0.988, 0.139, 0, 0, 0, 59 [SEP] 34, Plate, -1.104, 0.936, -0.905, 0, 0, 0, 58 [SEP] 35, Apple, -0.912, 0.227, 0.543, 0, 180, 0, 78 [SEP] 36, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 54 [SEP] 37, Spatula, 0.944, 0.926, -0.381, 0, 0, 0, 59 [SEP] 38, PaperTowelRoll, -1.571, 0.986, 2.665, 0, 0, 0, 85 [SEP] 39, Tomato, 1.029, 0.952, -1.793, 0, 0, 0, 64 [SEP] 40, Egg, -0.818, 0.216, 0.543, 0, 180, 0, 78 [SEP] 41, SaltShaker, -1.881, 0.550, 2.770, 0, 0, 0, 84 [SEP] 42, PepperShaker, 0.713, 0.698, -0.565, 0, 270, 0, 56 [SEP] 43, Vase, 1.082, 2.207, -1.191, 0, 270, 0, 65 [SEP] 44, ButterKnife, 0.773, 0.911, 0.313, 0, 0, 0, 59 [SEP] 45, SoapBottle, -0.846, 0.933, -1.308, 0, 0, 0, 58 [SEP] 46, Vase, -1.292, 0.934, -0.380, 0, 0, 0, 58 [SEP] 47, Bowl, 1.055, 1.669, 0.280, 0, 270, 0, 66 [SEP] 48, DishSponge, -0.587, 0.780, -0.659, 0, 90, 0, 79 [SEP] 49, Spoon, -0.846, 0.934, -0.067, 0, 0, 0, 58 [SEP] 50, Cup, -1.469, 0.879, 2.719, 0, 0, 0, 85 [SEP] 51, Mug, 1.239, 1.661, 0.280, 0, 0, 0, 66 [SEP] 52, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 53, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 54, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 55, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 56, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 57, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 58, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 59, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 60, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 61, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 62, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 63, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 64, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 65, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 66, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 67, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 68, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 69, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 70, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 71, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 72, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 73, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 74, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 75, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 76, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 77, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 78, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 79, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 80, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 81, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 82, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 83, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 84, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 85, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 86, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 87, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 88, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 89, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 90, NorthWall, , , , , , , [SEP] 91, EastWall, , , , , , , [SEP] 92, SouthWall, , , , , , , [SEP] 93, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and walk to the lettuce head sitting on the counter next to the toaster. | STEP 2: Pick up the knife next to the lettuce head. | STEP 3: Stand up with the knife. | STEP 4: Slice the lettuce head. | STEP 5: Turn to the left and walk to the refrigerator with the knife. | STEP 6: Open the refrigerator door. Put the knife in the refrigerator next to the bread and bowl. | STEP 7: Close the door, turn right and walk back to the lettuce head sitting on the counter next to the toaster. | STEP 8: Pick up a slice of the lettuce. | STEP 9: Turn to the left and walk to the refrigerator. | STEP 10: Open the refrigerator door and put the lettuce slice next to the knife. Close the door. Open the door and grab the lettuce slice and close the door. | STEP 11: Turn around and walk to the trash can. | STEP 12: Put the lettuce in the trash can. | END"]} +{"id": "trial_T20190909_032758_971610-0", "input": "Turn on the living room lamp. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.75, 0.901, 1.5, 0, 90, 0, [SEP] 1, Newspaper, -1.372, 1.597, 0.221, 0, 0, 0, 42 [SEP] 2, CellPhone, -1.709, 0.590, 4.470, 0, 0, 0, 49 [SEP] 3, Statue, -5.534, 1.044, 0.306, 0, 90, 0, 37 [SEP] 4, Vase, -4.505, 1.115, 4.391, 0, 90, 0, 55 [SEP] 5, Watch, -4.272, 0.997, 4.336, 0, 90, 0, 50 [SEP] 6, Watch, -4.826, 1.111, 4.885, 0, 90, 0, 55 [SEP] 7, CreditCard, -5.534, 1.038, 0.438, 0, 0, 0, 37 [SEP] 8, CreditCard, -4.505, 1.107, 4.687, 0, 90, 0, 55 [SEP] 9, Box, -0.870, 0.830, 1.960, 0, 180, 0, 59 [SEP] 10, Box, -3.052, 0.421, 4.466, 0, 180, 0, 54 [SEP] 11, Box, -1.584, 0.811, 4.297, 0, 0, 0, 49 [SEP] 12, Watch, -5.320, 1.591, 0.039, 0, 0, 0, 30 [SEP] 13, Pillow, -0.952, 0.700, 2.753, 0, 0, 0, 59 [SEP] 14, TissueBox, -5.024, 1.040, 0.372, 0, 0, 0, 37 [SEP] 15, Newspaper, -3.222, 1.114, 4.786, 0, 90, 0, 55 [SEP] 16, CreditCard, -1.117, 0.608, 3.017, 0, 0, 0, 59 [SEP] 17, KeyChain, -3.543, 1.108, 4.786, 0, 90, 0, 55 [SEP] 18, CellPhone, -5.485, 0.861, 0.282, 0, 0, 0, 36 [SEP] 19, Statue, -0.258, 0.598, 1.193, 0, 270, 0, 39 [SEP] 20, Laptop, -3.393, 1.104, 4.492, 0, 191.867, 0, 55 [SEP] 21, RemoteControl, -2.085, 0.592, 4.384, 0, 0, 0, 49 [SEP] 22, Vase, -2.244, 0.037, 0.317, 0, 90, 0, 38 [SEP] 23, DeskLamp, -4.649, 1.051, 0.268, 0, 0, 0, [SEP] 24, DeskLamp, -2.992, 1.107, 4.522, 0, 0, 0, [SEP] 25, FloorLamp, -0.650, 0.007, 4.431, 0, 0, 0, [SEP] 26, FloorLamp, -5.607, 0.007, 4.641, 0, 0, 0, [SEP] 27, Shelf, -5.237, 1.776, 0.070, 0, 0, 0, [SEP] 28, Shelf, -5.238, 1.968, 0.085, 0, 0, 0, [SEP] 29, Shelf, -5.242, 1.391, 0.086, 0, 0, 0, [SEP] 30, Shelf, -5.241, 1.582, 0.065, 0, 0, 0, [SEP] 31, LightSwitch, -6.002, 1.353, 3.404, 0, 90, 0, [SEP] 32, GarbageCan, -5.794, -0.033, 4.073, 0, 90, 0, [SEP] 33, Painting, -6.017, 1.802, 4.177, 90, 270, 0, [SEP] 34, HousePlant, -3.966, 1.625, 0.135, 0, 315, 0, [SEP] 35, Television, -3.355, 0.833, 0.027, 0, 0, 0, [SEP] 36, Drawer, -5.024, 0.903, 0.370, 0, 0, 0, [SEP] 37, SideTable, -5.024, 0.008, 0.267, 0, 0, 0, [SEP] 38, Safe, -2.298, 5.778, 0.268, 0, 90, 0, [SEP] 39, Shelf, -0.253, 0.781, 1.058, 0, 270, 0, [SEP] 40, Shelf, -0.283, 0.274, 1.066, 0, 270, 0, [SEP] 41, Shelf, -1.224, 1.288, 0.270, 0, 0, 0, [SEP] 42, Shelf, -1.218, 1.810, 0.275, 0, 0, 0, [SEP] 43, Shelf, -0.280, 1.810, 1.057, 0, 270, 0, [SEP] 44, Shelf, -1.218, 0.274, 0.262, 0, 0, 0, [SEP] 45, Shelf, -1.223, 0.782, 0.237, 0, 0, 0, [SEP] 46, Shelf, -0.280, 1.288, 1.055, 0, 270, 0, [SEP] 47, ShelvingUnit, -0.268, 0.004, 1.067, 0, 270, 0, [SEP] 48, ShelvingUnit, -1.218, 0.004, 0.244, 0, 0, 0, [SEP] 49, ArmChair, -2.027, 0.001, 4.422, 0, 178.692, 0, [SEP] 50, Drawer, -4.329, 1.014, 4.311, 0, 180, 0, [SEP] 51, Drawer, -3.750, 1.014, 4.311, 0, 180, 0, [SEP] 52, Cabinet, -4.049, 0.561, 4.212, 0, 180, 0, [SEP] 53, Cabinet, -4.032, 0.561, 4.212, 0, 180, 0, [SEP] 54, Cabinet, -2.884, 0.561, 4.212, 0, 180, 0, [SEP] 55, Dresser, -4.041, -0.000, 4.589, 0, 180, 0, [SEP] 56, Drawer, -4.916, 1.014, 4.311, 0, 180, 0, [SEP] 57, Drawer, -3.166, 1.014, 4.311, 0, 180, 0, [SEP] 58, Cabinet, -5.196, 0.561, 4.212, 0, 180, 0, [SEP] 59, Sofa, -0.705, -0.002, 2.753, 0, 270, 0, [SEP] 60, NorthWall, , , , , , , [SEP] 61, SouthWall, , , , , , , [SEP] 62, SouthWall, , , , , , , ", "output": ["STEP 1: Go across the room to the white couch and turn left, then go to the blue arm chair across from you. | STEP 2: Pick up the remote to the left of the cardboard box, on the chair. | STEP 3: Turn to the lamp on your right, between the arm chair and the couch. | STEP 4: Turn on the lamp. | END"]} +{"id": "trial_T20190909_032758_971610-1", "input": "examine a remote with the lamp SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.75, 0.901, 1.5, 0, 90, 0, [SEP] 1, Newspaper, -1.372, 1.597, 0.221, 0, 0, 0, 42 [SEP] 2, CellPhone, -1.709, 0.590, 4.470, 0, 0, 0, 49 [SEP] 3, Statue, -5.534, 1.044, 0.306, 0, 90, 0, 37 [SEP] 4, Vase, -4.505, 1.115, 4.391, 0, 90, 0, 55 [SEP] 5, Watch, -4.272, 0.997, 4.336, 0, 90, 0, 50 [SEP] 6, Watch, -4.826, 1.111, 4.885, 0, 90, 0, 55 [SEP] 7, CreditCard, -5.534, 1.038, 0.438, 0, 0, 0, 37 [SEP] 8, CreditCard, -4.505, 1.107, 4.687, 0, 90, 0, 55 [SEP] 9, Box, -0.870, 0.830, 1.960, 0, 180, 0, 59 [SEP] 10, Box, -3.052, 0.421, 4.466, 0, 180, 0, 54 [SEP] 11, Box, -1.584, 0.811, 4.297, 0, 0, 0, 49 [SEP] 12, Watch, -5.320, 1.591, 0.039, 0, 0, 0, 30 [SEP] 13, Pillow, -0.952, 0.700, 2.753, 0, 0, 0, 59 [SEP] 14, TissueBox, -5.024, 1.040, 0.372, 0, 0, 0, 37 [SEP] 15, Newspaper, -3.222, 1.114, 4.786, 0, 90, 0, 55 [SEP] 16, CreditCard, -1.117, 0.608, 3.017, 0, 0, 0, 59 [SEP] 17, KeyChain, -3.543, 1.108, 4.786, 0, 90, 0, 55 [SEP] 18, CellPhone, -5.485, 0.861, 0.282, 0, 0, 0, 36 [SEP] 19, Statue, -0.258, 0.598, 1.193, 0, 270, 0, 39 [SEP] 20, Laptop, -3.393, 1.104, 4.492, 0, 191.867, 0, 55 [SEP] 21, RemoteControl, -2.085, 0.592, 4.384, 0, 0, 0, 49 [SEP] 22, Vase, -2.244, 0.037, 0.317, 0, 90, 0, 38 [SEP] 23, DeskLamp, -4.649, 1.051, 0.268, 0, 0, 0, [SEP] 24, DeskLamp, -2.992, 1.107, 4.522, 0, 0, 0, [SEP] 25, FloorLamp, -0.650, 0.007, 4.431, 0, 0, 0, [SEP] 26, FloorLamp, -5.607, 0.007, 4.641, 0, 0, 0, [SEP] 27, Shelf, -5.237, 1.776, 0.070, 0, 0, 0, [SEP] 28, Shelf, -5.238, 1.968, 0.085, 0, 0, 0, [SEP] 29, Shelf, -5.242, 1.391, 0.086, 0, 0, 0, [SEP] 30, Shelf, -5.241, 1.582, 0.065, 0, 0, 0, [SEP] 31, LightSwitch, -6.002, 1.353, 3.404, 0, 90, 0, [SEP] 32, GarbageCan, -5.794, -0.033, 4.073, 0, 90, 0, [SEP] 33, Painting, -6.017, 1.802, 4.177, 90, 270, 0, [SEP] 34, HousePlant, -3.966, 1.625, 0.135, 0, 315, 0, [SEP] 35, Television, -3.355, 0.833, 0.027, 0, 0, 0, [SEP] 36, Drawer, -5.024, 0.903, 0.370, 0, 0, 0, [SEP] 37, SideTable, -5.024, 0.008, 0.267, 0, 0, 0, [SEP] 38, Safe, -2.298, 5.778, 0.268, 0, 90, 0, [SEP] 39, Shelf, -0.253, 0.781, 1.058, 0, 270, 0, [SEP] 40, Shelf, -0.283, 0.274, 1.066, 0, 270, 0, [SEP] 41, Shelf, -1.224, 1.288, 0.270, 0, 0, 0, [SEP] 42, Shelf, -1.218, 1.810, 0.275, 0, 0, 0, [SEP] 43, Shelf, -0.280, 1.810, 1.057, 0, 270, 0, [SEP] 44, Shelf, -1.218, 0.274, 0.262, 0, 0, 0, [SEP] 45, Shelf, -1.223, 0.782, 0.237, 0, 0, 0, [SEP] 46, Shelf, -0.280, 1.288, 1.055, 0, 270, 0, [SEP] 47, ShelvingUnit, -0.268, 0.004, 1.067, 0, 270, 0, [SEP] 48, ShelvingUnit, -1.218, 0.004, 0.244, 0, 0, 0, [SEP] 49, ArmChair, -2.027, 0.001, 4.422, 0, 178.692, 0, [SEP] 50, Drawer, -4.329, 1.014, 4.311, 0, 180, 0, [SEP] 51, Drawer, -3.750, 1.014, 4.311, 0, 180, 0, [SEP] 52, Cabinet, -4.049, 0.561, 4.212, 0, 180, 0, [SEP] 53, Cabinet, -4.032, 0.561, 4.212, 0, 180, 0, [SEP] 54, Cabinet, -2.884, 0.561, 4.212, 0, 180, 0, [SEP] 55, Dresser, -4.041, -0.000, 4.589, 0, 180, 0, [SEP] 56, Drawer, -4.916, 1.014, 4.311, 0, 180, 0, [SEP] 57, Drawer, -3.166, 1.014, 4.311, 0, 180, 0, [SEP] 58, Cabinet, -5.196, 0.561, 4.212, 0, 180, 0, [SEP] 59, Sofa, -0.705, -0.002, 2.753, 0, 270, 0, [SEP] 60, NorthWall, , , , , , , [SEP] 61, SouthWall, , , , , , , [SEP] 62, SouthWall, , , , , , , ", "output": ["STEP 1: walk to the couch, take a left, walk to the blue chair | STEP 2: pick up the remote from the blue chair | STEP 3: turn right to face the couch, lift the remote to the lamp | STEP 4: turn the lamp on | END"]} +{"id": "trial_T20190909_032758_971610-2", "input": "Look at a remote under a lit lamp. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.75, 0.901, 1.5, 0, 90, 0, [SEP] 1, Newspaper, -1.372, 1.597, 0.221, 0, 0, 0, 42 [SEP] 2, CellPhone, -1.709, 0.590, 4.470, 0, 0, 0, 49 [SEP] 3, Statue, -5.534, 1.044, 0.306, 0, 90, 0, 37 [SEP] 4, Vase, -4.505, 1.115, 4.391, 0, 90, 0, 55 [SEP] 5, Watch, -4.272, 0.997, 4.336, 0, 90, 0, 50 [SEP] 6, Watch, -4.826, 1.111, 4.885, 0, 90, 0, 55 [SEP] 7, CreditCard, -5.534, 1.038, 0.438, 0, 0, 0, 37 [SEP] 8, CreditCard, -4.505, 1.107, 4.687, 0, 90, 0, 55 [SEP] 9, Box, -0.870, 0.830, 1.960, 0, 180, 0, 59 [SEP] 10, Box, -3.052, 0.421, 4.466, 0, 180, 0, 54 [SEP] 11, Box, -1.584, 0.811, 4.297, 0, 0, 0, 49 [SEP] 12, Watch, -5.320, 1.591, 0.039, 0, 0, 0, 30 [SEP] 13, Pillow, -0.952, 0.700, 2.753, 0, 0, 0, 59 [SEP] 14, TissueBox, -5.024, 1.040, 0.372, 0, 0, 0, 37 [SEP] 15, Newspaper, -3.222, 1.114, 4.786, 0, 90, 0, 55 [SEP] 16, CreditCard, -1.117, 0.608, 3.017, 0, 0, 0, 59 [SEP] 17, KeyChain, -3.543, 1.108, 4.786, 0, 90, 0, 55 [SEP] 18, CellPhone, -5.485, 0.861, 0.282, 0, 0, 0, 36 [SEP] 19, Statue, -0.258, 0.598, 1.193, 0, 270, 0, 39 [SEP] 20, Laptop, -3.393, 1.104, 4.492, 0, 191.867, 0, 55 [SEP] 21, RemoteControl, -2.085, 0.592, 4.384, 0, 0, 0, 49 [SEP] 22, Vase, -2.244, 0.037, 0.317, 0, 90, 0, 38 [SEP] 23, DeskLamp, -4.649, 1.051, 0.268, 0, 0, 0, [SEP] 24, DeskLamp, -2.992, 1.107, 4.522, 0, 0, 0, [SEP] 25, FloorLamp, -0.650, 0.007, 4.431, 0, 0, 0, [SEP] 26, FloorLamp, -5.607, 0.007, 4.641, 0, 0, 0, [SEP] 27, Shelf, -5.237, 1.776, 0.070, 0, 0, 0, [SEP] 28, Shelf, -5.238, 1.968, 0.085, 0, 0, 0, [SEP] 29, Shelf, -5.242, 1.391, 0.086, 0, 0, 0, [SEP] 30, Shelf, -5.241, 1.582, 0.065, 0, 0, 0, [SEP] 31, LightSwitch, -6.002, 1.353, 3.404, 0, 90, 0, [SEP] 32, GarbageCan, -5.794, -0.033, 4.073, 0, 90, 0, [SEP] 33, Painting, -6.017, 1.802, 4.177, 90, 270, 0, [SEP] 34, HousePlant, -3.966, 1.625, 0.135, 0, 315, 0, [SEP] 35, Television, -3.355, 0.833, 0.027, 0, 0, 0, [SEP] 36, Drawer, -5.024, 0.903, 0.370, 0, 0, 0, [SEP] 37, SideTable, -5.024, 0.008, 0.267, 0, 0, 0, [SEP] 38, Safe, -2.298, 5.778, 0.268, 0, 90, 0, [SEP] 39, Shelf, -0.253, 0.781, 1.058, 0, 270, 0, [SEP] 40, Shelf, -0.283, 0.274, 1.066, 0, 270, 0, [SEP] 41, Shelf, -1.224, 1.288, 0.270, 0, 0, 0, [SEP] 42, Shelf, -1.218, 1.810, 0.275, 0, 0, 0, [SEP] 43, Shelf, -0.280, 1.810, 1.057, 0, 270, 0, [SEP] 44, Shelf, -1.218, 0.274, 0.262, 0, 0, 0, [SEP] 45, Shelf, -1.223, 0.782, 0.237, 0, 0, 0, [SEP] 46, Shelf, -0.280, 1.288, 1.055, 0, 270, 0, [SEP] 47, ShelvingUnit, -0.268, 0.004, 1.067, 0, 270, 0, [SEP] 48, ShelvingUnit, -1.218, 0.004, 0.244, 0, 0, 0, [SEP] 49, ArmChair, -2.027, 0.001, 4.422, 0, 178.692, 0, [SEP] 50, Drawer, -4.329, 1.014, 4.311, 0, 180, 0, [SEP] 51, Drawer, -3.750, 1.014, 4.311, 0, 180, 0, [SEP] 52, Cabinet, -4.049, 0.561, 4.212, 0, 180, 0, [SEP] 53, Cabinet, -4.032, 0.561, 4.212, 0, 180, 0, [SEP] 54, Cabinet, -2.884, 0.561, 4.212, 0, 180, 0, [SEP] 55, Dresser, -4.041, -0.000, 4.589, 0, 180, 0, [SEP] 56, Drawer, -4.916, 1.014, 4.311, 0, 180, 0, [SEP] 57, Drawer, -3.166, 1.014, 4.311, 0, 180, 0, [SEP] 58, Cabinet, -5.196, 0.561, 4.212, 0, 180, 0, [SEP] 59, Sofa, -0.705, -0.002, 2.753, 0, 270, 0, [SEP] 60, NorthWall, , , , , , , [SEP] 61, SouthWall, , , , , , , [SEP] 62, SouthWall, , , , , , , ", "output": ["STEP 1: Walk forward and make a left until the blue armchair is reached. | STEP 2: Pick up the remote from the seat of the blue armchair. | STEP 3: Turn to face the tall lamp on the right of the blue armchair. | STEP 4: Turn on the tall lamp. | END"]} +{"id": "trial_T20190909_025512_298420-0", "input": "put green cup and knife into sink basin 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, 180, 0, [SEP] 1, Potato, -0.698, 0.811, -0.486, 0, 90, 0, 79 [SEP] 2, CreditCard, 0.833, 0.150, -0.690, 0, 270, 0, 61 [SEP] 3, CreditCard, -1.571, 0.878, 2.719, 0, 0, 0, 85 [SEP] 4, CellPhone, 1.199, 0.908, -0.729, 0, 0, 0, 59 [SEP] 5, CellPhone, -1.363, 0.550, 2.770, 0, 0, 0, 84 [SEP] 6, DishSponge, 0.794, 0.701, -0.648, 0, 270, 0, 56 [SEP] 7, DishSponge, -1.355, 0.933, -0.905, 0, 0, 0, 58 [SEP] 8, Fork, 0.794, 0.702, -0.772, 0, 180, 0, 56 [SEP] 9, Fork, -0.698, 0.777, -0.573, 0, 0, 0, 79 [SEP] 10, Spoon, 0.773, 0.912, -1.965, 0, 0, 0, 64 [SEP] 11, Spoon, 0.773, 0.912, 0.139, 0, 0, 0, 59 [SEP] 12, Knife, 0.944, 0.934, -0.381, 0, 180, 0, 59 [SEP] 13, Egg, 0.783, 1.680, 1.158, 0, 270, 0, 81 [SEP] 14, Egg, 0.688, 0.949, -0.555, 0, 0, 0, 59 [SEP] 15, Cup, -1.881, 0.551, 2.563, 0, 0, 0, 84 [SEP] 16, Cup, 0.944, 0.908, -0.729, 0, 0, 0, 59 [SEP] 17, Plate, 0.859, 0.914, -0.381, 0, 0, 0, 59 [SEP] 18, Plate, -0.642, 0.783, -0.832, 0, 90, 0, 79 [SEP] 19, Tomato, 0.688, 0.952, 0.313, 0, 0, 0, 59 [SEP] 20, Lettuce, 1.026, 1.212, 1.063, 0, 270, 0, 81 [SEP] 21, Mug, -1.981, 0.876, 2.719, 0, 0, 0, 85 [SEP] 22, Mug, 1.028, 1.790, -1.132, 0, 270, 0, 80 [SEP] 23, Apple, -0.960, 0.229, 0.510, 0, 180, 0, 78 [SEP] 24, Statue, -0.624, 0.936, 0.009, 0, 0, 0, 58 [SEP] 25, Glassbottle, -1.292, 0.934, -1.167, 0, 0, 0, 58 [SEP] 26, Bread, -0.779, 0.996, 0.209, 0, 258.641, 0, 58 [SEP] 27, CreditCard, -1.985, 0.551, 2.874, 0, 0, 0, 84 [SEP] 28, CellPhone, -0.624, 0.930, -1.231, 0, 0, 0, 58 [SEP] 29, Potato, -1.054, 0.207, 0.608, 0, 180, 0, 78 [SEP] 30, Knife, 0.944, 0.934, -0.034, 0, 0, 0, 59 [SEP] 31, Fork, 0.793, 0.154, -0.769, 0, 180, 0, 61 [SEP] 32, Pan, 0.966, 1.640, 1.063, 0, 180, 0, 81 [SEP] 33, Lettuce, -0.624, 1.010, -1.231, 0, 0, 0, 58 [SEP] 34, Plate, -1.104, 0.936, 0.144, 0, 0, 0, 58 [SEP] 35, Apple, 0.905, 1.452, 1.158, 0, 270, 0, 81 [SEP] 36, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 54 [SEP] 37, Spatula, 1.199, 0.926, -0.381, 0, 90, 0, 59 [SEP] 38, PaperTowelRoll, -0.960, 0.281, 0.608, 0, 180, 0, 78 [SEP] 39, Tomato, 1.114, 0.952, 0.139, 0, 0, 0, 59 [SEP] 40, Egg, 1.060, 1.821, -1.236, 0, 270, 0, 80 [SEP] 41, SaltShaker, 1.256, 2.204, -1.517, 0, 270, 0, 65 [SEP] 42, PepperShaker, 0.861, 0.104, -2.212, 0, 0, 0, 63 [SEP] 43, Vase, 1.194, 1.666, -0.529, 0, 270, 0, 67 [SEP] 44, ButterKnife, -1.292, 0.933, -0.905, 0, 0, 0, 58 [SEP] 45, SoapBottle, 1.148, 1.666, -2.234, 0, 270, 0, 57 [SEP] 46, Vase, 1.101, 1.667, 0.089, 0, 270, 0, 66 [SEP] 47, Bowl, 1.169, 2.211, -1.191, 0, 270, 0, 65 [SEP] 48, DishSponge, -0.624, 0.933, -1.618, 0, 0, 0, 58 [SEP] 49, Spoon, 0.834, 0.496, -0.690, 0, 270, 0, 62 [SEP] 50, Cup, 1.114, 0.908, -0.381, 0, 0, 0, 59 [SEP] 51, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 77 [SEP] 52, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 53, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 54, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 55, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 56, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 57, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 58, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 59, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 60, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 61, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 62, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 63, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 64, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 65, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 66, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 67, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 68, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 69, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 70, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 71, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 72, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 73, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 74, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 75, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 76, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 77, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 78, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 79, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 80, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 81, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 82, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 83, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 84, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 85, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 86, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 87, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 88, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 89, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 90, NorthWall, , , , , , , [SEP] 91, EastWall, , , , , , , [SEP] 92, SouthWall, , , , , , , [SEP] 93, WestWall, , , , , , , ", "output": ["STEP 1: walk to face counter behind sink | STEP 2: pick up butter knife from under sponge on counter | STEP 3: walk to face counter to left of stove | STEP 4: put knife into green cup on the left on the counter | STEP 5: pick up the green cup from counter | STEP 6: turn to face the kitchen sink | STEP 7: put green cup into sink basin | END"]} +{"id": "trial_T20190909_025512_298420-1", "input": "Place a glass with a knife 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, -1.5, 0.900, 1.25, 0, 180, 0, [SEP] 1, Potato, -0.698, 0.811, -0.486, 0, 90, 0, 79 [SEP] 2, CreditCard, 0.833, 0.150, -0.690, 0, 270, 0, 61 [SEP] 3, CreditCard, -1.571, 0.878, 2.719, 0, 0, 0, 85 [SEP] 4, CellPhone, 1.199, 0.908, -0.729, 0, 0, 0, 59 [SEP] 5, CellPhone, -1.363, 0.550, 2.770, 0, 0, 0, 84 [SEP] 6, DishSponge, 0.794, 0.701, -0.648, 0, 270, 0, 56 [SEP] 7, DishSponge, -1.355, 0.933, -0.905, 0, 0, 0, 58 [SEP] 8, Fork, 0.794, 0.702, -0.772, 0, 180, 0, 56 [SEP] 9, Fork, -0.698, 0.777, -0.573, 0, 0, 0, 79 [SEP] 10, Spoon, 0.773, 0.912, -1.965, 0, 0, 0, 64 [SEP] 11, Spoon, 0.773, 0.912, 0.139, 0, 0, 0, 59 [SEP] 12, Knife, 0.944, 0.934, -0.381, 0, 180, 0, 59 [SEP] 13, Egg, 0.783, 1.680, 1.158, 0, 270, 0, 81 [SEP] 14, Egg, 0.688, 0.949, -0.555, 0, 0, 0, 59 [SEP] 15, Cup, -1.881, 0.551, 2.563, 0, 0, 0, 84 [SEP] 16, Cup, 0.944, 0.908, -0.729, 0, 0, 0, 59 [SEP] 17, Plate, 0.859, 0.914, -0.381, 0, 0, 0, 59 [SEP] 18, Plate, -0.642, 0.783, -0.832, 0, 90, 0, 79 [SEP] 19, Tomato, 0.688, 0.952, 0.313, 0, 0, 0, 59 [SEP] 20, Lettuce, 1.026, 1.212, 1.063, 0, 270, 0, 81 [SEP] 21, Mug, -1.981, 0.876, 2.719, 0, 0, 0, 85 [SEP] 22, Mug, 1.028, 1.790, -1.132, 0, 270, 0, 80 [SEP] 23, Apple, -0.960, 0.229, 0.510, 0, 180, 0, 78 [SEP] 24, Statue, -0.624, 0.936, 0.009, 0, 0, 0, 58 [SEP] 25, Glassbottle, -1.292, 0.934, -1.167, 0, 0, 0, 58 [SEP] 26, Bread, -0.779, 0.996, 0.209, 0, 258.641, 0, 58 [SEP] 27, CreditCard, -1.985, 0.551, 2.874, 0, 0, 0, 84 [SEP] 28, CellPhone, -0.624, 0.930, -1.231, 0, 0, 0, 58 [SEP] 29, Potato, -1.054, 0.207, 0.608, 0, 180, 0, 78 [SEP] 30, Knife, 0.944, 0.934, -0.034, 0, 0, 0, 59 [SEP] 31, Fork, 0.793, 0.154, -0.769, 0, 180, 0, 61 [SEP] 32, Pan, 0.966, 1.640, 1.063, 0, 180, 0, 81 [SEP] 33, Lettuce, -0.624, 1.010, -1.231, 0, 0, 0, 58 [SEP] 34, Plate, -1.104, 0.936, 0.144, 0, 0, 0, 58 [SEP] 35, Apple, 0.905, 1.452, 1.158, 0, 270, 0, 81 [SEP] 36, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 54 [SEP] 37, Spatula, 1.199, 0.926, -0.381, 0, 90, 0, 59 [SEP] 38, PaperTowelRoll, -0.960, 0.281, 0.608, 0, 180, 0, 78 [SEP] 39, Tomato, 1.114, 0.952, 0.139, 0, 0, 0, 59 [SEP] 40, Egg, 1.060, 1.821, -1.236, 0, 270, 0, 80 [SEP] 41, SaltShaker, 1.256, 2.204, -1.517, 0, 270, 0, 65 [SEP] 42, PepperShaker, 0.861, 0.104, -2.212, 0, 0, 0, 63 [SEP] 43, Vase, 1.194, 1.666, -0.529, 0, 270, 0, 67 [SEP] 44, ButterKnife, -1.292, 0.933, -0.905, 0, 0, 0, 58 [SEP] 45, SoapBottle, 1.148, 1.666, -2.234, 0, 270, 0, 57 [SEP] 46, Vase, 1.101, 1.667, 0.089, 0, 270, 0, 66 [SEP] 47, Bowl, 1.169, 2.211, -1.191, 0, 270, 0, 65 [SEP] 48, DishSponge, -0.624, 0.933, -1.618, 0, 0, 0, 58 [SEP] 49, Spoon, 0.834, 0.496, -0.690, 0, 270, 0, 62 [SEP] 50, Cup, 1.114, 0.908, -0.381, 0, 0, 0, 59 [SEP] 51, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 77 [SEP] 52, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 53, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 54, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 55, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 56, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 57, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 58, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 59, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 60, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 61, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 62, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 63, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 64, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 65, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 66, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 67, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 68, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 69, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 70, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 71, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 72, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 73, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 74, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 75, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 76, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 77, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 78, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 79, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 80, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 81, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 82, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 83, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 84, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 85, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 86, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 87, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 88, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 89, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 90, NorthWall, , , , , , , [SEP] 91, EastWall, , , , , , , [SEP] 92, SouthWall, , , , , , , [SEP] 93, WestWall, , , , , , , ", "output": ["STEP 1: Turn right, hang a left at the wall and walk to the counter on the left. | STEP 2: Pick up the knife under the green sponge on the counter. | STEP 3: Turn around, hang a right at the wall, turn right towards the fridge, turn right and walk to the counter on the left. | STEP 4: Put the knife inside the green glass in front of the spatula in the middle of the counter. | STEP 5: Pick up the green glass with the knife on the counter. | STEP 6: Turn around and walk to the sink. | STEP 7: Put the glass with the knife inside the sink. | END"]} +{"id": "trial_T20190909_025512_298420-2", "input": "Move a knife in a cup 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, -1.5, 0.900, 1.25, 0, 180, 0, [SEP] 1, Potato, -0.698, 0.811, -0.486, 0, 90, 0, 79 [SEP] 2, CreditCard, 0.833, 0.150, -0.690, 0, 270, 0, 61 [SEP] 3, CreditCard, -1.571, 0.878, 2.719, 0, 0, 0, 85 [SEP] 4, CellPhone, 1.199, 0.908, -0.729, 0, 0, 0, 59 [SEP] 5, CellPhone, -1.363, 0.550, 2.770, 0, 0, 0, 84 [SEP] 6, DishSponge, 0.794, 0.701, -0.648, 0, 270, 0, 56 [SEP] 7, DishSponge, -1.355, 0.933, -0.905, 0, 0, 0, 58 [SEP] 8, Fork, 0.794, 0.702, -0.772, 0, 180, 0, 56 [SEP] 9, Fork, -0.698, 0.777, -0.573, 0, 0, 0, 79 [SEP] 10, Spoon, 0.773, 0.912, -1.965, 0, 0, 0, 64 [SEP] 11, Spoon, 0.773, 0.912, 0.139, 0, 0, 0, 59 [SEP] 12, Knife, 0.944, 0.934, -0.381, 0, 180, 0, 59 [SEP] 13, Egg, 0.783, 1.680, 1.158, 0, 270, 0, 81 [SEP] 14, Egg, 0.688, 0.949, -0.555, 0, 0, 0, 59 [SEP] 15, Cup, -1.881, 0.551, 2.563, 0, 0, 0, 84 [SEP] 16, Cup, 0.944, 0.908, -0.729, 0, 0, 0, 59 [SEP] 17, Plate, 0.859, 0.914, -0.381, 0, 0, 0, 59 [SEP] 18, Plate, -0.642, 0.783, -0.832, 0, 90, 0, 79 [SEP] 19, Tomato, 0.688, 0.952, 0.313, 0, 0, 0, 59 [SEP] 20, Lettuce, 1.026, 1.212, 1.063, 0, 270, 0, 81 [SEP] 21, Mug, -1.981, 0.876, 2.719, 0, 0, 0, 85 [SEP] 22, Mug, 1.028, 1.790, -1.132, 0, 270, 0, 80 [SEP] 23, Apple, -0.960, 0.229, 0.510, 0, 180, 0, 78 [SEP] 24, Statue, -0.624, 0.936, 0.009, 0, 0, 0, 58 [SEP] 25, Glassbottle, -1.292, 0.934, -1.167, 0, 0, 0, 58 [SEP] 26, Bread, -0.779, 0.996, 0.209, 0, 258.641, 0, 58 [SEP] 27, CreditCard, -1.985, 0.551, 2.874, 0, 0, 0, 84 [SEP] 28, CellPhone, -0.624, 0.930, -1.231, 0, 0, 0, 58 [SEP] 29, Potato, -1.054, 0.207, 0.608, 0, 180, 0, 78 [SEP] 30, Knife, 0.944, 0.934, -0.034, 0, 0, 0, 59 [SEP] 31, Fork, 0.793, 0.154, -0.769, 0, 180, 0, 61 [SEP] 32, Pan, 0.966, 1.640, 1.063, 0, 180, 0, 81 [SEP] 33, Lettuce, -0.624, 1.010, -1.231, 0, 0, 0, 58 [SEP] 34, Plate, -1.104, 0.936, 0.144, 0, 0, 0, 58 [SEP] 35, Apple, 0.905, 1.452, 1.158, 0, 270, 0, 81 [SEP] 36, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 54 [SEP] 37, Spatula, 1.199, 0.926, -0.381, 0, 90, 0, 59 [SEP] 38, PaperTowelRoll, -0.960, 0.281, 0.608, 0, 180, 0, 78 [SEP] 39, Tomato, 1.114, 0.952, 0.139, 0, 0, 0, 59 [SEP] 40, Egg, 1.060, 1.821, -1.236, 0, 270, 0, 80 [SEP] 41, SaltShaker, 1.256, 2.204, -1.517, 0, 270, 0, 65 [SEP] 42, PepperShaker, 0.861, 0.104, -2.212, 0, 0, 0, 63 [SEP] 43, Vase, 1.194, 1.666, -0.529, 0, 270, 0, 67 [SEP] 44, ButterKnife, -1.292, 0.933, -0.905, 0, 0, 0, 58 [SEP] 45, SoapBottle, 1.148, 1.666, -2.234, 0, 270, 0, 57 [SEP] 46, Vase, 1.101, 1.667, 0.089, 0, 270, 0, 66 [SEP] 47, Bowl, 1.169, 2.211, -1.191, 0, 270, 0, 65 [SEP] 48, DishSponge, -0.624, 0.933, -1.618, 0, 0, 0, 58 [SEP] 49, Spoon, 0.834, 0.496, -0.690, 0, 270, 0, 62 [SEP] 50, Cup, 1.114, 0.908, -0.381, 0, 0, 0, 59 [SEP] 51, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 77 [SEP] 52, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 53, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 54, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 55, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 56, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 57, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 58, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 59, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 60, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 61, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 62, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 63, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 64, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 65, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 66, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 67, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 68, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 69, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 70, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 71, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 72, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 73, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 74, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 75, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 76, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 77, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 78, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 79, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 80, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 81, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 82, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 83, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 84, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 85, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 86, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 87, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 88, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 89, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 90, NorthWall, , , , , , , [SEP] 91, EastWall, , , , , , , [SEP] 92, SouthWall, , , , , , , [SEP] 93, WestWall, , , , , , , ", "output": ["STEP 1: Turn right to move around the island to stand facing the counter and centered between the two chairs. | STEP 2: Pick up the butter knife from beneath the sponge. | STEP 3: Turn left to move around to the other side of the island and stop facing the counter above the dishwasher. | STEP 4: Place the knife in the green cup closest to the wall behind the counter. | STEP 5: Pick up the cup with the knife in it from the counter. | STEP 6: Turn around and face the sink. | STEP 7: Place the cup with the knife inside in the sink. | END"]} +{"id": "trial_T20190908_073839_704604-0", "input": "Put the heated slice apple 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, -3.0, 0.900, 0.25, 0, 0, 0, [SEP] 1, Vase, 0.773, 0.912, -0.034, 0, 0, 0, 60 [SEP] 2, Potato, -0.865, 0.209, 0.510, 0, 180, 0, 79 [SEP] 3, CreditCard, -1.985, 0.551, 2.822, 0, 0, 0, 85 [SEP] 4, CellPhone, -1.104, 0.930, -1.430, 0, 0, 0, 59 [SEP] 5, CellPhone, -0.920, 0.930, 0.009, 0, 0, 0, 59 [SEP] 6, ButterKnife, 0.859, 0.911, -0.729, 0, 90, 0, 60 [SEP] 7, ButterKnife, -0.697, 0.780, -0.832, 0, 90, 0, 80 [SEP] 8, Fork, -0.624, 0.934, 0.009, 0, 180, 0, 59 [SEP] 9, Fork, -0.753, 0.781, -0.745, 0, 180, 0, 80 [SEP] 10, Cup, 0.861, 0.105, -2.212, 0, 0, 0, 64 [SEP] 11, Plate, 1.114, 0.914, -0.381, 0, 0, 0, 60 [SEP] 12, Plate, 0.844, 0.866, 1.444, 0, 270, 0, 82 [SEP] 13, Tomato, 1.026, 1.175, 1.254, 0, 270, 0, 82 [SEP] 14, SoapBottle, 0.688, 0.911, -0.381, 0, 0, 0, 60 [SEP] 15, Bowl, 1.147, 1.669, 0.153, 0, 270, 0, 67 [SEP] 16, Bowl, -1.292, 0.936, 0.144, 0, 0, 0, 59 [SEP] 17, PepperShaker, -1.674, 0.878, 2.719, 0, 0, 0, 86 [SEP] 18, Lettuce, 0.905, 0.940, 1.158, 0, 270, 0, 82 [SEP] 19, Lettuce, 1.029, 0.988, 0.139, 0, 0, 0, 60 [SEP] 20, Bread, 0.859, 0.992, -0.381, 0, 0, 0, 60 [SEP] 21, Mug, 1.055, 1.661, -2.029, 0, 270, 0, 58 [SEP] 22, Apple, 0.844, 1.185, 1.349, 0, 270, 0, 82 [SEP] 23, Apple, -1.041, 0.983, -0.905, 0, 0, 0, 59 [SEP] 24, Apple, -0.808, 0.830, -0.573, 0, 90, 0, 80 [SEP] 25, Statue, -0.624, 0.936, -1.231, 0, 0, 0, 59 [SEP] 26, Glassbottle, -0.697, 0.781, -0.573, 0, 90, 0, 80 [SEP] 27, Bread, -0.846, 1.014, -1.463, 0, 0, 0, 59 [SEP] 28, CreditCard, -1.367, 0.878, 2.773, 0, 0, 0, 86 [SEP] 29, CellPhone, -1.292, 0.930, -0.905, 0, 0, 0, 59 [SEP] 30, Potato, 0.966, 1.165, 1.063, 0, 270, 0, 82 [SEP] 31, Knife, 0.868, 0.700, -0.600, 90, 315, 0, 57 [SEP] 32, Fork, 0.875, 0.495, -0.648, 0, 0, 0, 63 [SEP] 33, Pan, 0.966, 1.399, 1.254, 0, 0, 0, 82 [SEP] 34, Lettuce, 0.688, 0.988, -0.729, 0, 0, 0, 60 [SEP] 35, Plate, -0.550, 0.936, 0.239, 0, 0, 0, 59 [SEP] 36, Apple, -1.007, 0.227, 0.576, 0, 180, 0, 79 [SEP] 37, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 55 [SEP] 38, Spatula, 0.859, 0.926, -1.879, 0, 0, 0, 65 [SEP] 39, PaperTowelRoll, -1.101, 0.281, 0.608, 0, 180, 0, 79 [SEP] 40, Tomato, 1.026, 1.175, 1.540, 0, 270, 0, 82 [SEP] 41, Egg, -0.587, 0.814, -0.573, 0, 90, 0, 80 [SEP] 42, SaltShaker, 0.956, 0.699, -0.607, 0, 270, 0, 57 [SEP] 43, PepperShaker, 1.029, 0.907, -1.879, 0, 0, 0, 65 [SEP] 44, Vase, 0.760, 0.120, 0.374, 0, 270, 0, 54 [SEP] 45, ButterKnife, -0.772, 0.933, 0.162, 0, 0, 0, 59 [SEP] 46, SoapBottle, 1.194, 1.666, -2.234, 0, 270, 0, 58 [SEP] 47, Vase, -1.229, 0.934, -0.118, 0, 0, 0, 59 [SEP] 48, Bowl, 1.026, 1.646, 1.063, 0, 270, 0, 82 [SEP] 49, DishSponge, -0.865, 0.178, 0.608, 0, 180, 0, 79 [SEP] 50, Spoon, -0.698, 0.777, -0.486, 0, 90, 0, 80 [SEP] 51, Cup, 0.905, 1.132, 1.540, 0, 270, 0, 82 [SEP] 52, Mug, 0.783, 1.396, 1.540, 0, 270, 0, 82 [SEP] 53, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 54, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 55, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 56, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 57, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 58, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 59, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 60, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 61, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 62, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 63, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 64, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 65, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 66, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 67, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 68, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 69, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 70, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 71, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 72, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 73, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 74, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 75, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 76, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 77, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 78, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 79, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 80, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 81, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 82, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 83, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 84, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 85, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 86, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 87, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 88, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 89, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 90, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 91, NorthWall, , , , , , , [SEP] 92, EastWall, , , , , , , [SEP] 93, SouthWall, , , , , , , [SEP] 94, WestWall, , , , , , , ", "output": ["STEP 1: Move forward then turn right walk straight toward the fridge then turn right head to the sink | STEP 2: Pick up the knife in the sink | STEP 3: Turn right then walk forward then turn left facing the trash bin | STEP 4: Slice the apple in the bin | STEP 5: Drop the knife in the bin | STEP 6: Pick up the slice apple in the bin | STEP 7: Turn left head to the microwave on your left | STEP 8: Open the microwave put in the slice apple, take it out then close the microwave | STEP 9: Turn left move forward turn left face the trash bin | STEP 10: Put the heated slice apple in the trash bin | END"]} +{"id": "trial_T20190908_073839_704604-1", "input": "Put the cooked apple piece 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, -3.0, 0.900, 0.25, 0, 0, 0, [SEP] 1, Vase, 0.773, 0.912, -0.034, 0, 0, 0, 60 [SEP] 2, Potato, -0.865, 0.209, 0.510, 0, 180, 0, 79 [SEP] 3, CreditCard, -1.985, 0.551, 2.822, 0, 0, 0, 85 [SEP] 4, CellPhone, -1.104, 0.930, -1.430, 0, 0, 0, 59 [SEP] 5, CellPhone, -0.920, 0.930, 0.009, 0, 0, 0, 59 [SEP] 6, ButterKnife, 0.859, 0.911, -0.729, 0, 90, 0, 60 [SEP] 7, ButterKnife, -0.697, 0.780, -0.832, 0, 90, 0, 80 [SEP] 8, Fork, -0.624, 0.934, 0.009, 0, 180, 0, 59 [SEP] 9, Fork, -0.753, 0.781, -0.745, 0, 180, 0, 80 [SEP] 10, Cup, 0.861, 0.105, -2.212, 0, 0, 0, 64 [SEP] 11, Plate, 1.114, 0.914, -0.381, 0, 0, 0, 60 [SEP] 12, Plate, 0.844, 0.866, 1.444, 0, 270, 0, 82 [SEP] 13, Tomato, 1.026, 1.175, 1.254, 0, 270, 0, 82 [SEP] 14, SoapBottle, 0.688, 0.911, -0.381, 0, 0, 0, 60 [SEP] 15, Bowl, 1.147, 1.669, 0.153, 0, 270, 0, 67 [SEP] 16, Bowl, -1.292, 0.936, 0.144, 0, 0, 0, 59 [SEP] 17, PepperShaker, -1.674, 0.878, 2.719, 0, 0, 0, 86 [SEP] 18, Lettuce, 0.905, 0.940, 1.158, 0, 270, 0, 82 [SEP] 19, Lettuce, 1.029, 0.988, 0.139, 0, 0, 0, 60 [SEP] 20, Bread, 0.859, 0.992, -0.381, 0, 0, 0, 60 [SEP] 21, Mug, 1.055, 1.661, -2.029, 0, 270, 0, 58 [SEP] 22, Apple, 0.844, 1.185, 1.349, 0, 270, 0, 82 [SEP] 23, Apple, -1.041, 0.983, -0.905, 0, 0, 0, 59 [SEP] 24, Apple, -0.808, 0.830, -0.573, 0, 90, 0, 80 [SEP] 25, Statue, -0.624, 0.936, -1.231, 0, 0, 0, 59 [SEP] 26, Glassbottle, -0.697, 0.781, -0.573, 0, 90, 0, 80 [SEP] 27, Bread, -0.846, 1.014, -1.463, 0, 0, 0, 59 [SEP] 28, CreditCard, -1.367, 0.878, 2.773, 0, 0, 0, 86 [SEP] 29, CellPhone, -1.292, 0.930, -0.905, 0, 0, 0, 59 [SEP] 30, Potato, 0.966, 1.165, 1.063, 0, 270, 0, 82 [SEP] 31, Knife, 0.868, 0.700, -0.600, 90, 315, 0, 57 [SEP] 32, Fork, 0.875, 0.495, -0.648, 0, 0, 0, 63 [SEP] 33, Pan, 0.966, 1.399, 1.254, 0, 0, 0, 82 [SEP] 34, Lettuce, 0.688, 0.988, -0.729, 0, 0, 0, 60 [SEP] 35, Plate, -0.550, 0.936, 0.239, 0, 0, 0, 59 [SEP] 36, Apple, -1.007, 0.227, 0.576, 0, 180, 0, 79 [SEP] 37, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 55 [SEP] 38, Spatula, 0.859, 0.926, -1.879, 0, 0, 0, 65 [SEP] 39, PaperTowelRoll, -1.101, 0.281, 0.608, 0, 180, 0, 79 [SEP] 40, Tomato, 1.026, 1.175, 1.540, 0, 270, 0, 82 [SEP] 41, Egg, -0.587, 0.814, -0.573, 0, 90, 0, 80 [SEP] 42, SaltShaker, 0.956, 0.699, -0.607, 0, 270, 0, 57 [SEP] 43, PepperShaker, 1.029, 0.907, -1.879, 0, 0, 0, 65 [SEP] 44, Vase, 0.760, 0.120, 0.374, 0, 270, 0, 54 [SEP] 45, ButterKnife, -0.772, 0.933, 0.162, 0, 0, 0, 59 [SEP] 46, SoapBottle, 1.194, 1.666, -2.234, 0, 270, 0, 58 [SEP] 47, Vase, -1.229, 0.934, -0.118, 0, 0, 0, 59 [SEP] 48, Bowl, 1.026, 1.646, 1.063, 0, 270, 0, 82 [SEP] 49, DishSponge, -0.865, 0.178, 0.608, 0, 180, 0, 79 [SEP] 50, Spoon, -0.698, 0.777, -0.486, 0, 90, 0, 80 [SEP] 51, Cup, 0.905, 1.132, 1.540, 0, 270, 0, 82 [SEP] 52, Mug, 0.783, 1.396, 1.540, 0, 270, 0, 82 [SEP] 53, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 54, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 55, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 56, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 57, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 58, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 59, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 60, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 61, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 62, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 63, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 64, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 65, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 66, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 67, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 68, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 69, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 70, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 71, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 72, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 73, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 74, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 75, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 76, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 77, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 78, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 79, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 80, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 81, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 82, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 83, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 84, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 85, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 86, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 87, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 88, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 89, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 90, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 91, NorthWall, , , , , , , [SEP] 92, EastWall, , , , , , , [SEP] 93, SouthWall, , , , , , , [SEP] 94, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and walk toward the fridge, then turn right into the kitchen and approach the sink | STEP 2: Pick up the butter knife from the sink | STEP 3: Turn right and walk around the end of the counter to the black trash bin | STEP 4: Cut the green apple in the bin with the knife | STEP 5: Put the knife in the trash bin | STEP 6: Pick up an apple piece from the trash bin | STEP 7: Turn left and walk back into the kitchen then turn left to face the microwave above the oven | STEP 8: Heat the apple piece in the microwave then remove it | STEP 9: Turn left and walk back around to the trash bin | STEP 10: Put the apple piece in the trash bin | END"]} +{"id": "trial_T20190908_073839_704604-2", "input": "Put a heated slice of apple in the trash can near the fridge. 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, 0.25, 0, 0, 0, [SEP] 1, Vase, 0.773, 0.912, -0.034, 0, 0, 0, 60 [SEP] 2, Potato, -0.865, 0.209, 0.510, 0, 180, 0, 79 [SEP] 3, CreditCard, -1.985, 0.551, 2.822, 0, 0, 0, 85 [SEP] 4, CellPhone, -1.104, 0.930, -1.430, 0, 0, 0, 59 [SEP] 5, CellPhone, -0.920, 0.930, 0.009, 0, 0, 0, 59 [SEP] 6, ButterKnife, 0.859, 0.911, -0.729, 0, 90, 0, 60 [SEP] 7, ButterKnife, -0.697, 0.780, -0.832, 0, 90, 0, 80 [SEP] 8, Fork, -0.624, 0.934, 0.009, 0, 180, 0, 59 [SEP] 9, Fork, -0.753, 0.781, -0.745, 0, 180, 0, 80 [SEP] 10, Cup, 0.861, 0.105, -2.212, 0, 0, 0, 64 [SEP] 11, Plate, 1.114, 0.914, -0.381, 0, 0, 0, 60 [SEP] 12, Plate, 0.844, 0.866, 1.444, 0, 270, 0, 82 [SEP] 13, Tomato, 1.026, 1.175, 1.254, 0, 270, 0, 82 [SEP] 14, SoapBottle, 0.688, 0.911, -0.381, 0, 0, 0, 60 [SEP] 15, Bowl, 1.147, 1.669, 0.153, 0, 270, 0, 67 [SEP] 16, Bowl, -1.292, 0.936, 0.144, 0, 0, 0, 59 [SEP] 17, PepperShaker, -1.674, 0.878, 2.719, 0, 0, 0, 86 [SEP] 18, Lettuce, 0.905, 0.940, 1.158, 0, 270, 0, 82 [SEP] 19, Lettuce, 1.029, 0.988, 0.139, 0, 0, 0, 60 [SEP] 20, Bread, 0.859, 0.992, -0.381, 0, 0, 0, 60 [SEP] 21, Mug, 1.055, 1.661, -2.029, 0, 270, 0, 58 [SEP] 22, Apple, 0.844, 1.185, 1.349, 0, 270, 0, 82 [SEP] 23, Apple, -1.041, 0.983, -0.905, 0, 0, 0, 59 [SEP] 24, Apple, -0.808, 0.830, -0.573, 0, 90, 0, 80 [SEP] 25, Statue, -0.624, 0.936, -1.231, 0, 0, 0, 59 [SEP] 26, Glassbottle, -0.697, 0.781, -0.573, 0, 90, 0, 80 [SEP] 27, Bread, -0.846, 1.014, -1.463, 0, 0, 0, 59 [SEP] 28, CreditCard, -1.367, 0.878, 2.773, 0, 0, 0, 86 [SEP] 29, CellPhone, -1.292, 0.930, -0.905, 0, 0, 0, 59 [SEP] 30, Potato, 0.966, 1.165, 1.063, 0, 270, 0, 82 [SEP] 31, Knife, 0.868, 0.700, -0.600, 90, 315, 0, 57 [SEP] 32, Fork, 0.875, 0.495, -0.648, 0, 0, 0, 63 [SEP] 33, Pan, 0.966, 1.399, 1.254, 0, 0, 0, 82 [SEP] 34, Lettuce, 0.688, 0.988, -0.729, 0, 0, 0, 60 [SEP] 35, Plate, -0.550, 0.936, 0.239, 0, 0, 0, 59 [SEP] 36, Apple, -1.007, 0.227, 0.576, 0, 180, 0, 79 [SEP] 37, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 55 [SEP] 38, Spatula, 0.859, 0.926, -1.879, 0, 0, 0, 65 [SEP] 39, PaperTowelRoll, -1.101, 0.281, 0.608, 0, 180, 0, 79 [SEP] 40, Tomato, 1.026, 1.175, 1.540, 0, 270, 0, 82 [SEP] 41, Egg, -0.587, 0.814, -0.573, 0, 90, 0, 80 [SEP] 42, SaltShaker, 0.956, 0.699, -0.607, 0, 270, 0, 57 [SEP] 43, PepperShaker, 1.029, 0.907, -1.879, 0, 0, 0, 65 [SEP] 44, Vase, 0.760, 0.120, 0.374, 0, 270, 0, 54 [SEP] 45, ButterKnife, -0.772, 0.933, 0.162, 0, 0, 0, 59 [SEP] 46, SoapBottle, 1.194, 1.666, -2.234, 0, 270, 0, 58 [SEP] 47, Vase, -1.229, 0.934, -0.118, 0, 0, 0, 59 [SEP] 48, Bowl, 1.026, 1.646, 1.063, 0, 270, 0, 82 [SEP] 49, DishSponge, -0.865, 0.178, 0.608, 0, 180, 0, 79 [SEP] 50, Spoon, -0.698, 0.777, -0.486, 0, 90, 0, 80 [SEP] 51, Cup, 0.905, 1.132, 1.540, 0, 270, 0, 82 [SEP] 52, Mug, 0.783, 1.396, 1.540, 0, 270, 0, 82 [SEP] 53, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 54, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 55, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 56, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 57, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 58, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 59, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 60, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 61, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 62, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 63, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 64, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 65, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 66, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 67, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 68, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 69, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 70, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 71, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 72, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 73, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 74, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 75, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 76, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 77, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 78, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 79, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 80, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 81, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 82, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 83, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 84, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 85, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 86, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 87, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 88, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 89, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 90, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 91, NorthWall, , , , , , , [SEP] 92, EastWall, , , , , , , [SEP] 93, SouthWall, , , , , , , [SEP] 94, WestWall, , , , , , , ", "output": ["STEP 1: Walk 1 step to the front, turn right, walk straight, turn right near the fridge and turn right to face the sink. | STEP 2: Pick up the knife near the fork in the sink. | STEP 3: Walk to your right, turn right near the fridge and turn right to go to the black trash can. | STEP 4: Cut the apple in the trash can. | STEP 5: Put the knife in the trash can. | STEP 6: Pick up a slice of apple from the trash can. | STEP 7: Walk to your left, turn right near the fridge, walk straight, turn right to go to the stove and look up to the microwave on top of the stove. | STEP 8: Open the microwave, put the slice of apple in, heat it for a few seconds, pick it up again and close the microwave | STEP 9: Go back to the black trash can near the fridge. | STEP 10: Put the slice of apple in the trash can. | END"]} +{"id": "trial_T20190909_021200_669381-0", "input": "Put a warmed 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, -3.25, 0.900, -1.5, 0, 270, 0, [SEP] 1, Pan, -1.167, 0.931, -0.380, 0, 90, 0, 67 [SEP] 2, Vase, 1.169, 2.209, -1.191, 0, 270, 0, 74 [SEP] 3, Potato, 1.087, 0.893, 1.063, 0, 270, 0, 90 [SEP] 4, Potato, 0.773, 0.941, -1.793, 0, 0, 0, 73 [SEP] 5, CreditCard, 0.688, 0.908, -1.879, 0, 0, 0, 73 [SEP] 6, CellPhone, -1.041, 0.930, -1.167, 0, 0, 0, 67 [SEP] 7, DishSponge, 1.148, 1.665, -2.029, 0, 270, 0, 66 [SEP] 8, DishSponge, -1.363, 0.553, 2.615, 0, 0, 0, 93 [SEP] 9, ButterKnife, -0.846, 0.933, 0.239, 0, 0, 0, 67 [SEP] 10, ButterKnife, -0.772, 0.933, -0.067, 0, 0, 0, 67 [SEP] 11, Glassbottle, -1.418, 0.934, -1.167, 0, 0, 0, 67 [SEP] 12, Glassbottle, 0.861, 0.109, -1.812, 0, 0, 0, 72 [SEP] 13, Fork, 0.834, 0.495, -0.772, 0, 0, 0, 71 [SEP] 14, Fork, 0.794, 0.494, -0.607, 0, 180, 0, 71 [SEP] 15, Spoon, 0.794, 0.704, -0.690, 0, 270, 0, 65 [SEP] 16, Spoon, -1.292, 0.934, 0.144, 0, 180, 0, 67 [SEP] 17, Spatula, 0.915, 0.718, -0.524, 0, 0, 0, 65 [SEP] 18, Spatula, -0.753, 0.791, -0.573, 0, 180, 0, 88 [SEP] 19, Knife, -0.624, 0.957, 0.009, 0, 180, 0, 67 [SEP] 20, Knife, 1.029, 0.934, -0.208, 0, 90, 0, 68 [SEP] 21, Egg, -0.818, 0.216, 0.543, 0, 180, 0, 87 [SEP] 22, Egg, 1.028, 1.833, -1.132, 0, 270, 0, 89 [SEP] 23, Cup, 1.060, 1.780, -1.236, 0, 270, 0, 89 [SEP] 24, Tomato, -1.167, 0.974, -0.905, 0, 0, 0, 67 [SEP] 25, Tomato, -1.007, 0.217, 0.543, 0, 180, 0, 87 [SEP] 26, SoapBottle, -1.355, 0.933, 0.144, 0, 0, 0, 67 [SEP] 27, SoapBottle, 1.101, 1.666, 0.089, 0, 270, 0, 75 [SEP] 28, Bowl, 1.026, 1.646, 0.967, 0, 270, 0, 90 [SEP] 29, SaltShaker, 0.910, 0.104, -2.052, 0, 0, 0, 72 [SEP] 30, PepperShaker, 0.944, 0.907, -0.034, 0, 0, 0, 68 [SEP] 31, PepperShaker, 0.910, 0.104, -1.972, 0, 0, 0, 72 [SEP] 32, Bread, 0.905, 0.944, 1.158, 0, 270, 0, 90 [SEP] 33, Statue, -0.698, 0.936, -1.463, 0, 0, 0, 67 [SEP] 34, Glassbottle, 1.148, 1.667, -2.234, 0, 270, 0, 66 [SEP] 35, Bread, 0.905, 1.482, 1.158, 0, 270, 0, 90 [SEP] 36, CreditCard, -0.846, 0.930, -1.154, 0, 0, 0, 67 [SEP] 37, CellPhone, 0.875, 0.700, -0.607, 0, 270, 0, 65 [SEP] 38, Potato, -0.753, 0.811, -0.400, 0, 90, 0, 88 [SEP] 39, Knife, -1.229, 0.957, -0.905, 0, 0, 0, 67 [SEP] 40, Fork, -0.642, 0.781, -0.918, 0, 0, 0, 88 [SEP] 41, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 61 [SEP] 42, Lettuce, 0.866, 1.688, 1.209, 9.746, 11.109, 0, 90 [SEP] 43, Plate, -1.985, 0.557, 2.718, 0, 0, 0, 93 [SEP] 44, Apple, 0.966, 1.185, 0.967, 0, 270, 0, 90 [SEP] 45, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 63 [SEP] 46, Spatula, 0.833, 0.168, -0.729, 0, 90, 0, 70 [SEP] 47, PaperTowelRoll, -1.778, 0.658, 2.718, 0, 0, 0, 93 [SEP] 48, Tomato, 0.944, 0.952, -0.381, 0, 0, 0, 68 [SEP] 49, Egg, -0.753, 0.818, -0.745, 0, 90, 0, 88 [SEP] 50, SaltShaker, -0.698, 0.929, -1.308, 0, 0, 0, 67 [SEP] 51, PepperShaker, 1.014, 0.117, 0.374, 0, 270, 0, 68 [SEP] 52, Vase, 0.944, 0.911, -0.729, 0, 0, 0, 68 [SEP] 53, ButterKnife, 1.114, 0.911, -0.208, 0, 0, 0, 68 [SEP] 54, SoapBottle, 0.811, 0.108, -2.212, 0, 0, 0, 72 [SEP] 55, Vase, 0.773, 0.912, -0.555, 0, 0, 0, 68 [SEP] 56, Bowl, 1.087, 1.405, 0.967, 0, 270, 0, 90 [SEP] 57, DishSponge, -0.477, 0.933, 0.315, 0, 0, 0, 67 [SEP] 58, Spoon, 0.859, 0.912, 0.139, 0, 270, 0, 68 [SEP] 59, Cup, -0.808, 0.777, -0.486, 0, 90, 0, 88 [SEP] 60, Mug, 1.055, 1.661, 0.216, 0, 0, 0, 75 [SEP] 61, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 62, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 63, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 64, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 65, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 66, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 67, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 68, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 69, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 70, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 71, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 72, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 73, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 74, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 75, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 76, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 77, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 78, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 79, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 80, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 81, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 82, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 83, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 84, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 85, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 86, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 87, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 88, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 89, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 90, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 91, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 92, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 93, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 94, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 95, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 96, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 97, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 98, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 99, NorthWall, , , , , , , [SEP] 100, EastWall, , , , , , , [SEP] 101, SouthWall, , , , , , , [SEP] 102, WestWall, , , , , , , ", "output": ["STEP 1: Go right and then turn right again to face the upper cabinet to the left the fridge. | STEP 2: Take the white mug out of the upper cabinet left of the fridge. | STEP 3: Go right and then turn to the left to face the microwave above the stove. | STEP 4: Put the mug in the microwave and shut the door and then open the door and pick the mug up and shut the door. | STEP 5: Move to the left and face the cabinet to the left of the microwave. | STEP 6: Put the mug in the cabinet to the left of the microwave and shut the door. | END"]} +{"id": "trial_T20190909_021200_669381-1", "input": "microwave a mug and then put it away 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, -3.25, 0.900, -1.5, 0, 270, 0, [SEP] 1, Pan, -1.167, 0.931, -0.380, 0, 90, 0, 67 [SEP] 2, Vase, 1.169, 2.209, -1.191, 0, 270, 0, 74 [SEP] 3, Potato, 1.087, 0.893, 1.063, 0, 270, 0, 90 [SEP] 4, Potato, 0.773, 0.941, -1.793, 0, 0, 0, 73 [SEP] 5, CreditCard, 0.688, 0.908, -1.879, 0, 0, 0, 73 [SEP] 6, CellPhone, -1.041, 0.930, -1.167, 0, 0, 0, 67 [SEP] 7, DishSponge, 1.148, 1.665, -2.029, 0, 270, 0, 66 [SEP] 8, DishSponge, -1.363, 0.553, 2.615, 0, 0, 0, 93 [SEP] 9, ButterKnife, -0.846, 0.933, 0.239, 0, 0, 0, 67 [SEP] 10, ButterKnife, -0.772, 0.933, -0.067, 0, 0, 0, 67 [SEP] 11, Glassbottle, -1.418, 0.934, -1.167, 0, 0, 0, 67 [SEP] 12, Glassbottle, 0.861, 0.109, -1.812, 0, 0, 0, 72 [SEP] 13, Fork, 0.834, 0.495, -0.772, 0, 0, 0, 71 [SEP] 14, Fork, 0.794, 0.494, -0.607, 0, 180, 0, 71 [SEP] 15, Spoon, 0.794, 0.704, -0.690, 0, 270, 0, 65 [SEP] 16, Spoon, -1.292, 0.934, 0.144, 0, 180, 0, 67 [SEP] 17, Spatula, 0.915, 0.718, -0.524, 0, 0, 0, 65 [SEP] 18, Spatula, -0.753, 0.791, -0.573, 0, 180, 0, 88 [SEP] 19, Knife, -0.624, 0.957, 0.009, 0, 180, 0, 67 [SEP] 20, Knife, 1.029, 0.934, -0.208, 0, 90, 0, 68 [SEP] 21, Egg, -0.818, 0.216, 0.543, 0, 180, 0, 87 [SEP] 22, Egg, 1.028, 1.833, -1.132, 0, 270, 0, 89 [SEP] 23, Cup, 1.060, 1.780, -1.236, 0, 270, 0, 89 [SEP] 24, Tomato, -1.167, 0.974, -0.905, 0, 0, 0, 67 [SEP] 25, Tomato, -1.007, 0.217, 0.543, 0, 180, 0, 87 [SEP] 26, SoapBottle, -1.355, 0.933, 0.144, 0, 0, 0, 67 [SEP] 27, SoapBottle, 1.101, 1.666, 0.089, 0, 270, 0, 75 [SEP] 28, Bowl, 1.026, 1.646, 0.967, 0, 270, 0, 90 [SEP] 29, SaltShaker, 0.910, 0.104, -2.052, 0, 0, 0, 72 [SEP] 30, PepperShaker, 0.944, 0.907, -0.034, 0, 0, 0, 68 [SEP] 31, PepperShaker, 0.910, 0.104, -1.972, 0, 0, 0, 72 [SEP] 32, Bread, 0.905, 0.944, 1.158, 0, 270, 0, 90 [SEP] 33, Statue, -0.698, 0.936, -1.463, 0, 0, 0, 67 [SEP] 34, Glassbottle, 1.148, 1.667, -2.234, 0, 270, 0, 66 [SEP] 35, Bread, 0.905, 1.482, 1.158, 0, 270, 0, 90 [SEP] 36, CreditCard, -0.846, 0.930, -1.154, 0, 0, 0, 67 [SEP] 37, CellPhone, 0.875, 0.700, -0.607, 0, 270, 0, 65 [SEP] 38, Potato, -0.753, 0.811, -0.400, 0, 90, 0, 88 [SEP] 39, Knife, -1.229, 0.957, -0.905, 0, 0, 0, 67 [SEP] 40, Fork, -0.642, 0.781, -0.918, 0, 0, 0, 88 [SEP] 41, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 61 [SEP] 42, Lettuce, 0.866, 1.688, 1.209, 9.746, 11.109, 0, 90 [SEP] 43, Plate, -1.985, 0.557, 2.718, 0, 0, 0, 93 [SEP] 44, Apple, 0.966, 1.185, 0.967, 0, 270, 0, 90 [SEP] 45, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 63 [SEP] 46, Spatula, 0.833, 0.168, -0.729, 0, 90, 0, 70 [SEP] 47, PaperTowelRoll, -1.778, 0.658, 2.718, 0, 0, 0, 93 [SEP] 48, Tomato, 0.944, 0.952, -0.381, 0, 0, 0, 68 [SEP] 49, Egg, -0.753, 0.818, -0.745, 0, 90, 0, 88 [SEP] 50, SaltShaker, -0.698, 0.929, -1.308, 0, 0, 0, 67 [SEP] 51, PepperShaker, 1.014, 0.117, 0.374, 0, 270, 0, 68 [SEP] 52, Vase, 0.944, 0.911, -0.729, 0, 0, 0, 68 [SEP] 53, ButterKnife, 1.114, 0.911, -0.208, 0, 0, 0, 68 [SEP] 54, SoapBottle, 0.811, 0.108, -2.212, 0, 0, 0, 72 [SEP] 55, Vase, 0.773, 0.912, -0.555, 0, 0, 0, 68 [SEP] 56, Bowl, 1.087, 1.405, 0.967, 0, 270, 0, 90 [SEP] 57, DishSponge, -0.477, 0.933, 0.315, 0, 0, 0, 67 [SEP] 58, Spoon, 0.859, 0.912, 0.139, 0, 270, 0, 68 [SEP] 59, Cup, -0.808, 0.777, -0.486, 0, 90, 0, 88 [SEP] 60, Mug, 1.055, 1.661, 0.216, 0, 0, 0, 75 [SEP] 61, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 62, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 63, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 64, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 65, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 66, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 67, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 68, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 69, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 70, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 71, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 72, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 73, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 74, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 75, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 76, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 77, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 78, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 79, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 80, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 81, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 82, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 83, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 84, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 85, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 86, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 87, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 88, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 89, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 90, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 91, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 92, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 93, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 94, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 95, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 96, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 97, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 98, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 99, NorthWall, , , , , , , [SEP] 100, EastWall, , , , , , , [SEP] 101, SouthWall, , , , , , , [SEP] 102, WestWall, , , , , , , ", "output": ["STEP 1: turn right and walk straight then turn right and walk straight towards the fridge and turn right then turn left at the counter and look up | STEP 2: open the cabinet and pick up the mug and close the door | STEP 3: turn right and walk straight then turn left towards the stove and look up | STEP 4: open the microwave door and put the mug inside and close the door and set the timer then open the door and remove the mug and close the door | STEP 5: turn left and walk straight then turn right towards the stove and look up | STEP 6: open the cabinet and put the mug inside and close the door | END"]} +{"id": "trial_T20190909_021200_669381-2", "input": "Place a heated mug 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, 0.900, -1.5, 0, 270, 0, [SEP] 1, Pan, -1.167, 0.931, -0.380, 0, 90, 0, 67 [SEP] 2, Vase, 1.169, 2.209, -1.191, 0, 270, 0, 74 [SEP] 3, Potato, 1.087, 0.893, 1.063, 0, 270, 0, 90 [SEP] 4, Potato, 0.773, 0.941, -1.793, 0, 0, 0, 73 [SEP] 5, CreditCard, 0.688, 0.908, -1.879, 0, 0, 0, 73 [SEP] 6, CellPhone, -1.041, 0.930, -1.167, 0, 0, 0, 67 [SEP] 7, DishSponge, 1.148, 1.665, -2.029, 0, 270, 0, 66 [SEP] 8, DishSponge, -1.363, 0.553, 2.615, 0, 0, 0, 93 [SEP] 9, ButterKnife, -0.846, 0.933, 0.239, 0, 0, 0, 67 [SEP] 10, ButterKnife, -0.772, 0.933, -0.067, 0, 0, 0, 67 [SEP] 11, Glassbottle, -1.418, 0.934, -1.167, 0, 0, 0, 67 [SEP] 12, Glassbottle, 0.861, 0.109, -1.812, 0, 0, 0, 72 [SEP] 13, Fork, 0.834, 0.495, -0.772, 0, 0, 0, 71 [SEP] 14, Fork, 0.794, 0.494, -0.607, 0, 180, 0, 71 [SEP] 15, Spoon, 0.794, 0.704, -0.690, 0, 270, 0, 65 [SEP] 16, Spoon, -1.292, 0.934, 0.144, 0, 180, 0, 67 [SEP] 17, Spatula, 0.915, 0.718, -0.524, 0, 0, 0, 65 [SEP] 18, Spatula, -0.753, 0.791, -0.573, 0, 180, 0, 88 [SEP] 19, Knife, -0.624, 0.957, 0.009, 0, 180, 0, 67 [SEP] 20, Knife, 1.029, 0.934, -0.208, 0, 90, 0, 68 [SEP] 21, Egg, -0.818, 0.216, 0.543, 0, 180, 0, 87 [SEP] 22, Egg, 1.028, 1.833, -1.132, 0, 270, 0, 89 [SEP] 23, Cup, 1.060, 1.780, -1.236, 0, 270, 0, 89 [SEP] 24, Tomato, -1.167, 0.974, -0.905, 0, 0, 0, 67 [SEP] 25, Tomato, -1.007, 0.217, 0.543, 0, 180, 0, 87 [SEP] 26, SoapBottle, -1.355, 0.933, 0.144, 0, 0, 0, 67 [SEP] 27, SoapBottle, 1.101, 1.666, 0.089, 0, 270, 0, 75 [SEP] 28, Bowl, 1.026, 1.646, 0.967, 0, 270, 0, 90 [SEP] 29, SaltShaker, 0.910, 0.104, -2.052, 0, 0, 0, 72 [SEP] 30, PepperShaker, 0.944, 0.907, -0.034, 0, 0, 0, 68 [SEP] 31, PepperShaker, 0.910, 0.104, -1.972, 0, 0, 0, 72 [SEP] 32, Bread, 0.905, 0.944, 1.158, 0, 270, 0, 90 [SEP] 33, Statue, -0.698, 0.936, -1.463, 0, 0, 0, 67 [SEP] 34, Glassbottle, 1.148, 1.667, -2.234, 0, 270, 0, 66 [SEP] 35, Bread, 0.905, 1.482, 1.158, 0, 270, 0, 90 [SEP] 36, CreditCard, -0.846, 0.930, -1.154, 0, 0, 0, 67 [SEP] 37, CellPhone, 0.875, 0.700, -0.607, 0, 270, 0, 65 [SEP] 38, Potato, -0.753, 0.811, -0.400, 0, 90, 0, 88 [SEP] 39, Knife, -1.229, 0.957, -0.905, 0, 0, 0, 67 [SEP] 40, Fork, -0.642, 0.781, -0.918, 0, 0, 0, 88 [SEP] 41, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 61 [SEP] 42, Lettuce, 0.866, 1.688, 1.209, 9.746, 11.109, 0, 90 [SEP] 43, Plate, -1.985, 0.557, 2.718, 0, 0, 0, 93 [SEP] 44, Apple, 0.966, 1.185, 0.967, 0, 270, 0, 90 [SEP] 45, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 63 [SEP] 46, Spatula, 0.833, 0.168, -0.729, 0, 90, 0, 70 [SEP] 47, PaperTowelRoll, -1.778, 0.658, 2.718, 0, 0, 0, 93 [SEP] 48, Tomato, 0.944, 0.952, -0.381, 0, 0, 0, 68 [SEP] 49, Egg, -0.753, 0.818, -0.745, 0, 90, 0, 88 [SEP] 50, SaltShaker, -0.698, 0.929, -1.308, 0, 0, 0, 67 [SEP] 51, PepperShaker, 1.014, 0.117, 0.374, 0, 270, 0, 68 [SEP] 52, Vase, 0.944, 0.911, -0.729, 0, 0, 0, 68 [SEP] 53, ButterKnife, 1.114, 0.911, -0.208, 0, 0, 0, 68 [SEP] 54, SoapBottle, 0.811, 0.108, -2.212, 0, 0, 0, 72 [SEP] 55, Vase, 0.773, 0.912, -0.555, 0, 0, 0, 68 [SEP] 56, Bowl, 1.087, 1.405, 0.967, 0, 270, 0, 90 [SEP] 57, DishSponge, -0.477, 0.933, 0.315, 0, 0, 0, 67 [SEP] 58, Spoon, 0.859, 0.912, 0.139, 0, 270, 0, 68 [SEP] 59, Cup, -0.808, 0.777, -0.486, 0, 90, 0, 88 [SEP] 60, Mug, 1.055, 1.661, 0.216, 0, 0, 0, 75 [SEP] 61, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 62, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 63, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 64, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 65, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 66, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 67, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 68, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 69, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 70, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 71, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 72, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 73, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 74, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 75, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 76, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 77, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 78, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 79, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 80, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 81, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 82, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 83, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 84, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 85, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 86, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 87, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 88, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 89, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 90, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 91, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 92, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 93, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 94, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 95, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 96, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 97, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 98, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 99, NorthWall, , , , , , , [SEP] 100, EastWall, , , , , , , [SEP] 101, SouthWall, , , , , , , [SEP] 102, WestWall, , , , , , , ", "output": ["STEP 1: Walk ahead and veer right towards the fridge. Before getting there, go right a bit so you're facing the counter to the right of the fridge. | STEP 2: Take the mug out of the cabinet above the counter. | STEP 3: Take a few steps right to the microwave. | STEP 4: Heat the mug in the microwave. | STEP 5: Take a step left. | STEP 6: Place the mug in the cabinet directly to the left of the microwave. | END"]} +{"id": "trial_T20190908_161733_213242-0", "input": "Look at a mug in 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, 0.900, 2.0, 0, 180, 0, [SEP] 1, Mug, -2.045, 1.347, 0.325, 0, 0, 0, 48 [SEP] 2, Mug, -0.483, 0.855, -1.529, 0, 0, 0, 38 [SEP] 3, CD, -0.903, 0.857, -0.836, 0, 0, 0, 38 [SEP] 4, CD, -1.994, 0.386, 0.646, 0, 0, 0, 50 [SEP] 5, CellPhone, -0.549, 0.365, -0.772, 0, 0, 0, 37 [SEP] 6, CellPhone, 1.206, 0.784, 0.787, 0, 0, 0, 29 [SEP] 7, Pen, -2.151, 1.729, 0.407, 0, 0, 0, 43 [SEP] 8, Pencil, -0.473, 0.087, -0.852, 0, 0, 0, 37 [SEP] 9, Pencil, -1.571, 0.882, 0.581, 0, 0, 0, 48 [SEP] 10, CreditCard, -1.918, 0.878, 0.414, 0, 0, 0, 41 [SEP] 11, CreditCard, -0.549, 0.083, -0.612, 0, 0, 0, 37 [SEP] 12, Book, -0.735, 0.857, -0.836, 0, 0, 0, 38 [SEP] 13, Pillow, 1.612, 0.918, 0.787, 0, 0, 0, 29 [SEP] 14, Pillow, 1.612, 0.918, 2.234, 0, 0, 0, 29 [SEP] 15, Book, 1.612, 0.783, 1.076, 0, 0, 0, 29 [SEP] 16, AlarmClock, -0.651, 0.858, -1.356, 0, 0, 0, 38 [SEP] 17, BasketBall, 1.976, 0.120, 0.211, 0, 331.076, 0, [SEP] 18, Pen, -0.785, 0.209, -0.338, 0, 0, 0, 31 [SEP] 19, Laptop, -1.783, 0.871, 0.732, 0, 0, 0, 48 [SEP] 20, BaseballBat, 1.953, 0.659, -1.81, 346.388, 0, 0, [SEP] 21, Bowl, -0.483, 0.861, -1.010, 0, 0, 0, 38 [SEP] 22, Pillow, 1.003, 0.918, 1.655, 0, 0, 0, 29 [SEP] 23, KeyChain, -2.083, 0.039, 2.415, 0, 180, 0, 53 [SEP] 24, CreditCard, -1.914, 0.668, 0.683, 0, 0, 0, 49 [SEP] 25, CellPhone, -2.187, 0.040, 2.469, 0, 180, 0, 53 [SEP] 26, CD, -0.587, 0.364, -1.013, 0, 0, 0, 37 [SEP] 27, Pencil, -2.091, 0.882, 0.665, 0, 0, 0, 48 [SEP] 28, Mug, -1.233, 1.721, 0.448, 0, 0, 0, 42 [SEP] 29, Bed, 1.227, -0.002, 1.664, 0, 0, 0, [SEP] 30, LightSwitch, 2.151, 1.233, -0.518, 0, 270, 0, [SEP] 31, GarbageCan, -0.747, 0.014, -0.327, 0, 0, 0, [SEP] 32, Mirror, -1.358, 1.427, 2.855, 0, 0, 0, [SEP] 33, DeskLamp, -2.296, 0.858, 0.750, 0, 0, 0, [SEP] 34, Window, -0.421, 1.534, -1.947, 90, 0, 0, [SEP] 35, Window, 0.579, 1.534, -1.947, 90, 0, 0, [SEP] 36, Drawer, -0.491, 0.739, -0.855, 0, 90, 0, [SEP] 37, Drawer, -0.491, 0.204, -0.855, 0, 90, 0, [SEP] 38, Desk, -0.639, 0.009, -1.187, 0, 90, 0, [SEP] 39, Drawer, -0.491, 0.487, -0.855, 0, 90, 0, [SEP] 40, Shelf, -1.965, 1.514, 0.416, 0, 0, 0, [SEP] 41, Shelf, -1.965, 1.092, 0.416, 0, 0, 0, [SEP] 42, Shelf, -1.312, 1.888, 0.416, 0, 0, 0, [SEP] 43, Shelf, -1.965, 1.888, 0.416, 0, 0, 0, [SEP] 44, Shelf, -1.312, 1.092, 0.416, 0, 0, 0, [SEP] 45, Shelf, -1.312, 1.514, 0.416, 0, 0, 0, [SEP] 46, Blinds, 0.601, 2.161, -1.916, 0, 0, 0, [SEP] 47, Blinds, -0.402, 2.161, -1.916, 0, 0, 0, [SEP] 48, Desk, -1.726, 0.001, 0.575, 0, 0, 0, [SEP] 49, Drawer, -2.058, 0.733, 0.734, 0, 0, 0, [SEP] 50, Drawer, -2.058, 0.482, 0.734, 0, 0, 0, [SEP] 51, Drawer, -2.058, 0.198, 0.735, 0, 0, 0, [SEP] 52, Chair, -0.137, 0.000, -1.587, 0, 315, 0, [SEP] 53, Safe, -2.183, -7.748, 2.576, 0, 180, 0, [SEP] 54, Chair, -1.433, 0.009, 0.780, 357.672, 206.726, 0, [SEP] 55, LaundryHamper, 0.163, 0.003, 2.635, 0, 86.390, 0, [SEP] 56, NorthWall, , , , , , , [SEP] 57, EastWall, , , , , , , [SEP] 58, SouthWall, , , , , , , [SEP] 59, WestWall, , , , , , , ", "output": ["STEP 1: Go to the desk in front of you, then look up to the shelves. | STEP 2: Pick up the mug from the shelf. | STEP 3: Look down to the lamp on the desk. | STEP 4: Turn on the lamp. | END"]} +{"id": "trial_T20190908_161733_213242-1", "input": "Examine a mug 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, -2.25, 0.900, 2.0, 0, 180, 0, [SEP] 1, Mug, -2.045, 1.347, 0.325, 0, 0, 0, 48 [SEP] 2, Mug, -0.483, 0.855, -1.529, 0, 0, 0, 38 [SEP] 3, CD, -0.903, 0.857, -0.836, 0, 0, 0, 38 [SEP] 4, CD, -1.994, 0.386, 0.646, 0, 0, 0, 50 [SEP] 5, CellPhone, -0.549, 0.365, -0.772, 0, 0, 0, 37 [SEP] 6, CellPhone, 1.206, 0.784, 0.787, 0, 0, 0, 29 [SEP] 7, Pen, -2.151, 1.729, 0.407, 0, 0, 0, 43 [SEP] 8, Pencil, -0.473, 0.087, -0.852, 0, 0, 0, 37 [SEP] 9, Pencil, -1.571, 0.882, 0.581, 0, 0, 0, 48 [SEP] 10, CreditCard, -1.918, 0.878, 0.414, 0, 0, 0, 41 [SEP] 11, CreditCard, -0.549, 0.083, -0.612, 0, 0, 0, 37 [SEP] 12, Book, -0.735, 0.857, -0.836, 0, 0, 0, 38 [SEP] 13, Pillow, 1.612, 0.918, 0.787, 0, 0, 0, 29 [SEP] 14, Pillow, 1.612, 0.918, 2.234, 0, 0, 0, 29 [SEP] 15, Book, 1.612, 0.783, 1.076, 0, 0, 0, 29 [SEP] 16, AlarmClock, -0.651, 0.858, -1.356, 0, 0, 0, 38 [SEP] 17, BasketBall, 1.976, 0.120, 0.211, 0, 331.076, 0, [SEP] 18, Pen, -0.785, 0.209, -0.338, 0, 0, 0, 31 [SEP] 19, Laptop, -1.783, 0.871, 0.732, 0, 0, 0, 48 [SEP] 20, BaseballBat, 1.953, 0.659, -1.81, 346.388, 0, 0, [SEP] 21, Bowl, -0.483, 0.861, -1.010, 0, 0, 0, 38 [SEP] 22, Pillow, 1.003, 0.918, 1.655, 0, 0, 0, 29 [SEP] 23, KeyChain, -2.083, 0.039, 2.415, 0, 180, 0, 53 [SEP] 24, CreditCard, -1.914, 0.668, 0.683, 0, 0, 0, 49 [SEP] 25, CellPhone, -2.187, 0.040, 2.469, 0, 180, 0, 53 [SEP] 26, CD, -0.587, 0.364, -1.013, 0, 0, 0, 37 [SEP] 27, Pencil, -2.091, 0.882, 0.665, 0, 0, 0, 48 [SEP] 28, Mug, -1.233, 1.721, 0.448, 0, 0, 0, 42 [SEP] 29, Bed, 1.227, -0.002, 1.664, 0, 0, 0, [SEP] 30, LightSwitch, 2.151, 1.233, -0.518, 0, 270, 0, [SEP] 31, GarbageCan, -0.747, 0.014, -0.327, 0, 0, 0, [SEP] 32, Mirror, -1.358, 1.427, 2.855, 0, 0, 0, [SEP] 33, DeskLamp, -2.296, 0.858, 0.750, 0, 0, 0, [SEP] 34, Window, -0.421, 1.534, -1.947, 90, 0, 0, [SEP] 35, Window, 0.579, 1.534, -1.947, 90, 0, 0, [SEP] 36, Drawer, -0.491, 0.739, -0.855, 0, 90, 0, [SEP] 37, Drawer, -0.491, 0.204, -0.855, 0, 90, 0, [SEP] 38, Desk, -0.639, 0.009, -1.187, 0, 90, 0, [SEP] 39, Drawer, -0.491, 0.487, -0.855, 0, 90, 0, [SEP] 40, Shelf, -1.965, 1.514, 0.416, 0, 0, 0, [SEP] 41, Shelf, -1.965, 1.092, 0.416, 0, 0, 0, [SEP] 42, Shelf, -1.312, 1.888, 0.416, 0, 0, 0, [SEP] 43, Shelf, -1.965, 1.888, 0.416, 0, 0, 0, [SEP] 44, Shelf, -1.312, 1.092, 0.416, 0, 0, 0, [SEP] 45, Shelf, -1.312, 1.514, 0.416, 0, 0, 0, [SEP] 46, Blinds, 0.601, 2.161, -1.916, 0, 0, 0, [SEP] 47, Blinds, -0.402, 2.161, -1.916, 0, 0, 0, [SEP] 48, Desk, -1.726, 0.001, 0.575, 0, 0, 0, [SEP] 49, Drawer, -2.058, 0.733, 0.734, 0, 0, 0, [SEP] 50, Drawer, -2.058, 0.482, 0.734, 0, 0, 0, [SEP] 51, Drawer, -2.058, 0.198, 0.735, 0, 0, 0, [SEP] 52, Chair, -0.137, 0.000, -1.587, 0, 315, 0, [SEP] 53, Safe, -2.183, -7.748, 2.576, 0, 180, 0, [SEP] 54, Chair, -1.433, 0.009, 0.780, 357.672, 206.726, 0, [SEP] 55, LaundryHamper, 0.163, 0.003, 2.635, 0, 86.390, 0, [SEP] 56, NorthWall, , , , , , , [SEP] 57, EastWall, , , , , , , [SEP] 58, SouthWall, , , , , , , [SEP] 59, WestWall, , , , , , , ", "output": ["STEP 1: Walk forward to the mug on the desk in front of you. | STEP 2: Pick up the mug from the desk. | STEP 3: Walk slightly to the right and stand in front of the lamp on the desk. | STEP 4: Turn on the lamp. | END"]} +{"id": "trial_T20190908_161733_213242-2", "input": "Examine a cup under a 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, 2.0, 0, 180, 0, [SEP] 1, Mug, -2.045, 1.347, 0.325, 0, 0, 0, 48 [SEP] 2, Mug, -0.483, 0.855, -1.529, 0, 0, 0, 38 [SEP] 3, CD, -0.903, 0.857, -0.836, 0, 0, 0, 38 [SEP] 4, CD, -1.994, 0.386, 0.646, 0, 0, 0, 50 [SEP] 5, CellPhone, -0.549, 0.365, -0.772, 0, 0, 0, 37 [SEP] 6, CellPhone, 1.206, 0.784, 0.787, 0, 0, 0, 29 [SEP] 7, Pen, -2.151, 1.729, 0.407, 0, 0, 0, 43 [SEP] 8, Pencil, -0.473, 0.087, -0.852, 0, 0, 0, 37 [SEP] 9, Pencil, -1.571, 0.882, 0.581, 0, 0, 0, 48 [SEP] 10, CreditCard, -1.918, 0.878, 0.414, 0, 0, 0, 41 [SEP] 11, CreditCard, -0.549, 0.083, -0.612, 0, 0, 0, 37 [SEP] 12, Book, -0.735, 0.857, -0.836, 0, 0, 0, 38 [SEP] 13, Pillow, 1.612, 0.918, 0.787, 0, 0, 0, 29 [SEP] 14, Pillow, 1.612, 0.918, 2.234, 0, 0, 0, 29 [SEP] 15, Book, 1.612, 0.783, 1.076, 0, 0, 0, 29 [SEP] 16, AlarmClock, -0.651, 0.858, -1.356, 0, 0, 0, 38 [SEP] 17, BasketBall, 1.976, 0.120, 0.211, 0, 331.076, 0, [SEP] 18, Pen, -0.785, 0.209, -0.338, 0, 0, 0, 31 [SEP] 19, Laptop, -1.783, 0.871, 0.732, 0, 0, 0, 48 [SEP] 20, BaseballBat, 1.953, 0.659, -1.81, 346.388, 0, 0, [SEP] 21, Bowl, -0.483, 0.861, -1.010, 0, 0, 0, 38 [SEP] 22, Pillow, 1.003, 0.918, 1.655, 0, 0, 0, 29 [SEP] 23, KeyChain, -2.083, 0.039, 2.415, 0, 180, 0, 53 [SEP] 24, CreditCard, -1.914, 0.668, 0.683, 0, 0, 0, 49 [SEP] 25, CellPhone, -2.187, 0.040, 2.469, 0, 180, 0, 53 [SEP] 26, CD, -0.587, 0.364, -1.013, 0, 0, 0, 37 [SEP] 27, Pencil, -2.091, 0.882, 0.665, 0, 0, 0, 48 [SEP] 28, Mug, -1.233, 1.721, 0.448, 0, 0, 0, 42 [SEP] 29, Bed, 1.227, -0.002, 1.664, 0, 0, 0, [SEP] 30, LightSwitch, 2.151, 1.233, -0.518, 0, 270, 0, [SEP] 31, GarbageCan, -0.747, 0.014, -0.327, 0, 0, 0, [SEP] 32, Mirror, -1.358, 1.427, 2.855, 0, 0, 0, [SEP] 33, DeskLamp, -2.296, 0.858, 0.750, 0, 0, 0, [SEP] 34, Window, -0.421, 1.534, -1.947, 90, 0, 0, [SEP] 35, Window, 0.579, 1.534, -1.947, 90, 0, 0, [SEP] 36, Drawer, -0.491, 0.739, -0.855, 0, 90, 0, [SEP] 37, Drawer, -0.491, 0.204, -0.855, 0, 90, 0, [SEP] 38, Desk, -0.639, 0.009, -1.187, 0, 90, 0, [SEP] 39, Drawer, -0.491, 0.487, -0.855, 0, 90, 0, [SEP] 40, Shelf, -1.965, 1.514, 0.416, 0, 0, 0, [SEP] 41, Shelf, -1.965, 1.092, 0.416, 0, 0, 0, [SEP] 42, Shelf, -1.312, 1.888, 0.416, 0, 0, 0, [SEP] 43, Shelf, -1.965, 1.888, 0.416, 0, 0, 0, [SEP] 44, Shelf, -1.312, 1.092, 0.416, 0, 0, 0, [SEP] 45, Shelf, -1.312, 1.514, 0.416, 0, 0, 0, [SEP] 46, Blinds, 0.601, 2.161, -1.916, 0, 0, 0, [SEP] 47, Blinds, -0.402, 2.161, -1.916, 0, 0, 0, [SEP] 48, Desk, -1.726, 0.001, 0.575, 0, 0, 0, [SEP] 49, Drawer, -2.058, 0.733, 0.734, 0, 0, 0, [SEP] 50, Drawer, -2.058, 0.482, 0.734, 0, 0, 0, [SEP] 51, Drawer, -2.058, 0.198, 0.735, 0, 0, 0, [SEP] 52, Chair, -0.137, 0.000, -1.587, 0, 315, 0, [SEP] 53, Safe, -2.183, -7.748, 2.576, 0, 180, 0, [SEP] 54, Chair, -1.433, 0.009, 0.780, 357.672, 206.726, 0, [SEP] 55, LaundryHamper, 0.163, 0.003, 2.635, 0, 86.390, 0, [SEP] 56, NorthWall, , , , , , , [SEP] 57, EastWall, , , , , , , [SEP] 58, SouthWall, , , , , , , [SEP] 59, WestWall, , , , , , , ", "output": ["STEP 1: Walk to the computer desk in front of you. | STEP 2: Grab a cup from the shelf on the desk. | STEP 3: Go to the right of the desk. | STEP 4: Turn the lamp on. | END"]} +{"id": "trial_T20190907_163327_486300-0", "input": "Put two pillows 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, -3.5, 0.901, 3.5, 0, 270, 0, [SEP] 1, TissueBox, -4.085, 0.201, 4.589, 0, 90, 0, 49 [SEP] 2, TissueBox, -3.222, 1.109, 4.786, 0, 90, 0, 52 [SEP] 3, Newspaper, -4.184, 1.117, 4.786, 0, 90, 0, 52 [SEP] 4, Newspaper, -3.864, 1.114, 4.687, 0, 90, 0, 52 [SEP] 5, KeyChain, -1.093, 0.593, 0.112, 0, 0, 0, 42 [SEP] 6, RemoteControl, -1.035, 0.611, 2.224, 0, 0, 0, 56 [SEP] 7, Pillow, -1.584, 0.668, 4.384, 0, 0, 0, 46 [SEP] 8, Box, -1.275, 0.295, 0.312, 0, 0, 0, 41 [SEP] 9, Watch, -1.189, 1.592, 0.428, 0, 0, 0, 39 [SEP] 10, Pillow, -2.031, 0.668, 4.421, 0, 0, 0, 46 [SEP] 11, TissueBox, -4.505, 1.112, 4.588, 0, 90, 0, 52 [SEP] 12, Newspaper, -5.534, 1.045, 0.239, 0, 0, 0, 34 [SEP] 13, CreditCard, -0.952, 0.608, 2.224, 0, 0, 0, 56 [SEP] 14, KeyChain, -2.137, 0.034, 0.160, 0, 270, 0, 35 [SEP] 15, CellPhone, -5.024, 1.039, 0.173, 0, 0, 0, 34 [SEP] 16, Statue, -4.184, 1.117, 4.391, 0, 90, 0, 52 [SEP] 17, Laptop, -3.393, 1.104, 4.492, 0, 191.867, 0, 52 [SEP] 18, RemoteControl, -4.826, 1.110, 4.292, 0, 90, 0, 53 [SEP] 19, Vase, -2.351, 0.037, 0.212, 0, 90, 0, 35 [SEP] 20, DeskLamp, -4.649, 1.051, 0.268, 0, 0, 0, [SEP] 21, DeskLamp, -2.992, 1.107, 4.522, 0, 0, 0, [SEP] 22, FloorLamp, -0.650, 0.007, 4.431, 0, 0, 0, [SEP] 23, FloorLamp, -5.607, 0.007, 4.641, 0, 0, 0, [SEP] 24, Shelf, -5.237, 1.776, 0.070, 0, 0, 0, [SEP] 25, Shelf, -5.238, 1.968, 0.085, 0, 0, 0, [SEP] 26, Shelf, -5.242, 1.391, 0.086, 0, 0, 0, [SEP] 27, Shelf, -5.241, 1.582, 0.065, 0, 0, 0, [SEP] 28, LightSwitch, -6.002, 1.353, 3.404, 0, 90, 0, [SEP] 29, GarbageCan, -5.794, -0.033, 4.073, 0, 90, 0, [SEP] 30, Painting, -6.017, 1.802, 4.177, 90, 270, 0, [SEP] 31, HousePlant, -3.966, 1.625, 0.135, 0, 315, 0, [SEP] 32, Television, -3.355, 0.833, 0.027, 0, 0, 0, [SEP] 33, Drawer, -5.024, 0.903, 0.370, 0, 0, 0, [SEP] 34, SideTable, -5.024, 0.008, 0.267, 0, 0, 0, [SEP] 35, Safe, -2.298, 5.778, 0.268, 0, 90, 0, [SEP] 36, Shelf, -0.253, 0.781, 1.058, 0, 270, 0, [SEP] 37, Shelf, -0.283, 0.274, 1.066, 0, 270, 0, [SEP] 38, Shelf, -1.224, 1.288, 0.270, 0, 0, 0, [SEP] 39, Shelf, -1.218, 1.810, 0.275, 0, 0, 0, [SEP] 40, Shelf, -0.280, 1.810, 1.057, 0, 270, 0, [SEP] 41, Shelf, -1.218, 0.274, 0.262, 0, 0, 0, [SEP] 42, Shelf, -1.223, 0.782, 0.237, 0, 0, 0, [SEP] 43, Shelf, -0.280, 1.288, 1.055, 0, 270, 0, [SEP] 44, ShelvingUnit, -0.268, 0.004, 1.067, 0, 270, 0, [SEP] 45, ShelvingUnit, -1.218, 0.004, 0.244, 0, 0, 0, [SEP] 46, ArmChair, -2.027, 0.001, 4.422, 0, 178.692, 0, [SEP] 47, Drawer, -4.329, 1.014, 4.311, 0, 180, 0, [SEP] 48, Drawer, -3.750, 1.014, 4.311, 0, 180, 0, [SEP] 49, Cabinet, -4.049, 0.561, 4.212, 0, 180, 0, [SEP] 50, Cabinet, -4.032, 0.561, 4.212, 0, 180, 0, [SEP] 51, Cabinet, -2.884, 0.561, 4.212, 0, 180, 0, [SEP] 52, Dresser, -4.041, -0.000, 4.589, 0, 180, 0, [SEP] 53, Drawer, -4.916, 1.014, 4.311, 0, 180, 0, [SEP] 54, Drawer, -3.166, 1.014, 4.311, 0, 180, 0, [SEP] 55, Cabinet, -5.196, 0.561, 4.212, 0, 180, 0, [SEP] 56, Sofa, -0.705, -0.002, 2.753, 0, 270, 0, [SEP] 57, NorthWall, , , , , , , [SEP] 58, SouthWall, , , , , , , [SEP] 59, SouthWall, , , , , , , ", "output": ["STEP 1: Turn around and walk to the couch and then turn left when you get to it. | STEP 2: Pick up the pillow on the left. | STEP 3: Turn left and walk to the middle of the couch on your left and face it. | STEP 4: Put the pillow in the middle of the couch where the two cushions meet. | STEP 5: Turn left and walk to the pillow. | STEP 6: Pick up the pillow. | STEP 7: Go back to where you put the first pillow. | STEP 8: Put this pillow standing up on end at the bottom of the pillow already there and to it's right. | END"]} +{"id": "trial_T20190907_163327_486300-1", "input": "Move both pillows from the blue chair to the tan sofa. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.5, 0.901, 3.5, 0, 270, 0, [SEP] 1, TissueBox, -4.085, 0.201, 4.589, 0, 90, 0, 49 [SEP] 2, TissueBox, -3.222, 1.109, 4.786, 0, 90, 0, 52 [SEP] 3, Newspaper, -4.184, 1.117, 4.786, 0, 90, 0, 52 [SEP] 4, Newspaper, -3.864, 1.114, 4.687, 0, 90, 0, 52 [SEP] 5, KeyChain, -1.093, 0.593, 0.112, 0, 0, 0, 42 [SEP] 6, RemoteControl, -1.035, 0.611, 2.224, 0, 0, 0, 56 [SEP] 7, Pillow, -1.584, 0.668, 4.384, 0, 0, 0, 46 [SEP] 8, Box, -1.275, 0.295, 0.312, 0, 0, 0, 41 [SEP] 9, Watch, -1.189, 1.592, 0.428, 0, 0, 0, 39 [SEP] 10, Pillow, -2.031, 0.668, 4.421, 0, 0, 0, 46 [SEP] 11, TissueBox, -4.505, 1.112, 4.588, 0, 90, 0, 52 [SEP] 12, Newspaper, -5.534, 1.045, 0.239, 0, 0, 0, 34 [SEP] 13, CreditCard, -0.952, 0.608, 2.224, 0, 0, 0, 56 [SEP] 14, KeyChain, -2.137, 0.034, 0.160, 0, 270, 0, 35 [SEP] 15, CellPhone, -5.024, 1.039, 0.173, 0, 0, 0, 34 [SEP] 16, Statue, -4.184, 1.117, 4.391, 0, 90, 0, 52 [SEP] 17, Laptop, -3.393, 1.104, 4.492, 0, 191.867, 0, 52 [SEP] 18, RemoteControl, -4.826, 1.110, 4.292, 0, 90, 0, 53 [SEP] 19, Vase, -2.351, 0.037, 0.212, 0, 90, 0, 35 [SEP] 20, DeskLamp, -4.649, 1.051, 0.268, 0, 0, 0, [SEP] 21, DeskLamp, -2.992, 1.107, 4.522, 0, 0, 0, [SEP] 22, FloorLamp, -0.650, 0.007, 4.431, 0, 0, 0, [SEP] 23, FloorLamp, -5.607, 0.007, 4.641, 0, 0, 0, [SEP] 24, Shelf, -5.237, 1.776, 0.070, 0, 0, 0, [SEP] 25, Shelf, -5.238, 1.968, 0.085, 0, 0, 0, [SEP] 26, Shelf, -5.242, 1.391, 0.086, 0, 0, 0, [SEP] 27, Shelf, -5.241, 1.582, 0.065, 0, 0, 0, [SEP] 28, LightSwitch, -6.002, 1.353, 3.404, 0, 90, 0, [SEP] 29, GarbageCan, -5.794, -0.033, 4.073, 0, 90, 0, [SEP] 30, Painting, -6.017, 1.802, 4.177, 90, 270, 0, [SEP] 31, HousePlant, -3.966, 1.625, 0.135, 0, 315, 0, [SEP] 32, Television, -3.355, 0.833, 0.027, 0, 0, 0, [SEP] 33, Drawer, -5.024, 0.903, 0.370, 0, 0, 0, [SEP] 34, SideTable, -5.024, 0.008, 0.267, 0, 0, 0, [SEP] 35, Safe, -2.298, 5.778, 0.268, 0, 90, 0, [SEP] 36, Shelf, -0.253, 0.781, 1.058, 0, 270, 0, [SEP] 37, Shelf, -0.283, 0.274, 1.066, 0, 270, 0, [SEP] 38, Shelf, -1.224, 1.288, 0.270, 0, 0, 0, [SEP] 39, Shelf, -1.218, 1.810, 0.275, 0, 0, 0, [SEP] 40, Shelf, -0.280, 1.810, 1.057, 0, 270, 0, [SEP] 41, Shelf, -1.218, 0.274, 0.262, 0, 0, 0, [SEP] 42, Shelf, -1.223, 0.782, 0.237, 0, 0, 0, [SEP] 43, Shelf, -0.280, 1.288, 1.055, 0, 270, 0, [SEP] 44, ShelvingUnit, -0.268, 0.004, 1.067, 0, 270, 0, [SEP] 45, ShelvingUnit, -1.218, 0.004, 0.244, 0, 0, 0, [SEP] 46, ArmChair, -2.027, 0.001, 4.422, 0, 178.692, 0, [SEP] 47, Drawer, -4.329, 1.014, 4.311, 0, 180, 0, [SEP] 48, Drawer, -3.750, 1.014, 4.311, 0, 180, 0, [SEP] 49, Cabinet, -4.049, 0.561, 4.212, 0, 180, 0, [SEP] 50, Cabinet, -4.032, 0.561, 4.212, 0, 180, 0, [SEP] 51, Cabinet, -2.884, 0.561, 4.212, 0, 180, 0, [SEP] 52, Dresser, -4.041, -0.000, 4.589, 0, 180, 0, [SEP] 53, Drawer, -4.916, 1.014, 4.311, 0, 180, 0, [SEP] 54, Drawer, -3.166, 1.014, 4.311, 0, 180, 0, [SEP] 55, Cabinet, -5.196, 0.561, 4.212, 0, 180, 0, [SEP] 56, Sofa, -0.705, -0.002, 2.753, 0, 270, 0, [SEP] 57, NorthWall, , , , , , , [SEP] 58, SouthWall, , , , , , , [SEP] 59, SouthWall, , , , , , , ", "output": ["STEP 1: Turn around and head to the right to face the blue chair. | STEP 2: Pick up the pillow to the left. | STEP 3: Turn around and face the middle of the tan sofa. | STEP 4: Place the pillow in the middle of the tan sofa. | STEP 5: Move to the left and face the blue chair. pick up the other pillow from the blue chair. | STEP 6: Pick up the other pillow from the blue chair. | STEP 7: Move to the right to face the tan sofa. | STEP 8: Place the pillow next to the other pillow. | END"]} +{"id": "trial_T20190907_163327_486300-2", "input": "Arrange cushion one and two taken from the grey chair on the white couch SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.5, 0.901, 3.5, 0, 270, 0, [SEP] 1, TissueBox, -4.085, 0.201, 4.589, 0, 90, 0, 49 [SEP] 2, TissueBox, -3.222, 1.109, 4.786, 0, 90, 0, 52 [SEP] 3, Newspaper, -4.184, 1.117, 4.786, 0, 90, 0, 52 [SEP] 4, Newspaper, -3.864, 1.114, 4.687, 0, 90, 0, 52 [SEP] 5, KeyChain, -1.093, 0.593, 0.112, 0, 0, 0, 42 [SEP] 6, RemoteControl, -1.035, 0.611, 2.224, 0, 0, 0, 56 [SEP] 7, Pillow, -1.584, 0.668, 4.384, 0, 0, 0, 46 [SEP] 8, Box, -1.275, 0.295, 0.312, 0, 0, 0, 41 [SEP] 9, Watch, -1.189, 1.592, 0.428, 0, 0, 0, 39 [SEP] 10, Pillow, -2.031, 0.668, 4.421, 0, 0, 0, 46 [SEP] 11, TissueBox, -4.505, 1.112, 4.588, 0, 90, 0, 52 [SEP] 12, Newspaper, -5.534, 1.045, 0.239, 0, 0, 0, 34 [SEP] 13, CreditCard, -0.952, 0.608, 2.224, 0, 0, 0, 56 [SEP] 14, KeyChain, -2.137, 0.034, 0.160, 0, 270, 0, 35 [SEP] 15, CellPhone, -5.024, 1.039, 0.173, 0, 0, 0, 34 [SEP] 16, Statue, -4.184, 1.117, 4.391, 0, 90, 0, 52 [SEP] 17, Laptop, -3.393, 1.104, 4.492, 0, 191.867, 0, 52 [SEP] 18, RemoteControl, -4.826, 1.110, 4.292, 0, 90, 0, 53 [SEP] 19, Vase, -2.351, 0.037, 0.212, 0, 90, 0, 35 [SEP] 20, DeskLamp, -4.649, 1.051, 0.268, 0, 0, 0, [SEP] 21, DeskLamp, -2.992, 1.107, 4.522, 0, 0, 0, [SEP] 22, FloorLamp, -0.650, 0.007, 4.431, 0, 0, 0, [SEP] 23, FloorLamp, -5.607, 0.007, 4.641, 0, 0, 0, [SEP] 24, Shelf, -5.237, 1.776, 0.070, 0, 0, 0, [SEP] 25, Shelf, -5.238, 1.968, 0.085, 0, 0, 0, [SEP] 26, Shelf, -5.242, 1.391, 0.086, 0, 0, 0, [SEP] 27, Shelf, -5.241, 1.582, 0.065, 0, 0, 0, [SEP] 28, LightSwitch, -6.002, 1.353, 3.404, 0, 90, 0, [SEP] 29, GarbageCan, -5.794, -0.033, 4.073, 0, 90, 0, [SEP] 30, Painting, -6.017, 1.802, 4.177, 90, 270, 0, [SEP] 31, HousePlant, -3.966, 1.625, 0.135, 0, 315, 0, [SEP] 32, Television, -3.355, 0.833, 0.027, 0, 0, 0, [SEP] 33, Drawer, -5.024, 0.903, 0.370, 0, 0, 0, [SEP] 34, SideTable, -5.024, 0.008, 0.267, 0, 0, 0, [SEP] 35, Safe, -2.298, 5.778, 0.268, 0, 90, 0, [SEP] 36, Shelf, -0.253, 0.781, 1.058, 0, 270, 0, [SEP] 37, Shelf, -0.283, 0.274, 1.066, 0, 270, 0, [SEP] 38, Shelf, -1.224, 1.288, 0.270, 0, 0, 0, [SEP] 39, Shelf, -1.218, 1.810, 0.275, 0, 0, 0, [SEP] 40, Shelf, -0.280, 1.810, 1.057, 0, 270, 0, [SEP] 41, Shelf, -1.218, 0.274, 0.262, 0, 0, 0, [SEP] 42, Shelf, -1.223, 0.782, 0.237, 0, 0, 0, [SEP] 43, Shelf, -0.280, 1.288, 1.055, 0, 270, 0, [SEP] 44, ShelvingUnit, -0.268, 0.004, 1.067, 0, 270, 0, [SEP] 45, ShelvingUnit, -1.218, 0.004, 0.244, 0, 0, 0, [SEP] 46, ArmChair, -2.027, 0.001, 4.422, 0, 178.692, 0, [SEP] 47, Drawer, -4.329, 1.014, 4.311, 0, 180, 0, [SEP] 48, Drawer, -3.750, 1.014, 4.311, 0, 180, 0, [SEP] 49, Cabinet, -4.049, 0.561, 4.212, 0, 180, 0, [SEP] 50, Cabinet, -4.032, 0.561, 4.212, 0, 180, 0, [SEP] 51, Cabinet, -2.884, 0.561, 4.212, 0, 180, 0, [SEP] 52, Dresser, -4.041, -0.000, 4.589, 0, 180, 0, [SEP] 53, Drawer, -4.916, 1.014, 4.311, 0, 180, 0, [SEP] 54, Drawer, -3.166, 1.014, 4.311, 0, 180, 0, [SEP] 55, Cabinet, -5.196, 0.561, 4.212, 0, 180, 0, [SEP] 56, Sofa, -0.705, -0.002, 2.753, 0, 270, 0, [SEP] 57, NorthWall, , , , , , , [SEP] 58, SouthWall, , , , , , , [SEP] 59, SouthWall, , , , , , , ", "output": ["STEP 1: turn around, then turn left to face the grey chair | STEP 2: pick up a cushion on the left | STEP 3: turn right, then look straight at the white, long couch | STEP 4: place the cushion on the couch to the left of the remote | STEP 5: return to the grey chair | STEP 6: pick up the last cushion on the chair | STEP 7: return to the long white couch | STEP 8: place the second cushion so that it is standing up vertically and to the right of the first cushion | END"]} +{"id": "trial_T20190908_091811_414150-0", "input": "Put chilled bread on the counter, right 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, 0.900, -1.25, 0, 0, 0, [SEP] 1, Statue, -1.167, 0.936, -0.643, 0, 0, 0, 52 [SEP] 2, Vase, -0.772, 0.934, -1.540, 0, 0, 0, 52 [SEP] 3, Potato, -0.550, 0.963, 0.009, 0, 0, 0, 52 [SEP] 4, Potato, -0.587, 0.807, -0.659, 0, 180, 0, 73 [SEP] 5, CreditCard, 0.874, 0.150, -0.571, 0, 270, 0, 55 [SEP] 6, ButterKnife, -1.229, 0.933, -0.380, 0, 0, 0, 52 [SEP] 7, Fork, 0.874, 0.154, -0.729, 0, 0, 0, 55 [SEP] 8, Spatula, -0.698, 0.948, -0.067, 0, 0, 0, 52 [SEP] 9, Egg, -1.007, 0.214, 0.608, 0, 180, 0, 72 [SEP] 10, Egg, -0.587, 0.814, -0.745, 0, 90, 0, 73 [SEP] 11, Tomato, -0.550, 0.974, 0.162, 0, 0, 0, 52 [SEP] 12, Tomato, -0.587, 0.821, -0.486, 0, 90, 0, 73 [SEP] 13, Bowl, 1.082, 2.211, -1.517, 0, 270, 0, 59 [SEP] 14, SaltShaker, -0.920, 0.929, -1.463, 0, 0, 0, 52 [SEP] 15, Bread, -1.104, 1.014, -0.118, 0, 0, 0, 52 [SEP] 16, Apple, -0.865, 0.227, 0.641, 0, 180, 0, 72 [SEP] 17, Apple, -0.865, 0.229, 0.543, 0, 180, 0, 72 [SEP] 18, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 52 [SEP] 19, Glassbottle, -1.104, 0.934, -1.167, 0, 0, 0, 52 [SEP] 20, Bread, -1.292, 1.014, 0.144, 0, 0, 0, 52 [SEP] 21, CreditCard, -1.467, 0.551, 2.770, 0, 0, 0, 78 [SEP] 22, CellPhone, -1.977, 0.544, 2.714, 0, 10.469, 0, 78 [SEP] 23, Potato, -0.477, 0.963, -0.067, 0, 0, 0, 52 [SEP] 24, Knife, 0.868, 0.700, -0.600, 90, 315, 0, 50 [SEP] 25, Fork, -0.550, 0.934, -1.308, 0, 90, 0, 52 [SEP] 26, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 46 [SEP] 27, Lettuce, -1.229, 1.010, -0.905, 0, 0, 0, 52 [SEP] 28, Plate, 1.169, 2.211, -1.299, 0, 270, 0, 59 [SEP] 29, Apple, 1.028, 1.845, -1.339, 0, 270, 0, 74 [SEP] 30, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 48 [SEP] 31, Spatula, -0.697, 0.795, -0.573, 0, 270, 0, 73 [SEP] 32, PaperTowelRoll, -0.550, 1.037, 0.315, 0, 0, 0, 52 [SEP] 33, Tomato, -0.698, 0.974, -1.154, 0, 0, 0, 52 [SEP] 34, Egg, 1.060, 1.821, -1.236, 0, 270, 0, 74 [SEP] 35, SaltShaker, 0.915, 0.698, -0.690, 0, 270, 0, 50 [SEP] 36, PepperShaker, -1.881, 0.550, 2.667, 0, 0, 0, 78 [SEP] 37, Vase, 1.055, 1.666, 0.153, 0, 270, 0, 60 [SEP] 38, ButterKnife, -1.167, 0.933, -0.905, 0, 0, 0, 52 [SEP] 39, SoapBottle, -1.367, 0.882, 2.692, 0, 0, 0, 79 [SEP] 40, Vase, 1.148, 1.667, -0.529, 0, 270, 0, 61 [SEP] 41, Bowl, -1.571, 0.885, 2.719, 0, 0, 0, 79 [SEP] 42, DishSponge, 0.754, 0.493, -0.648, 0, 270, 0, 56 [SEP] 43, Spoon, -0.698, 0.934, 0.162, 0, 0, 0, 52 [SEP] 44, Cup, -0.587, 0.777, -0.832, 0, 90, 0, 73 [SEP] 45, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 71 [SEP] 46, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 47, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 48, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 49, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 50, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 51, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 52, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 53, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 54, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 55, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 56, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 57, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 58, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 59, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 60, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 61, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 62, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 63, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 64, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 65, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 66, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 67, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 68, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 69, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 70, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 71, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 72, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 73, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 74, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 75, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 76, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 77, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 78, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 79, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 80, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 81, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 82, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 83, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 84, NorthWall, , , , , , , [SEP] 85, EastWall, , , , , , , [SEP] 86, SouthWall, , , , , , , [SEP] 87, WestWall, , , , , , , ", "output": ["STEP 1: Move forward, turn left after the sink to face the bread on the counter. | STEP 2: Pick up the bread across the counter to the left. | STEP 3: Turn around, bring the bread to the fridge on the left. | STEP 4: Chill the bread in the fridge. | STEP 5: Bring the chilled bread to the counter right of the fridge. | STEP 6: Put the bread on the counter right of the fridge. | END"]} +{"id": "trial_T20190908_091811_414150-1", "input": "place the cooled bread down 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, 0.0, 0.900, -1.25, 0, 0, 0, [SEP] 1, Statue, -1.167, 0.936, -0.643, 0, 0, 0, 52 [SEP] 2, Vase, -0.772, 0.934, -1.540, 0, 0, 0, 52 [SEP] 3, Potato, -0.550, 0.963, 0.009, 0, 0, 0, 52 [SEP] 4, Potato, -0.587, 0.807, -0.659, 0, 180, 0, 73 [SEP] 5, CreditCard, 0.874, 0.150, -0.571, 0, 270, 0, 55 [SEP] 6, ButterKnife, -1.229, 0.933, -0.380, 0, 0, 0, 52 [SEP] 7, Fork, 0.874, 0.154, -0.729, 0, 0, 0, 55 [SEP] 8, Spatula, -0.698, 0.948, -0.067, 0, 0, 0, 52 [SEP] 9, Egg, -1.007, 0.214, 0.608, 0, 180, 0, 72 [SEP] 10, Egg, -0.587, 0.814, -0.745, 0, 90, 0, 73 [SEP] 11, Tomato, -0.550, 0.974, 0.162, 0, 0, 0, 52 [SEP] 12, Tomato, -0.587, 0.821, -0.486, 0, 90, 0, 73 [SEP] 13, Bowl, 1.082, 2.211, -1.517, 0, 270, 0, 59 [SEP] 14, SaltShaker, -0.920, 0.929, -1.463, 0, 0, 0, 52 [SEP] 15, Bread, -1.104, 1.014, -0.118, 0, 0, 0, 52 [SEP] 16, Apple, -0.865, 0.227, 0.641, 0, 180, 0, 72 [SEP] 17, Apple, -0.865, 0.229, 0.543, 0, 180, 0, 72 [SEP] 18, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 52 [SEP] 19, Glassbottle, -1.104, 0.934, -1.167, 0, 0, 0, 52 [SEP] 20, Bread, -1.292, 1.014, 0.144, 0, 0, 0, 52 [SEP] 21, CreditCard, -1.467, 0.551, 2.770, 0, 0, 0, 78 [SEP] 22, CellPhone, -1.977, 0.544, 2.714, 0, 10.469, 0, 78 [SEP] 23, Potato, -0.477, 0.963, -0.067, 0, 0, 0, 52 [SEP] 24, Knife, 0.868, 0.700, -0.600, 90, 315, 0, 50 [SEP] 25, Fork, -0.550, 0.934, -1.308, 0, 90, 0, 52 [SEP] 26, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 46 [SEP] 27, Lettuce, -1.229, 1.010, -0.905, 0, 0, 0, 52 [SEP] 28, Plate, 1.169, 2.211, -1.299, 0, 270, 0, 59 [SEP] 29, Apple, 1.028, 1.845, -1.339, 0, 270, 0, 74 [SEP] 30, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 48 [SEP] 31, Spatula, -0.697, 0.795, -0.573, 0, 270, 0, 73 [SEP] 32, PaperTowelRoll, -0.550, 1.037, 0.315, 0, 0, 0, 52 [SEP] 33, Tomato, -0.698, 0.974, -1.154, 0, 0, 0, 52 [SEP] 34, Egg, 1.060, 1.821, -1.236, 0, 270, 0, 74 [SEP] 35, SaltShaker, 0.915, 0.698, -0.690, 0, 270, 0, 50 [SEP] 36, PepperShaker, -1.881, 0.550, 2.667, 0, 0, 0, 78 [SEP] 37, Vase, 1.055, 1.666, 0.153, 0, 270, 0, 60 [SEP] 38, ButterKnife, -1.167, 0.933, -0.905, 0, 0, 0, 52 [SEP] 39, SoapBottle, -1.367, 0.882, 2.692, 0, 0, 0, 79 [SEP] 40, Vase, 1.148, 1.667, -0.529, 0, 270, 0, 61 [SEP] 41, Bowl, -1.571, 0.885, 2.719, 0, 0, 0, 79 [SEP] 42, DishSponge, 0.754, 0.493, -0.648, 0, 270, 0, 56 [SEP] 43, Spoon, -0.698, 0.934, 0.162, 0, 0, 0, 52 [SEP] 44, Cup, -0.587, 0.777, -0.832, 0, 90, 0, 73 [SEP] 45, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 71 [SEP] 46, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 47, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 48, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 49, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 50, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 51, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 52, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 53, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 54, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 55, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 56, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 57, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 58, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 59, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 60, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 61, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 62, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 63, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 64, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 65, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 66, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 67, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 68, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 69, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 70, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 71, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 72, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 73, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 74, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 75, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 76, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 77, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 78, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 79, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 80, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 81, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 82, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 83, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 84, NorthWall, , , , , , , [SEP] 85, EastWall, , , , , , , [SEP] 86, SouthWall, , , , , , , [SEP] 87, WestWall, , , , , , , ", "output": ["STEP 1: walk forwards to the end of the kitchen island counter on your left, then turn left to face it | STEP 2: grab the bread off of the kitchen island counter | STEP 3: turn around and walk to the front of the fridge on the left | STEP 4: place the bread inside of the fridge to cool down, then take it back out again | STEP 5: turn left and walk over to the kitchen counter on the left to the left of the stove | STEP 6: place the bread down on the kitchen counter to the right of the toaster | END"]} +{"id": "trial_T20190908_091811_414150-2", "input": "Put a cooled loaf of bread 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, 0.0, 0.900, -1.25, 0, 0, 0, [SEP] 1, Statue, -1.167, 0.936, -0.643, 0, 0, 0, 52 [SEP] 2, Vase, -0.772, 0.934, -1.540, 0, 0, 0, 52 [SEP] 3, Potato, -0.550, 0.963, 0.009, 0, 0, 0, 52 [SEP] 4, Potato, -0.587, 0.807, -0.659, 0, 180, 0, 73 [SEP] 5, CreditCard, 0.874, 0.150, -0.571, 0, 270, 0, 55 [SEP] 6, ButterKnife, -1.229, 0.933, -0.380, 0, 0, 0, 52 [SEP] 7, Fork, 0.874, 0.154, -0.729, 0, 0, 0, 55 [SEP] 8, Spatula, -0.698, 0.948, -0.067, 0, 0, 0, 52 [SEP] 9, Egg, -1.007, 0.214, 0.608, 0, 180, 0, 72 [SEP] 10, Egg, -0.587, 0.814, -0.745, 0, 90, 0, 73 [SEP] 11, Tomato, -0.550, 0.974, 0.162, 0, 0, 0, 52 [SEP] 12, Tomato, -0.587, 0.821, -0.486, 0, 90, 0, 73 [SEP] 13, Bowl, 1.082, 2.211, -1.517, 0, 270, 0, 59 [SEP] 14, SaltShaker, -0.920, 0.929, -1.463, 0, 0, 0, 52 [SEP] 15, Bread, -1.104, 1.014, -0.118, 0, 0, 0, 52 [SEP] 16, Apple, -0.865, 0.227, 0.641, 0, 180, 0, 72 [SEP] 17, Apple, -0.865, 0.229, 0.543, 0, 180, 0, 72 [SEP] 18, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 52 [SEP] 19, Glassbottle, -1.104, 0.934, -1.167, 0, 0, 0, 52 [SEP] 20, Bread, -1.292, 1.014, 0.144, 0, 0, 0, 52 [SEP] 21, CreditCard, -1.467, 0.551, 2.770, 0, 0, 0, 78 [SEP] 22, CellPhone, -1.977, 0.544, 2.714, 0, 10.469, 0, 78 [SEP] 23, Potato, -0.477, 0.963, -0.067, 0, 0, 0, 52 [SEP] 24, Knife, 0.868, 0.700, -0.600, 90, 315, 0, 50 [SEP] 25, Fork, -0.550, 0.934, -1.308, 0, 90, 0, 52 [SEP] 26, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 46 [SEP] 27, Lettuce, -1.229, 1.010, -0.905, 0, 0, 0, 52 [SEP] 28, Plate, 1.169, 2.211, -1.299, 0, 270, 0, 59 [SEP] 29, Apple, 1.028, 1.845, -1.339, 0, 270, 0, 74 [SEP] 30, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 48 [SEP] 31, Spatula, -0.697, 0.795, -0.573, 0, 270, 0, 73 [SEP] 32, PaperTowelRoll, -0.550, 1.037, 0.315, 0, 0, 0, 52 [SEP] 33, Tomato, -0.698, 0.974, -1.154, 0, 0, 0, 52 [SEP] 34, Egg, 1.060, 1.821, -1.236, 0, 270, 0, 74 [SEP] 35, SaltShaker, 0.915, 0.698, -0.690, 0, 270, 0, 50 [SEP] 36, PepperShaker, -1.881, 0.550, 2.667, 0, 0, 0, 78 [SEP] 37, Vase, 1.055, 1.666, 0.153, 0, 270, 0, 60 [SEP] 38, ButterKnife, -1.167, 0.933, -0.905, 0, 0, 0, 52 [SEP] 39, SoapBottle, -1.367, 0.882, 2.692, 0, 0, 0, 79 [SEP] 40, Vase, 1.148, 1.667, -0.529, 0, 270, 0, 61 [SEP] 41, Bowl, -1.571, 0.885, 2.719, 0, 0, 0, 79 [SEP] 42, DishSponge, 0.754, 0.493, -0.648, 0, 270, 0, 56 [SEP] 43, Spoon, -0.698, 0.934, 0.162, 0, 0, 0, 52 [SEP] 44, Cup, -0.587, 0.777, -0.832, 0, 90, 0, 73 [SEP] 45, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 71 [SEP] 46, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 47, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 48, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 49, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 50, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 51, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 52, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 53, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 54, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 55, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 56, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 57, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 58, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 59, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 60, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 61, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 62, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 63, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 64, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 65, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 66, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 67, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 68, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 69, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 70, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 71, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 72, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 73, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 74, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 75, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 76, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 77, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 78, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 79, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 80, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 81, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 82, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 83, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 84, NorthWall, , , , , , , [SEP] 85, EastWall, , , , , , , [SEP] 86, SouthWall, , , , , , , [SEP] 87, WestWall, , , , , , , ", "output": ["STEP 1: Move to the end of the island on your left. | STEP 2: Pick up the loaf of bread closest to the sink. | STEP 3: Turn around and move to the front of the fridge. | STEP 4: Put the loaf of bread on the second shelf of the fridge for a few minutes and then remove it. | STEP 5: Move a few steps to the counter on your right. | STEP 6: Set the loaf of bread down on the counter above the dishwasher. | END"]} +{"id": "trial_T20190907_074524_006355-0", "input": "Move a watch to the inside of a small safe. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -4.75, 0.901, 1.25, 0, 0, 0, [SEP] 1, TissueBox, -4.826, 1.112, 4.588, 0, 90, 0, 56 [SEP] 2, Newspaper, -1.276, 0.598, 0.222, 0, 0, 0, 46 [SEP] 3, Newspaper, -1.584, 0.596, 4.211, 0, 0, 0, 50 [SEP] 4, CellPhone, -5.534, 1.039, 0.239, 0, 0, 0, 38 [SEP] 5, CellPhone, -2.191, 0.034, 0.265, 0, 90, 0, 39 [SEP] 6, Vase, -4.184, 1.115, 4.391, 0, 90, 0, 56 [SEP] 7, Vase, -4.184, 1.111, 4.687, 0, 90, 0, 56 [SEP] 8, KeyChain, -5.043, 1.399, 0.104, 0, 0, 0, 30 [SEP] 9, CreditCard, -5.534, 1.038, 0.372, 0, 0, 0, 38 [SEP] 10, RemoteControl, -3.863, 1.113, 4.490, 0, 90, 0, 56 [SEP] 11, Box, -0.870, 0.830, 1.960, 0, 180, 0, 60 [SEP] 12, Box, -2.983, 0.421, 4.466, 0, 90, 0, 55 [SEP] 13, Watch, -4.505, 1.108, 4.885, 0, 90, 0, 56 [SEP] 14, Pillow, -2.031, 0.668, 4.421, 0, 0, 0, 50 [SEP] 15, TissueBox, -3.435, 0.205, 4.523, 0, 90, 0, 55 [SEP] 16, Newspaper, -4.085, 0.205, 4.404, 0, 90, 0, 53 [SEP] 17, CreditCard, -4.100, 0.995, 4.336, 0, 90, 0, 51 [SEP] 18, KeyChain, -5.194, 1.039, 0.107, 0, 0, 0, 38 [SEP] 19, CellPhone, -2.298, 0.034, 0.421, 0, 90, 0, 39 [SEP] 20, Statue, -5.024, 1.044, 0.372, 0, 0, 0, 38 [SEP] 21, Laptop, -3.393, 1.104, 4.492, 0, 191.867, 0, 56 [SEP] 22, RemoteControl, -0.952, 0.611, 3.281, 0, 0, 0, 60 [SEP] 23, Vase, -4.605, 0.207, 4.523, 0, 90, 0, 53 [SEP] 24, DeskLamp, -4.649, 1.051, 0.268, 0, 0, 0, [SEP] 25, DeskLamp, -2.992, 1.107, 4.522, 0, 0, 0, [SEP] 26, FloorLamp, -0.650, 0.007, 4.431, 0, 0, 0, [SEP] 27, FloorLamp, -5.607, 0.007, 4.641, 0, 0, 0, [SEP] 28, Shelf, -5.237, 1.776, 0.070, 0, 0, 0, [SEP] 29, Shelf, -5.238, 1.968, 0.085, 0, 0, 0, [SEP] 30, Shelf, -5.242, 1.391, 0.086, 0, 0, 0, [SEP] 31, Shelf, -5.241, 1.582, 0.065, 0, 0, 0, [SEP] 32, LightSwitch, -6.002, 1.353, 3.404, 0, 90, 0, [SEP] 33, GarbageCan, -5.794, -0.033, 4.073, 0, 90, 0, [SEP] 34, Painting, -6.017, 1.802, 4.177, 90, 270, 0, [SEP] 35, HousePlant, -3.966, 1.625, 0.135, 0, 315, 0, [SEP] 36, Television, -3.355, 0.833, 0.027, 0, 0, 0, [SEP] 37, Drawer, -5.024, 0.903, 0.370, 0, 0, 0, [SEP] 38, SideTable, -5.024, 0.008, 0.267, 0, 0, 0, [SEP] 39, Safe, -2.298, 5.778, 0.268, 0, 90, 0, [SEP] 40, Shelf, -0.253, 0.781, 1.058, 0, 270, 0, [SEP] 41, Shelf, -0.283, 0.274, 1.066, 0, 270, 0, [SEP] 42, Shelf, -1.224, 1.288, 0.270, 0, 0, 0, [SEP] 43, Shelf, -1.218, 1.810, 0.275, 0, 0, 0, [SEP] 44, Shelf, -0.280, 1.810, 1.057, 0, 270, 0, [SEP] 45, Shelf, -1.218, 0.274, 0.262, 0, 0, 0, [SEP] 46, Shelf, -1.223, 0.782, 0.237, 0, 0, 0, [SEP] 47, Shelf, -0.280, 1.288, 1.055, 0, 270, 0, [SEP] 48, ShelvingUnit, -0.268, 0.004, 1.067, 0, 270, 0, [SEP] 49, ShelvingUnit, -1.218, 0.004, 0.244, 0, 0, 0, [SEP] 50, ArmChair, -2.027, 0.001, 4.422, 0, 178.692, 0, [SEP] 51, Drawer, -4.329, 1.014, 4.311, 0, 180, 0, [SEP] 52, Drawer, -3.750, 1.014, 4.311, 0, 180, 0, [SEP] 53, Cabinet, -4.049, 0.561, 4.212, 0, 180, 0, [SEP] 54, Cabinet, -4.032, 0.561, 4.212, 0, 180, 0, [SEP] 55, Cabinet, -2.884, 0.561, 4.212, 0, 180, 0, [SEP] 56, Dresser, -4.041, -0.000, 4.589, 0, 180, 0, [SEP] 57, Drawer, -4.916, 1.014, 4.311, 0, 180, 0, [SEP] 58, Drawer, -3.166, 1.014, 4.311, 0, 180, 0, [SEP] 59, Cabinet, -5.196, 0.561, 4.212, 0, 180, 0, [SEP] 60, Sofa, -0.705, -0.002, 2.753, 0, 270, 0, [SEP] 61, NorthWall, , , , , , , [SEP] 62, SouthWall, , , , , , , [SEP] 63, SouthWall, , , , , , , ", "output": ["STEP 1: Turn right and take a step forward, then turn left and walk up to the large wooden dresser. | STEP 2: Pick up the watch that is on top of the large wooden dresser. | STEP 3: Turn right and begin walking across the room, then hang a right and walk up to the small white safe on the ground. | STEP 4: Open the small white safe, place the watch inside, then close the safe door. | END"]} +{"id": "trial_T20190907_074524_006355-1", "input": "Take the watch on top of the chest of drawers put it inside the safe and lock it up. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -4.75, 0.901, 1.25, 0, 0, 0, [SEP] 1, TissueBox, -4.826, 1.112, 4.588, 0, 90, 0, 56 [SEP] 2, Newspaper, -1.276, 0.598, 0.222, 0, 0, 0, 46 [SEP] 3, Newspaper, -1.584, 0.596, 4.211, 0, 0, 0, 50 [SEP] 4, CellPhone, -5.534, 1.039, 0.239, 0, 0, 0, 38 [SEP] 5, CellPhone, -2.191, 0.034, 0.265, 0, 90, 0, 39 [SEP] 6, Vase, -4.184, 1.115, 4.391, 0, 90, 0, 56 [SEP] 7, Vase, -4.184, 1.111, 4.687, 0, 90, 0, 56 [SEP] 8, KeyChain, -5.043, 1.399, 0.104, 0, 0, 0, 30 [SEP] 9, CreditCard, -5.534, 1.038, 0.372, 0, 0, 0, 38 [SEP] 10, RemoteControl, -3.863, 1.113, 4.490, 0, 90, 0, 56 [SEP] 11, Box, -0.870, 0.830, 1.960, 0, 180, 0, 60 [SEP] 12, Box, -2.983, 0.421, 4.466, 0, 90, 0, 55 [SEP] 13, Watch, -4.505, 1.108, 4.885, 0, 90, 0, 56 [SEP] 14, Pillow, -2.031, 0.668, 4.421, 0, 0, 0, 50 [SEP] 15, TissueBox, -3.435, 0.205, 4.523, 0, 90, 0, 55 [SEP] 16, Newspaper, -4.085, 0.205, 4.404, 0, 90, 0, 53 [SEP] 17, CreditCard, -4.100, 0.995, 4.336, 0, 90, 0, 51 [SEP] 18, KeyChain, -5.194, 1.039, 0.107, 0, 0, 0, 38 [SEP] 19, CellPhone, -2.298, 0.034, 0.421, 0, 90, 0, 39 [SEP] 20, Statue, -5.024, 1.044, 0.372, 0, 0, 0, 38 [SEP] 21, Laptop, -3.393, 1.104, 4.492, 0, 191.867, 0, 56 [SEP] 22, RemoteControl, -0.952, 0.611, 3.281, 0, 0, 0, 60 [SEP] 23, Vase, -4.605, 0.207, 4.523, 0, 90, 0, 53 [SEP] 24, DeskLamp, -4.649, 1.051, 0.268, 0, 0, 0, [SEP] 25, DeskLamp, -2.992, 1.107, 4.522, 0, 0, 0, [SEP] 26, FloorLamp, -0.650, 0.007, 4.431, 0, 0, 0, [SEP] 27, FloorLamp, -5.607, 0.007, 4.641, 0, 0, 0, [SEP] 28, Shelf, -5.237, 1.776, 0.070, 0, 0, 0, [SEP] 29, Shelf, -5.238, 1.968, 0.085, 0, 0, 0, [SEP] 30, Shelf, -5.242, 1.391, 0.086, 0, 0, 0, [SEP] 31, Shelf, -5.241, 1.582, 0.065, 0, 0, 0, [SEP] 32, LightSwitch, -6.002, 1.353, 3.404, 0, 90, 0, [SEP] 33, GarbageCan, -5.794, -0.033, 4.073, 0, 90, 0, [SEP] 34, Painting, -6.017, 1.802, 4.177, 90, 270, 0, [SEP] 35, HousePlant, -3.966, 1.625, 0.135, 0, 315, 0, [SEP] 36, Television, -3.355, 0.833, 0.027, 0, 0, 0, [SEP] 37, Drawer, -5.024, 0.903, 0.370, 0, 0, 0, [SEP] 38, SideTable, -5.024, 0.008, 0.267, 0, 0, 0, [SEP] 39, Safe, -2.298, 5.778, 0.268, 0, 90, 0, [SEP] 40, Shelf, -0.253, 0.781, 1.058, 0, 270, 0, [SEP] 41, Shelf, -0.283, 0.274, 1.066, 0, 270, 0, [SEP] 42, Shelf, -1.224, 1.288, 0.270, 0, 0, 0, [SEP] 43, Shelf, -1.218, 1.810, 0.275, 0, 0, 0, [SEP] 44, Shelf, -0.280, 1.810, 1.057, 0, 270, 0, [SEP] 45, Shelf, -1.218, 0.274, 0.262, 0, 0, 0, [SEP] 46, Shelf, -1.223, 0.782, 0.237, 0, 0, 0, [SEP] 47, Shelf, -0.280, 1.288, 1.055, 0, 270, 0, [SEP] 48, ShelvingUnit, -0.268, 0.004, 1.067, 0, 270, 0, [SEP] 49, ShelvingUnit, -1.218, 0.004, 0.244, 0, 0, 0, [SEP] 50, ArmChair, -2.027, 0.001, 4.422, 0, 178.692, 0, [SEP] 51, Drawer, -4.329, 1.014, 4.311, 0, 180, 0, [SEP] 52, Drawer, -3.750, 1.014, 4.311, 0, 180, 0, [SEP] 53, Cabinet, -4.049, 0.561, 4.212, 0, 180, 0, [SEP] 54, Cabinet, -4.032, 0.561, 4.212, 0, 180, 0, [SEP] 55, Cabinet, -2.884, 0.561, 4.212, 0, 180, 0, [SEP] 56, Dresser, -4.041, -0.000, 4.589, 0, 180, 0, [SEP] 57, Drawer, -4.916, 1.014, 4.311, 0, 180, 0, [SEP] 58, Drawer, -3.166, 1.014, 4.311, 0, 180, 0, [SEP] 59, Cabinet, -5.196, 0.561, 4.212, 0, 180, 0, [SEP] 60, Sofa, -0.705, -0.002, 2.753, 0, 270, 0, [SEP] 61, NorthWall, , , , , , , [SEP] 62, SouthWall, , , , , , , [SEP] 63, SouthWall, , , , , , , ", "output": ["STEP 1: Go to the chest of drawers ahead of you. | STEP 2: Pick up the brown banded watch. | STEP 3: Take the watch across the room toward the safe. | STEP 4: Open the safe, set the watch inside the safe, close the safe. | END"]} +{"id": "trial_T20190907_074524_006355-2", "input": "place a watch in a safe box SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -4.75, 0.901, 1.25, 0, 0, 0, [SEP] 1, TissueBox, -4.826, 1.112, 4.588, 0, 90, 0, 56 [SEP] 2, Newspaper, -1.276, 0.598, 0.222, 0, 0, 0, 46 [SEP] 3, Newspaper, -1.584, 0.596, 4.211, 0, 0, 0, 50 [SEP] 4, CellPhone, -5.534, 1.039, 0.239, 0, 0, 0, 38 [SEP] 5, CellPhone, -2.191, 0.034, 0.265, 0, 90, 0, 39 [SEP] 6, Vase, -4.184, 1.115, 4.391, 0, 90, 0, 56 [SEP] 7, Vase, -4.184, 1.111, 4.687, 0, 90, 0, 56 [SEP] 8, KeyChain, -5.043, 1.399, 0.104, 0, 0, 0, 30 [SEP] 9, CreditCard, -5.534, 1.038, 0.372, 0, 0, 0, 38 [SEP] 10, RemoteControl, -3.863, 1.113, 4.490, 0, 90, 0, 56 [SEP] 11, Box, -0.870, 0.830, 1.960, 0, 180, 0, 60 [SEP] 12, Box, -2.983, 0.421, 4.466, 0, 90, 0, 55 [SEP] 13, Watch, -4.505, 1.108, 4.885, 0, 90, 0, 56 [SEP] 14, Pillow, -2.031, 0.668, 4.421, 0, 0, 0, 50 [SEP] 15, TissueBox, -3.435, 0.205, 4.523, 0, 90, 0, 55 [SEP] 16, Newspaper, -4.085, 0.205, 4.404, 0, 90, 0, 53 [SEP] 17, CreditCard, -4.100, 0.995, 4.336, 0, 90, 0, 51 [SEP] 18, KeyChain, -5.194, 1.039, 0.107, 0, 0, 0, 38 [SEP] 19, CellPhone, -2.298, 0.034, 0.421, 0, 90, 0, 39 [SEP] 20, Statue, -5.024, 1.044, 0.372, 0, 0, 0, 38 [SEP] 21, Laptop, -3.393, 1.104, 4.492, 0, 191.867, 0, 56 [SEP] 22, RemoteControl, -0.952, 0.611, 3.281, 0, 0, 0, 60 [SEP] 23, Vase, -4.605, 0.207, 4.523, 0, 90, 0, 53 [SEP] 24, DeskLamp, -4.649, 1.051, 0.268, 0, 0, 0, [SEP] 25, DeskLamp, -2.992, 1.107, 4.522, 0, 0, 0, [SEP] 26, FloorLamp, -0.650, 0.007, 4.431, 0, 0, 0, [SEP] 27, FloorLamp, -5.607, 0.007, 4.641, 0, 0, 0, [SEP] 28, Shelf, -5.237, 1.776, 0.070, 0, 0, 0, [SEP] 29, Shelf, -5.238, 1.968, 0.085, 0, 0, 0, [SEP] 30, Shelf, -5.242, 1.391, 0.086, 0, 0, 0, [SEP] 31, Shelf, -5.241, 1.582, 0.065, 0, 0, 0, [SEP] 32, LightSwitch, -6.002, 1.353, 3.404, 0, 90, 0, [SEP] 33, GarbageCan, -5.794, -0.033, 4.073, 0, 90, 0, [SEP] 34, Painting, -6.017, 1.802, 4.177, 90, 270, 0, [SEP] 35, HousePlant, -3.966, 1.625, 0.135, 0, 315, 0, [SEP] 36, Television, -3.355, 0.833, 0.027, 0, 0, 0, [SEP] 37, Drawer, -5.024, 0.903, 0.370, 0, 0, 0, [SEP] 38, SideTable, -5.024, 0.008, 0.267, 0, 0, 0, [SEP] 39, Safe, -2.298, 5.778, 0.268, 0, 90, 0, [SEP] 40, Shelf, -0.253, 0.781, 1.058, 0, 270, 0, [SEP] 41, Shelf, -0.283, 0.274, 1.066, 0, 270, 0, [SEP] 42, Shelf, -1.224, 1.288, 0.270, 0, 0, 0, [SEP] 43, Shelf, -1.218, 1.810, 0.275, 0, 0, 0, [SEP] 44, Shelf, -0.280, 1.810, 1.057, 0, 270, 0, [SEP] 45, Shelf, -1.218, 0.274, 0.262, 0, 0, 0, [SEP] 46, Shelf, -1.223, 0.782, 0.237, 0, 0, 0, [SEP] 47, Shelf, -0.280, 1.288, 1.055, 0, 270, 0, [SEP] 48, ShelvingUnit, -0.268, 0.004, 1.067, 0, 270, 0, [SEP] 49, ShelvingUnit, -1.218, 0.004, 0.244, 0, 0, 0, [SEP] 50, ArmChair, -2.027, 0.001, 4.422, 0, 178.692, 0, [SEP] 51, Drawer, -4.329, 1.014, 4.311, 0, 180, 0, [SEP] 52, Drawer, -3.750, 1.014, 4.311, 0, 180, 0, [SEP] 53, Cabinet, -4.049, 0.561, 4.212, 0, 180, 0, [SEP] 54, Cabinet, -4.032, 0.561, 4.212, 0, 180, 0, [SEP] 55, Cabinet, -2.884, 0.561, 4.212, 0, 180, 0, [SEP] 56, Dresser, -4.041, -0.000, 4.589, 0, 180, 0, [SEP] 57, Drawer, -4.916, 1.014, 4.311, 0, 180, 0, [SEP] 58, Drawer, -3.166, 1.014, 4.311, 0, 180, 0, [SEP] 59, Cabinet, -5.196, 0.561, 4.212, 0, 180, 0, [SEP] 60, Sofa, -0.705, -0.002, 2.753, 0, 270, 0, [SEP] 61, NorthWall, , , , , , , [SEP] 62, SouthWall, , , , , , , [SEP] 63, SouthWall, , , , , , , ", "output": ["STEP 1: turn right then turn left towards the dresser | STEP 2: pick up the watch from the dresser | STEP 3: turn right and walk towards the sofa then turn right again towards the safe box | STEP 4: place the watch in the safe box | END"]} +{"id": "trial_T20190907_020329_050110-0", "input": "Place a cooked apple 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, 0.5, 0.900, 2.5, 0, 90, 0, [SEP] 1, Statue, -1.292, 0.936, -0.643, 0, 0, 0, 52 [SEP] 2, CreditCard, 0.688, 0.908, -2.308, 0, 0, 0, 58 [SEP] 3, CreditCard, 0.915, 0.700, -0.607, 0, 270, 0, 50 [SEP] 4, CellPhone, -1.985, 0.550, 2.615, 0, 0, 0, 78 [SEP] 5, Glassbottle, 0.773, 0.912, -1.793, 0, 0, 0, 58 [SEP] 6, Knife, -0.550, 0.957, -1.386, 0, 0, 0, 52 [SEP] 7, Egg, 0.944, 0.949, -1.879, 0, 0, 0, 58 [SEP] 8, Egg, -0.960, 0.216, 0.543, 0, 180, 0, 72 [SEP] 9, Cup, -1.467, 0.551, 2.770, 0, 0, 0, 78 [SEP] 10, Plate, 1.029, 0.914, -0.208, 0, 0, 0, 53 [SEP] 11, Plate, -1.229, 0.936, -0.118, 0, 0, 0, 52 [SEP] 12, Bowl, 0.761, 0.111, -2.212, 0, 0, 0, 57 [SEP] 13, Bowl, 0.966, 0.866, 1.349, 0, 270, 0, 75 [SEP] 14, SaltShaker, 0.773, 0.907, -0.555, 0, 0, 0, 53 [SEP] 15, SaltShaker, 0.710, 0.117, 0.374, 0, 270, 0, 53 [SEP] 16, Apple, -0.642, 0.830, -0.573, 0, 90, 0, 73 [SEP] 17, Apple, 1.029, 0.961, -0.555, 0, 0, 0, 53 [SEP] 18, Statue, -1.355, 0.936, -0.905, 0, 0, 0, 52 [SEP] 19, Glassbottle, 1.199, 0.912, -0.729, 0, 0, 0, 53 [SEP] 20, Bread, 1.026, 1.216, 1.063, 0, 270, 0, 75 [SEP] 21, CreditCard, 0.754, 0.492, -0.565, 0, 270, 0, 56 [SEP] 22, CellPhone, 0.833, 0.150, -0.611, 0, 270, 0, 55 [SEP] 23, Potato, 0.773, 0.941, 0.139, 0, 0, 0, 53 [SEP] 24, Knife, 0.944, 0.934, -0.034, 0, 0, 0, 53 [SEP] 25, Fork, -0.642, 0.781, -0.918, 0, 0, 0, 73 [SEP] 26, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 46 [SEP] 27, Lettuce, 0.966, 1.479, 1.158, 0, 270, 0, 75 [SEP] 28, Plate, 1.101, 1.669, 0.089, 0, 270, 0, 60 [SEP] 29, Apple, -0.642, 0.830, -0.745, 0, 90, 0, 73 [SEP] 30, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 48 [SEP] 31, Spatula, 0.915, 0.717, -0.690, 0, 0, 0, 50 [SEP] 32, PaperTowelRoll, -1.101, 0.283, 0.510, 0, 180, 0, 72 [SEP] 33, Tomato, 1.026, 0.903, 1.540, 0, 270, 0, 75 [SEP] 34, Egg, -0.753, 0.814, -0.573, 0, 90, 0, 73 [SEP] 35, SaltShaker, 0.954, 0.150, -0.769, 0, 270, 0, 55 [SEP] 36, PepperShaker, 1.199, 0.907, 0.313, 0, 0, 0, 53 [SEP] 37, Vase, 1.169, 2.207, -1.299, 0, 270, 0, 59 [SEP] 38, ButterKnife, -0.550, 0.933, -0.143, 0, 0, 0, 52 [SEP] 39, SoapBottle, 0.960, 0.108, -1.812, 0, 0, 0, 57 [SEP] 40, Vase, -1.985, 0.555, 2.822, 0, 0, 0, 78 [SEP] 41, Bowl, -0.698, 0.936, 0.239, 0, 0, 0, 52 [SEP] 42, DishSponge, -1.674, 0.553, 2.718, 0, 0, 0, 78 [SEP] 43, Spoon, -0.846, 0.934, -1.540, 0, 0, 0, 52 [SEP] 44, Cup, 1.093, 1.780, -1.236, 0, 270, 0, 74 [SEP] 45, Mug, -0.642, 0.775, -0.400, 0, 90, 0, 73 [SEP] 46, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 47, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 48, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 49, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 50, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 51, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 52, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 53, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 54, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 55, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 56, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 57, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 58, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 59, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 60, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 61, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 62, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 63, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 64, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 65, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 66, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 67, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 68, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 69, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 70, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 71, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 72, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 73, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 74, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 75, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 76, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 77, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 78, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 79, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 80, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 81, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 82, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 83, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 84, NorthWall, , , , , , , [SEP] 85, EastWall, , , , , , , [SEP] 86, SouthWall, , , , , , , [SEP] 87, WestWall, , , , , , , ", "output": ["STEP 1: Turn around to face the room and go left past the refrigerator, then turn to face the sink on the right. | STEP 2: Pick up the green apple from the left side of the sink. | STEP 3: Turn around and take the apple to the microwave behind you. | STEP 4: Put the apple in the microwave, cook it, and remove it. | STEP 5: Turn around to your left and go back to the sink. | STEP 6: Put the apple back in the sink. | END"]} +{"id": "trial_T20190907_020329_050110-1", "input": "Put a cooked 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, 0.5, 0.900, 2.5, 0, 90, 0, [SEP] 1, Statue, -1.292, 0.936, -0.643, 0, 0, 0, 52 [SEP] 2, CreditCard, 0.688, 0.908, -2.308, 0, 0, 0, 58 [SEP] 3, CreditCard, 0.915, 0.700, -0.607, 0, 270, 0, 50 [SEP] 4, CellPhone, -1.985, 0.550, 2.615, 0, 0, 0, 78 [SEP] 5, Glassbottle, 0.773, 0.912, -1.793, 0, 0, 0, 58 [SEP] 6, Knife, -0.550, 0.957, -1.386, 0, 0, 0, 52 [SEP] 7, Egg, 0.944, 0.949, -1.879, 0, 0, 0, 58 [SEP] 8, Egg, -0.960, 0.216, 0.543, 0, 180, 0, 72 [SEP] 9, Cup, -1.467, 0.551, 2.770, 0, 0, 0, 78 [SEP] 10, Plate, 1.029, 0.914, -0.208, 0, 0, 0, 53 [SEP] 11, Plate, -1.229, 0.936, -0.118, 0, 0, 0, 52 [SEP] 12, Bowl, 0.761, 0.111, -2.212, 0, 0, 0, 57 [SEP] 13, Bowl, 0.966, 0.866, 1.349, 0, 270, 0, 75 [SEP] 14, SaltShaker, 0.773, 0.907, -0.555, 0, 0, 0, 53 [SEP] 15, SaltShaker, 0.710, 0.117, 0.374, 0, 270, 0, 53 [SEP] 16, Apple, -0.642, 0.830, -0.573, 0, 90, 0, 73 [SEP] 17, Apple, 1.029, 0.961, -0.555, 0, 0, 0, 53 [SEP] 18, Statue, -1.355, 0.936, -0.905, 0, 0, 0, 52 [SEP] 19, Glassbottle, 1.199, 0.912, -0.729, 0, 0, 0, 53 [SEP] 20, Bread, 1.026, 1.216, 1.063, 0, 270, 0, 75 [SEP] 21, CreditCard, 0.754, 0.492, -0.565, 0, 270, 0, 56 [SEP] 22, CellPhone, 0.833, 0.150, -0.611, 0, 270, 0, 55 [SEP] 23, Potato, 0.773, 0.941, 0.139, 0, 0, 0, 53 [SEP] 24, Knife, 0.944, 0.934, -0.034, 0, 0, 0, 53 [SEP] 25, Fork, -0.642, 0.781, -0.918, 0, 0, 0, 73 [SEP] 26, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 46 [SEP] 27, Lettuce, 0.966, 1.479, 1.158, 0, 270, 0, 75 [SEP] 28, Plate, 1.101, 1.669, 0.089, 0, 270, 0, 60 [SEP] 29, Apple, -0.642, 0.830, -0.745, 0, 90, 0, 73 [SEP] 30, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 48 [SEP] 31, Spatula, 0.915, 0.717, -0.690, 0, 0, 0, 50 [SEP] 32, PaperTowelRoll, -1.101, 0.283, 0.510, 0, 180, 0, 72 [SEP] 33, Tomato, 1.026, 0.903, 1.540, 0, 270, 0, 75 [SEP] 34, Egg, -0.753, 0.814, -0.573, 0, 90, 0, 73 [SEP] 35, SaltShaker, 0.954, 0.150, -0.769, 0, 270, 0, 55 [SEP] 36, PepperShaker, 1.199, 0.907, 0.313, 0, 0, 0, 53 [SEP] 37, Vase, 1.169, 2.207, -1.299, 0, 270, 0, 59 [SEP] 38, ButterKnife, -0.550, 0.933, -0.143, 0, 0, 0, 52 [SEP] 39, SoapBottle, 0.960, 0.108, -1.812, 0, 0, 0, 57 [SEP] 40, Vase, -1.985, 0.555, 2.822, 0, 0, 0, 78 [SEP] 41, Bowl, -0.698, 0.936, 0.239, 0, 0, 0, 52 [SEP] 42, DishSponge, -1.674, 0.553, 2.718, 0, 0, 0, 78 [SEP] 43, Spoon, -0.846, 0.934, -1.540, 0, 0, 0, 52 [SEP] 44, Cup, 1.093, 1.780, -1.236, 0, 270, 0, 74 [SEP] 45, Mug, -0.642, 0.775, -0.400, 0, 90, 0, 73 [SEP] 46, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 47, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 48, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 49, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 50, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 51, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 52, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 53, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 54, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 55, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 56, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 57, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 58, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 59, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 60, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 61, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 62, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 63, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 64, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 65, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 66, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 67, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 68, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 69, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 70, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 71, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 72, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 73, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 74, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 75, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 76, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 77, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 78, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 79, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 80, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 81, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 82, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 83, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 84, NorthWall, , , , , , , [SEP] 85, EastWall, , , , , , , [SEP] 86, SouthWall, , , , , , , [SEP] 87, WestWall, , , , , , , ", "output": ["STEP 1: Turn around, turn to the left, and go to the sink to your right. | STEP 2: Pick up the apple that is to the right of the fork. | STEP 3: Turn around to the microwave above the stove. | STEP 4: Cook the apple in the microwave. | STEP 5: Turn around to the sink behind you. | STEP 6: Place the apple in the sink, to the right of the fork. | END"]} +{"id": "trial_T20190907_020329_050110-2", "input": "Heat the left 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, 0.5, 0.900, 2.5, 0, 90, 0, [SEP] 1, Statue, -1.292, 0.936, -0.643, 0, 0, 0, 52 [SEP] 2, CreditCard, 0.688, 0.908, -2.308, 0, 0, 0, 58 [SEP] 3, CreditCard, 0.915, 0.700, -0.607, 0, 270, 0, 50 [SEP] 4, CellPhone, -1.985, 0.550, 2.615, 0, 0, 0, 78 [SEP] 5, Glassbottle, 0.773, 0.912, -1.793, 0, 0, 0, 58 [SEP] 6, Knife, -0.550, 0.957, -1.386, 0, 0, 0, 52 [SEP] 7, Egg, 0.944, 0.949, -1.879, 0, 0, 0, 58 [SEP] 8, Egg, -0.960, 0.216, 0.543, 0, 180, 0, 72 [SEP] 9, Cup, -1.467, 0.551, 2.770, 0, 0, 0, 78 [SEP] 10, Plate, 1.029, 0.914, -0.208, 0, 0, 0, 53 [SEP] 11, Plate, -1.229, 0.936, -0.118, 0, 0, 0, 52 [SEP] 12, Bowl, 0.761, 0.111, -2.212, 0, 0, 0, 57 [SEP] 13, Bowl, 0.966, 0.866, 1.349, 0, 270, 0, 75 [SEP] 14, SaltShaker, 0.773, 0.907, -0.555, 0, 0, 0, 53 [SEP] 15, SaltShaker, 0.710, 0.117, 0.374, 0, 270, 0, 53 [SEP] 16, Apple, -0.642, 0.830, -0.573, 0, 90, 0, 73 [SEP] 17, Apple, 1.029, 0.961, -0.555, 0, 0, 0, 53 [SEP] 18, Statue, -1.355, 0.936, -0.905, 0, 0, 0, 52 [SEP] 19, Glassbottle, 1.199, 0.912, -0.729, 0, 0, 0, 53 [SEP] 20, Bread, 1.026, 1.216, 1.063, 0, 270, 0, 75 [SEP] 21, CreditCard, 0.754, 0.492, -0.565, 0, 270, 0, 56 [SEP] 22, CellPhone, 0.833, 0.150, -0.611, 0, 270, 0, 55 [SEP] 23, Potato, 0.773, 0.941, 0.139, 0, 0, 0, 53 [SEP] 24, Knife, 0.944, 0.934, -0.034, 0, 0, 0, 53 [SEP] 25, Fork, -0.642, 0.781, -0.918, 0, 0, 0, 73 [SEP] 26, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 46 [SEP] 27, Lettuce, 0.966, 1.479, 1.158, 0, 270, 0, 75 [SEP] 28, Plate, 1.101, 1.669, 0.089, 0, 270, 0, 60 [SEP] 29, Apple, -0.642, 0.830, -0.745, 0, 90, 0, 73 [SEP] 30, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 48 [SEP] 31, Spatula, 0.915, 0.717, -0.690, 0, 0, 0, 50 [SEP] 32, PaperTowelRoll, -1.101, 0.283, 0.510, 0, 180, 0, 72 [SEP] 33, Tomato, 1.026, 0.903, 1.540, 0, 270, 0, 75 [SEP] 34, Egg, -0.753, 0.814, -0.573, 0, 90, 0, 73 [SEP] 35, SaltShaker, 0.954, 0.150, -0.769, 0, 270, 0, 55 [SEP] 36, PepperShaker, 1.199, 0.907, 0.313, 0, 0, 0, 53 [SEP] 37, Vase, 1.169, 2.207, -1.299, 0, 270, 0, 59 [SEP] 38, ButterKnife, -0.550, 0.933, -0.143, 0, 0, 0, 52 [SEP] 39, SoapBottle, 0.960, 0.108, -1.812, 0, 0, 0, 57 [SEP] 40, Vase, -1.985, 0.555, 2.822, 0, 0, 0, 78 [SEP] 41, Bowl, -0.698, 0.936, 0.239, 0, 0, 0, 52 [SEP] 42, DishSponge, -1.674, 0.553, 2.718, 0, 0, 0, 78 [SEP] 43, Spoon, -0.846, 0.934, -1.540, 0, 0, 0, 52 [SEP] 44, Cup, 1.093, 1.780, -1.236, 0, 270, 0, 74 [SEP] 45, Mug, -0.642, 0.775, -0.400, 0, 90, 0, 73 [SEP] 46, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 47, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 48, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 49, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 50, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 51, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 52, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 53, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 54, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 55, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 56, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 57, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 58, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 59, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 60, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 61, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 62, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 63, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 64, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 65, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 66, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 67, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 68, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 69, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 70, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 71, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 72, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 73, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 74, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 75, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 76, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 77, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 78, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 79, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 80, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 81, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 82, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 83, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 84, NorthWall, , , , , , , [SEP] 85, EastWall, , , , , , , [SEP] 86, SouthWall, , , , , , , [SEP] 87, WestWall, , , , , , , ", "output": ["STEP 1: Move to the sink. | STEP 2: Pick up the apple in the sink on the left. | STEP 3: Bring the apple to the microwave. | STEP 4: Heat the apple in the microwave. | STEP 5: Bring the apple to the sink. | STEP 6: Put the apple in the sink, to the left of the other apple. | END"]} +{"id": "trial_T20190908_141942_810052-0", "input": "examine a CD with 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, 0.5, 0, 180, 0, [SEP] 1, Bowl, -0.483, 0.861, -1.356, 0, 0, 0, 34 [SEP] 2, Bowl, -1.744, 0.882, 0.581, 0, 0, 0, 44 [SEP] 3, Mug, -2.091, 0.876, 0.581, 0, 0, 0, 44 [SEP] 4, KeyChain, -1.339, 1.350, 0.448, 0, 270, 0, 41 [SEP] 5, Book, -1.914, 0.667, 0.721, 0, 0, 0, 45 [SEP] 6, Pillow, 0.800, 0.918, 0.787, 0, 0, 0, 25 [SEP] 7, Pillow, 1.003, 0.918, 1.945, 0, 0, 0, 25 [SEP] 8, Laptop, -0.735, 0.855, -0.663, 0, 0, 0, 34 [SEP] 9, AlarmClock, -1.339, 1.724, 0.489, 0, 0, 0, 38 [SEP] 10, AlarmClock, -0.735, 0.858, -1.010, 0, 0, 0, 34 [SEP] 11, Book, 0.598, 0.783, 1.076, 0, 0, 0, 25 [SEP] 12, AlarmClock, -2.265, 0.879, 0.581, 0, 0, 0, 44 [SEP] 13, BasketBall, 1.976, 0.120, 0.211, 0, 331.076, 0, [SEP] 14, Pen, -1.939, 1.729, 0.407, 0, 0, 0, 39 [SEP] 15, Laptop, 1.409, 0.781, 1.366, 0, 0, 0, 25 [SEP] 16, BaseballBat, 1.953, 0.659, -1.81, 346.388, 0, 0, [SEP] 17, Bowl, -0.819, 0.861, -1.183, 0, 0, 0, 34 [SEP] 18, Pillow, 1.118, 0.867, 2.464, 0, 0, 0, 25 [SEP] 19, KeyChain, -2.235, 0.386, 0.759, 0, 0, 0, 46 [SEP] 20, CreditCard, -0.483, 0.857, -0.836, 0, 0, 0, 34 [SEP] 21, CellPhone, -2.235, 0.669, 0.683, 0, 0, 0, 45 [SEP] 22, CD, -0.399, 0.857, -0.663, 0, 0, 0, 34 [SEP] 23, Pencil, -1.939, 1.353, 0.489, 0, 0, 0, 36 [SEP] 24, Mug, -0.567, 0.855, -1.183, 0, 0, 0, 34 [SEP] 25, Bed, 1.227, -0.002, 1.664, 0, 0, 0, [SEP] 26, LightSwitch, 2.151, 1.233, -0.518, 0, 270, 0, [SEP] 27, GarbageCan, -0.747, 0.014, -0.327, 0, 0, 0, [SEP] 28, Mirror, -1.358, 1.427, 2.855, 0, 0, 0, [SEP] 29, DeskLamp, -2.296, 0.858, 0.750, 0, 0, 0, [SEP] 30, Window, -0.421, 1.534, -1.947, 90, 0, 0, [SEP] 31, Window, 0.579, 1.534, -1.947, 90, 0, 0, [SEP] 32, Drawer, -0.491, 0.739, -0.855, 0, 90, 0, [SEP] 33, Drawer, -0.491, 0.204, -0.855, 0, 90, 0, [SEP] 34, Desk, -0.639, 0.009, -1.187, 0, 90, 0, [SEP] 35, Drawer, -0.491, 0.487, -0.855, 0, 90, 0, [SEP] 36, Shelf, -1.965, 1.514, 0.416, 0, 0, 0, [SEP] 37, Shelf, -1.965, 1.092, 0.416, 0, 0, 0, [SEP] 38, Shelf, -1.312, 1.888, 0.416, 0, 0, 0, [SEP] 39, Shelf, -1.965, 1.888, 0.416, 0, 0, 0, [SEP] 40, Shelf, -1.312, 1.092, 0.416, 0, 0, 0, [SEP] 41, Shelf, -1.312, 1.514, 0.416, 0, 0, 0, [SEP] 42, Blinds, 0.601, 2.161, -1.916, 0, 0, 0, [SEP] 43, Blinds, -0.402, 2.161, -1.916, 0, 0, 0, [SEP] 44, Desk, -1.726, 0.001, 0.575, 0, 0, 0, [SEP] 45, Drawer, -2.058, 0.733, 0.734, 0, 0, 0, [SEP] 46, Drawer, -2.058, 0.482, 0.734, 0, 0, 0, [SEP] 47, Drawer, -2.058, 0.198, 0.735, 0, 0, 0, [SEP] 48, Chair, -0.137, 0.000, -1.587, 0, 315, 0, [SEP] 49, Safe, -2.183, -7.748, 2.576, 0, 180, 0, [SEP] 50, Chair, -1.433, 0.009, 0.780, 357.672, 206.726, 0, [SEP] 51, LaundryHamper, 0.163, 0.003, 2.635, 0, 86.390, 0, [SEP] 52, NorthWall, , , , , , , [SEP] 53, EastWall, , , , , , , [SEP] 54, SouthWall, , , , , , , [SEP] 55, WestWall, , , , , , , ", "output": ["STEP 1: walk forward, turn right to face the desk | STEP 2: pick up the CD that is on the desk | STEP 3: turn right, walk across the room, turn left, walk past desk, turn left to face desk | STEP 4: turn the lamp on | END"]} +{"id": "trial_T20190908_141942_810052-1", "input": "Pick up the disc 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, 0.5, 0, 180, 0, [SEP] 1, Bowl, -0.483, 0.861, -1.356, 0, 0, 0, 34 [SEP] 2, Bowl, -1.744, 0.882, 0.581, 0, 0, 0, 44 [SEP] 3, Mug, -2.091, 0.876, 0.581, 0, 0, 0, 44 [SEP] 4, KeyChain, -1.339, 1.350, 0.448, 0, 270, 0, 41 [SEP] 5, Book, -1.914, 0.667, 0.721, 0, 0, 0, 45 [SEP] 6, Pillow, 0.800, 0.918, 0.787, 0, 0, 0, 25 [SEP] 7, Pillow, 1.003, 0.918, 1.945, 0, 0, 0, 25 [SEP] 8, Laptop, -0.735, 0.855, -0.663, 0, 0, 0, 34 [SEP] 9, AlarmClock, -1.339, 1.724, 0.489, 0, 0, 0, 38 [SEP] 10, AlarmClock, -0.735, 0.858, -1.010, 0, 0, 0, 34 [SEP] 11, Book, 0.598, 0.783, 1.076, 0, 0, 0, 25 [SEP] 12, AlarmClock, -2.265, 0.879, 0.581, 0, 0, 0, 44 [SEP] 13, BasketBall, 1.976, 0.120, 0.211, 0, 331.076, 0, [SEP] 14, Pen, -1.939, 1.729, 0.407, 0, 0, 0, 39 [SEP] 15, Laptop, 1.409, 0.781, 1.366, 0, 0, 0, 25 [SEP] 16, BaseballBat, 1.953, 0.659, -1.81, 346.388, 0, 0, [SEP] 17, Bowl, -0.819, 0.861, -1.183, 0, 0, 0, 34 [SEP] 18, Pillow, 1.118, 0.867, 2.464, 0, 0, 0, 25 [SEP] 19, KeyChain, -2.235, 0.386, 0.759, 0, 0, 0, 46 [SEP] 20, CreditCard, -0.483, 0.857, -0.836, 0, 0, 0, 34 [SEP] 21, CellPhone, -2.235, 0.669, 0.683, 0, 0, 0, 45 [SEP] 22, CD, -0.399, 0.857, -0.663, 0, 0, 0, 34 [SEP] 23, Pencil, -1.939, 1.353, 0.489, 0, 0, 0, 36 [SEP] 24, Mug, -0.567, 0.855, -1.183, 0, 0, 0, 34 [SEP] 25, Bed, 1.227, -0.002, 1.664, 0, 0, 0, [SEP] 26, LightSwitch, 2.151, 1.233, -0.518, 0, 270, 0, [SEP] 27, GarbageCan, -0.747, 0.014, -0.327, 0, 0, 0, [SEP] 28, Mirror, -1.358, 1.427, 2.855, 0, 0, 0, [SEP] 29, DeskLamp, -2.296, 0.858, 0.750, 0, 0, 0, [SEP] 30, Window, -0.421, 1.534, -1.947, 90, 0, 0, [SEP] 31, Window, 0.579, 1.534, -1.947, 90, 0, 0, [SEP] 32, Drawer, -0.491, 0.739, -0.855, 0, 90, 0, [SEP] 33, Drawer, -0.491, 0.204, -0.855, 0, 90, 0, [SEP] 34, Desk, -0.639, 0.009, -1.187, 0, 90, 0, [SEP] 35, Drawer, -0.491, 0.487, -0.855, 0, 90, 0, [SEP] 36, Shelf, -1.965, 1.514, 0.416, 0, 0, 0, [SEP] 37, Shelf, -1.965, 1.092, 0.416, 0, 0, 0, [SEP] 38, Shelf, -1.312, 1.888, 0.416, 0, 0, 0, [SEP] 39, Shelf, -1.965, 1.888, 0.416, 0, 0, 0, [SEP] 40, Shelf, -1.312, 1.092, 0.416, 0, 0, 0, [SEP] 41, Shelf, -1.312, 1.514, 0.416, 0, 0, 0, [SEP] 42, Blinds, 0.601, 2.161, -1.916, 0, 0, 0, [SEP] 43, Blinds, -0.402, 2.161, -1.916, 0, 0, 0, [SEP] 44, Desk, -1.726, 0.001, 0.575, 0, 0, 0, [SEP] 45, Drawer, -2.058, 0.733, 0.734, 0, 0, 0, [SEP] 46, Drawer, -2.058, 0.482, 0.734, 0, 0, 0, [SEP] 47, Drawer, -2.058, 0.198, 0.735, 0, 0, 0, [SEP] 48, Chair, -0.137, 0.000, -1.587, 0, 315, 0, [SEP] 49, Safe, -2.183, -7.748, 2.576, 0, 180, 0, [SEP] 50, Chair, -1.433, 0.009, 0.780, 357.672, 206.726, 0, [SEP] 51, LaundryHamper, 0.163, 0.003, 2.635, 0, 86.390, 0, [SEP] 52, NorthWall, , , , , , , [SEP] 53, EastWall, , , , , , , [SEP] 54, SouthWall, , , , , , , [SEP] 55, WestWall, , , , , , , ", "output": ["STEP 1: Walk forward to the wooden desk on your left. | STEP 2: Pick up the disc on the corner of the desk. | STEP 3: Turn right at the desk and walk by the bed on your right. Turn left at the bed and walk forward to the wooden desk on your left. | STEP 4: Turn on the lamp on the desk. | END"]} +{"id": "trial_T20190908_141942_810052-2", "input": "examine a CD 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, 0.0, 0.900, 0.5, 0, 180, 0, [SEP] 1, Bowl, -0.483, 0.861, -1.356, 0, 0, 0, 34 [SEP] 2, Bowl, -1.744, 0.882, 0.581, 0, 0, 0, 44 [SEP] 3, Mug, -2.091, 0.876, 0.581, 0, 0, 0, 44 [SEP] 4, KeyChain, -1.339, 1.350, 0.448, 0, 270, 0, 41 [SEP] 5, Book, -1.914, 0.667, 0.721, 0, 0, 0, 45 [SEP] 6, Pillow, 0.800, 0.918, 0.787, 0, 0, 0, 25 [SEP] 7, Pillow, 1.003, 0.918, 1.945, 0, 0, 0, 25 [SEP] 8, Laptop, -0.735, 0.855, -0.663, 0, 0, 0, 34 [SEP] 9, AlarmClock, -1.339, 1.724, 0.489, 0, 0, 0, 38 [SEP] 10, AlarmClock, -0.735, 0.858, -1.010, 0, 0, 0, 34 [SEP] 11, Book, 0.598, 0.783, 1.076, 0, 0, 0, 25 [SEP] 12, AlarmClock, -2.265, 0.879, 0.581, 0, 0, 0, 44 [SEP] 13, BasketBall, 1.976, 0.120, 0.211, 0, 331.076, 0, [SEP] 14, Pen, -1.939, 1.729, 0.407, 0, 0, 0, 39 [SEP] 15, Laptop, 1.409, 0.781, 1.366, 0, 0, 0, 25 [SEP] 16, BaseballBat, 1.953, 0.659, -1.81, 346.388, 0, 0, [SEP] 17, Bowl, -0.819, 0.861, -1.183, 0, 0, 0, 34 [SEP] 18, Pillow, 1.118, 0.867, 2.464, 0, 0, 0, 25 [SEP] 19, KeyChain, -2.235, 0.386, 0.759, 0, 0, 0, 46 [SEP] 20, CreditCard, -0.483, 0.857, -0.836, 0, 0, 0, 34 [SEP] 21, CellPhone, -2.235, 0.669, 0.683, 0, 0, 0, 45 [SEP] 22, CD, -0.399, 0.857, -0.663, 0, 0, 0, 34 [SEP] 23, Pencil, -1.939, 1.353, 0.489, 0, 0, 0, 36 [SEP] 24, Mug, -0.567, 0.855, -1.183, 0, 0, 0, 34 [SEP] 25, Bed, 1.227, -0.002, 1.664, 0, 0, 0, [SEP] 26, LightSwitch, 2.151, 1.233, -0.518, 0, 270, 0, [SEP] 27, GarbageCan, -0.747, 0.014, -0.327, 0, 0, 0, [SEP] 28, Mirror, -1.358, 1.427, 2.855, 0, 0, 0, [SEP] 29, DeskLamp, -2.296, 0.858, 0.750, 0, 0, 0, [SEP] 30, Window, -0.421, 1.534, -1.947, 90, 0, 0, [SEP] 31, Window, 0.579, 1.534, -1.947, 90, 0, 0, [SEP] 32, Drawer, -0.491, 0.739, -0.855, 0, 90, 0, [SEP] 33, Drawer, -0.491, 0.204, -0.855, 0, 90, 0, [SEP] 34, Desk, -0.639, 0.009, -1.187, 0, 90, 0, [SEP] 35, Drawer, -0.491, 0.487, -0.855, 0, 90, 0, [SEP] 36, Shelf, -1.965, 1.514, 0.416, 0, 0, 0, [SEP] 37, Shelf, -1.965, 1.092, 0.416, 0, 0, 0, [SEP] 38, Shelf, -1.312, 1.888, 0.416, 0, 0, 0, [SEP] 39, Shelf, -1.965, 1.888, 0.416, 0, 0, 0, [SEP] 40, Shelf, -1.312, 1.092, 0.416, 0, 0, 0, [SEP] 41, Shelf, -1.312, 1.514, 0.416, 0, 0, 0, [SEP] 42, Blinds, 0.601, 2.161, -1.916, 0, 0, 0, [SEP] 43, Blinds, -0.402, 2.161, -1.916, 0, 0, 0, [SEP] 44, Desk, -1.726, 0.001, 0.575, 0, 0, 0, [SEP] 45, Drawer, -2.058, 0.733, 0.734, 0, 0, 0, [SEP] 46, Drawer, -2.058, 0.482, 0.734, 0, 0, 0, [SEP] 47, Drawer, -2.058, 0.198, 0.735, 0, 0, 0, [SEP] 48, Chair, -0.137, 0.000, -1.587, 0, 315, 0, [SEP] 49, Safe, -2.183, -7.748, 2.576, 0, 180, 0, [SEP] 50, Chair, -1.433, 0.009, 0.780, 357.672, 206.726, 0, [SEP] 51, LaundryHamper, 0.163, 0.003, 2.635, 0, 86.390, 0, [SEP] 52, NorthWall, , , , , , , [SEP] 53, EastWall, , , , , , , [SEP] 54, SouthWall, , , , , , , [SEP] 55, WestWall, , , , , , , ", "output": ["STEP 1: move forward to the desk and turn to face the desk | STEP 2: pick up the CD from the right corner of the desk | STEP 3: turn to the right and move toward the bed, turn to the left about half way moving towards the desk on the left side of the wall, turn to face the desk where the lamp is sitting | STEP 4: turn on the lamp that is on the desk | END"]} +{"id": "trial_T20190908_044139_261907-0", "input": "grab the phone from the blue sofa, 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, -4.5, 0.901, 1.5, 0, 180, 0, [SEP] 1, Newspaper, -0.221, 0.598, 0.827, 0, 270, 0, 40 [SEP] 2, Newspaper, -5.534, 1.045, 0.372, 0, 0, 0, 38 [SEP] 3, CellPhone, -1.584, 0.590, 4.644, 0, 0, 0, 50 [SEP] 4, Statue, -4.184, 1.113, 4.391, 0, 90, 0, 56 [SEP] 5, Vase, -3.570, 0.207, 4.459, 0, 90, 0, 54 [SEP] 6, Watch, -0.213, 0.074, 0.828, 0, 270, 0, 41 [SEP] 7, Watch, -5.364, 1.039, 0.107, 0, 0, 0, 38 [SEP] 8, KeyChain, -1.035, 0.616, 2.753, 0, 0, 0, 60 [SEP] 9, RemoteControl, -3.863, 1.110, 4.292, 0, 90, 0, 52 [SEP] 10, RemoteControl, -1.960, 0.592, 4.211, 0, 0, 0, 50 [SEP] 11, Laptop, -1.584, 0.588, 4.384, 0, 0, 0, 50 [SEP] 12, Box, -5.194, 1.260, 0.306, 0, 180, 0, 38 [SEP] 13, Watch, -3.863, 1.108, 4.490, 0, 90, 0, 56 [SEP] 14, Pillow, -2.031, 0.668, 4.421, 0, 0, 0, 50 [SEP] 15, TissueBox, -0.273, 1.593, 1.006, 0, 270, 0, 43 [SEP] 16, Newspaper, -4.673, 0.210, 4.523, 0, 90, 0, 59 [SEP] 17, CreditCard, -4.854, 1.038, 0.173, 0, 0, 0, 38 [SEP] 18, KeyChain, -2.191, 0.034, 0.265, 0, 90, 0, 39 [SEP] 19, CellPhone, -0.705, 0.609, 1.960, 0, 0, 0, 60 [SEP] 20, Statue, -1.092, 0.079, 0.312, 0, 0, 0, 45 [SEP] 21, Laptop, -3.393, 1.104, 4.492, 0, 191.867, 0, 56 [SEP] 22, RemoteControl, -1.277, 1.104, 0.229, 0, 0, 0, 42 [SEP] 23, Vase, -3.864, 1.111, 4.786, 0, 90, 0, 56 [SEP] 24, DeskLamp, -4.649, 1.051, 0.268, 0, 0, 0, [SEP] 25, DeskLamp, -2.992, 1.107, 4.522, 0, 0, 0, [SEP] 26, FloorLamp, -0.650, 0.007, 4.431, 0, 0, 0, [SEP] 27, FloorLamp, -5.607, 0.007, 4.641, 0, 0, 0, [SEP] 28, Shelf, -5.237, 1.776, 0.070, 0, 0, 0, [SEP] 29, Shelf, -5.238, 1.968, 0.085, 0, 0, 0, [SEP] 30, Shelf, -5.242, 1.391, 0.086, 0, 0, 0, [SEP] 31, Shelf, -5.241, 1.582, 0.065, 0, 0, 0, [SEP] 32, LightSwitch, -6.002, 1.353, 3.404, 0, 90, 0, [SEP] 33, GarbageCan, -5.794, -0.033, 4.073, 0, 90, 0, [SEP] 34, Painting, -6.017, 1.802, 4.177, 90, 270, 0, [SEP] 35, HousePlant, -3.966, 1.625, 0.135, 0, 315, 0, [SEP] 36, Television, -3.355, 0.833, 0.027, 0, 0, 0, [SEP] 37, Drawer, -5.024, 0.903, 0.370, 0, 0, 0, [SEP] 38, SideTable, -5.024, 0.008, 0.267, 0, 0, 0, [SEP] 39, Safe, -2.298, 5.778, 0.268, 0, 90, 0, [SEP] 40, Shelf, -0.253, 0.781, 1.058, 0, 270, 0, [SEP] 41, Shelf, -0.283, 0.274, 1.066, 0, 270, 0, [SEP] 42, Shelf, -1.224, 1.288, 0.270, 0, 0, 0, [SEP] 43, Shelf, -1.218, 1.810, 0.275, 0, 0, 0, [SEP] 44, Shelf, -0.280, 1.810, 1.057, 0, 270, 0, [SEP] 45, Shelf, -1.218, 0.274, 0.262, 0, 0, 0, [SEP] 46, Shelf, -1.223, 0.782, 0.237, 0, 0, 0, [SEP] 47, Shelf, -0.280, 1.288, 1.055, 0, 270, 0, [SEP] 48, ShelvingUnit, -0.268, 0.004, 1.067, 0, 270, 0, [SEP] 49, ShelvingUnit, -1.218, 0.004, 0.244, 0, 0, 0, [SEP] 50, ArmChair, -2.027, 0.001, 4.422, 0, 178.692, 0, [SEP] 51, Drawer, -4.329, 1.014, 4.311, 0, 180, 0, [SEP] 52, Drawer, -3.750, 1.014, 4.311, 0, 180, 0, [SEP] 53, Cabinet, -4.049, 0.561, 4.212, 0, 180, 0, [SEP] 54, Cabinet, -4.032, 0.561, 4.212, 0, 180, 0, [SEP] 55, Cabinet, -2.884, 0.561, 4.212, 0, 180, 0, [SEP] 56, Dresser, -4.041, -0.000, 4.589, 0, 180, 0, [SEP] 57, Drawer, -4.916, 1.014, 4.311, 0, 180, 0, [SEP] 58, Drawer, -3.166, 1.014, 4.311, 0, 180, 0, [SEP] 59, Cabinet, -5.196, 0.561, 4.212, 0, 180, 0, [SEP] 60, Sofa, -0.705, -0.002, 2.753, 0, 270, 0, [SEP] 61, NorthWall, , , , , , , [SEP] 62, SouthWall, , , , , , , [SEP] 63, SouthWall, , , , , , , ", "output": ["STEP 1: turn left, walk to the white sofa, turn left walk to the blue sofa | STEP 2: grab the phone on the blue sofa | STEP 3: turn right to the lamp | STEP 4: turn on the lamp | END"]} +{"id": "trial_T20190908_044139_261907-1", "input": "Turn on the living room lamp. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -4.5, 0.901, 1.5, 0, 180, 0, [SEP] 1, Newspaper, -0.221, 0.598, 0.827, 0, 270, 0, 40 [SEP] 2, Newspaper, -5.534, 1.045, 0.372, 0, 0, 0, 38 [SEP] 3, CellPhone, -1.584, 0.590, 4.644, 0, 0, 0, 50 [SEP] 4, Statue, -4.184, 1.113, 4.391, 0, 90, 0, 56 [SEP] 5, Vase, -3.570, 0.207, 4.459, 0, 90, 0, 54 [SEP] 6, Watch, -0.213, 0.074, 0.828, 0, 270, 0, 41 [SEP] 7, Watch, -5.364, 1.039, 0.107, 0, 0, 0, 38 [SEP] 8, KeyChain, -1.035, 0.616, 2.753, 0, 0, 0, 60 [SEP] 9, RemoteControl, -3.863, 1.110, 4.292, 0, 90, 0, 52 [SEP] 10, RemoteControl, -1.960, 0.592, 4.211, 0, 0, 0, 50 [SEP] 11, Laptop, -1.584, 0.588, 4.384, 0, 0, 0, 50 [SEP] 12, Box, -5.194, 1.260, 0.306, 0, 180, 0, 38 [SEP] 13, Watch, -3.863, 1.108, 4.490, 0, 90, 0, 56 [SEP] 14, Pillow, -2.031, 0.668, 4.421, 0, 0, 0, 50 [SEP] 15, TissueBox, -0.273, 1.593, 1.006, 0, 270, 0, 43 [SEP] 16, Newspaper, -4.673, 0.210, 4.523, 0, 90, 0, 59 [SEP] 17, CreditCard, -4.854, 1.038, 0.173, 0, 0, 0, 38 [SEP] 18, KeyChain, -2.191, 0.034, 0.265, 0, 90, 0, 39 [SEP] 19, CellPhone, -0.705, 0.609, 1.960, 0, 0, 0, 60 [SEP] 20, Statue, -1.092, 0.079, 0.312, 0, 0, 0, 45 [SEP] 21, Laptop, -3.393, 1.104, 4.492, 0, 191.867, 0, 56 [SEP] 22, RemoteControl, -1.277, 1.104, 0.229, 0, 0, 0, 42 [SEP] 23, Vase, -3.864, 1.111, 4.786, 0, 90, 0, 56 [SEP] 24, DeskLamp, -4.649, 1.051, 0.268, 0, 0, 0, [SEP] 25, DeskLamp, -2.992, 1.107, 4.522, 0, 0, 0, [SEP] 26, FloorLamp, -0.650, 0.007, 4.431, 0, 0, 0, [SEP] 27, FloorLamp, -5.607, 0.007, 4.641, 0, 0, 0, [SEP] 28, Shelf, -5.237, 1.776, 0.070, 0, 0, 0, [SEP] 29, Shelf, -5.238, 1.968, 0.085, 0, 0, 0, [SEP] 30, Shelf, -5.242, 1.391, 0.086, 0, 0, 0, [SEP] 31, Shelf, -5.241, 1.582, 0.065, 0, 0, 0, [SEP] 32, LightSwitch, -6.002, 1.353, 3.404, 0, 90, 0, [SEP] 33, GarbageCan, -5.794, -0.033, 4.073, 0, 90, 0, [SEP] 34, Painting, -6.017, 1.802, 4.177, 90, 270, 0, [SEP] 35, HousePlant, -3.966, 1.625, 0.135, 0, 315, 0, [SEP] 36, Television, -3.355, 0.833, 0.027, 0, 0, 0, [SEP] 37, Drawer, -5.024, 0.903, 0.370, 0, 0, 0, [SEP] 38, SideTable, -5.024, 0.008, 0.267, 0, 0, 0, [SEP] 39, Safe, -2.298, 5.778, 0.268, 0, 90, 0, [SEP] 40, Shelf, -0.253, 0.781, 1.058, 0, 270, 0, [SEP] 41, Shelf, -0.283, 0.274, 1.066, 0, 270, 0, [SEP] 42, Shelf, -1.224, 1.288, 0.270, 0, 0, 0, [SEP] 43, Shelf, -1.218, 1.810, 0.275, 0, 0, 0, [SEP] 44, Shelf, -0.280, 1.810, 1.057, 0, 270, 0, [SEP] 45, Shelf, -1.218, 0.274, 0.262, 0, 0, 0, [SEP] 46, Shelf, -1.223, 0.782, 0.237, 0, 0, 0, [SEP] 47, Shelf, -0.280, 1.288, 1.055, 0, 270, 0, [SEP] 48, ShelvingUnit, -0.268, 0.004, 1.067, 0, 270, 0, [SEP] 49, ShelvingUnit, -1.218, 0.004, 0.244, 0, 0, 0, [SEP] 50, ArmChair, -2.027, 0.001, 4.422, 0, 178.692, 0, [SEP] 51, Drawer, -4.329, 1.014, 4.311, 0, 180, 0, [SEP] 52, Drawer, -3.750, 1.014, 4.311, 0, 180, 0, [SEP] 53, Cabinet, -4.049, 0.561, 4.212, 0, 180, 0, [SEP] 54, Cabinet, -4.032, 0.561, 4.212, 0, 180, 0, [SEP] 55, Cabinet, -2.884, 0.561, 4.212, 0, 180, 0, [SEP] 56, Dresser, -4.041, -0.000, 4.589, 0, 180, 0, [SEP] 57, Drawer, -4.916, 1.014, 4.311, 0, 180, 0, [SEP] 58, Drawer, -3.166, 1.014, 4.311, 0, 180, 0, [SEP] 59, Cabinet, -5.196, 0.561, 4.212, 0, 180, 0, [SEP] 60, Sofa, -0.705, -0.002, 2.753, 0, 270, 0, [SEP] 61, NorthWall, , , , , , , [SEP] 62, SouthWall, , , , , , , [SEP] 63, SouthWall, , , , , , , ", "output": ["STEP 1: Turn to your left and go to the white couch, then turn to your left again and go to the blue arm chair, across the room. | STEP 2: Pick up the cell phone on the back of the arm chair's seat, behind the computer. | STEP 3: Turn to the lamp at your right, in the corner. | STEP 4: Turn on the lamp in the corner. | END"]} +{"id": "trial_T20190908_044139_261907-2", "input": "Inspect a phone with a lamp. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -4.5, 0.901, 1.5, 0, 180, 0, [SEP] 1, Newspaper, -0.221, 0.598, 0.827, 0, 270, 0, 40 [SEP] 2, Newspaper, -5.534, 1.045, 0.372, 0, 0, 0, 38 [SEP] 3, CellPhone, -1.584, 0.590, 4.644, 0, 0, 0, 50 [SEP] 4, Statue, -4.184, 1.113, 4.391, 0, 90, 0, 56 [SEP] 5, Vase, -3.570, 0.207, 4.459, 0, 90, 0, 54 [SEP] 6, Watch, -0.213, 0.074, 0.828, 0, 270, 0, 41 [SEP] 7, Watch, -5.364, 1.039, 0.107, 0, 0, 0, 38 [SEP] 8, KeyChain, -1.035, 0.616, 2.753, 0, 0, 0, 60 [SEP] 9, RemoteControl, -3.863, 1.110, 4.292, 0, 90, 0, 52 [SEP] 10, RemoteControl, -1.960, 0.592, 4.211, 0, 0, 0, 50 [SEP] 11, Laptop, -1.584, 0.588, 4.384, 0, 0, 0, 50 [SEP] 12, Box, -5.194, 1.260, 0.306, 0, 180, 0, 38 [SEP] 13, Watch, -3.863, 1.108, 4.490, 0, 90, 0, 56 [SEP] 14, Pillow, -2.031, 0.668, 4.421, 0, 0, 0, 50 [SEP] 15, TissueBox, -0.273, 1.593, 1.006, 0, 270, 0, 43 [SEP] 16, Newspaper, -4.673, 0.210, 4.523, 0, 90, 0, 59 [SEP] 17, CreditCard, -4.854, 1.038, 0.173, 0, 0, 0, 38 [SEP] 18, KeyChain, -2.191, 0.034, 0.265, 0, 90, 0, 39 [SEP] 19, CellPhone, -0.705, 0.609, 1.960, 0, 0, 0, 60 [SEP] 20, Statue, -1.092, 0.079, 0.312, 0, 0, 0, 45 [SEP] 21, Laptop, -3.393, 1.104, 4.492, 0, 191.867, 0, 56 [SEP] 22, RemoteControl, -1.277, 1.104, 0.229, 0, 0, 0, 42 [SEP] 23, Vase, -3.864, 1.111, 4.786, 0, 90, 0, 56 [SEP] 24, DeskLamp, -4.649, 1.051, 0.268, 0, 0, 0, [SEP] 25, DeskLamp, -2.992, 1.107, 4.522, 0, 0, 0, [SEP] 26, FloorLamp, -0.650, 0.007, 4.431, 0, 0, 0, [SEP] 27, FloorLamp, -5.607, 0.007, 4.641, 0, 0, 0, [SEP] 28, Shelf, -5.237, 1.776, 0.070, 0, 0, 0, [SEP] 29, Shelf, -5.238, 1.968, 0.085, 0, 0, 0, [SEP] 30, Shelf, -5.242, 1.391, 0.086, 0, 0, 0, [SEP] 31, Shelf, -5.241, 1.582, 0.065, 0, 0, 0, [SEP] 32, LightSwitch, -6.002, 1.353, 3.404, 0, 90, 0, [SEP] 33, GarbageCan, -5.794, -0.033, 4.073, 0, 90, 0, [SEP] 34, Painting, -6.017, 1.802, 4.177, 90, 270, 0, [SEP] 35, HousePlant, -3.966, 1.625, 0.135, 0, 315, 0, [SEP] 36, Television, -3.355, 0.833, 0.027, 0, 0, 0, [SEP] 37, Drawer, -5.024, 0.903, 0.370, 0, 0, 0, [SEP] 38, SideTable, -5.024, 0.008, 0.267, 0, 0, 0, [SEP] 39, Safe, -2.298, 5.778, 0.268, 0, 90, 0, [SEP] 40, Shelf, -0.253, 0.781, 1.058, 0, 270, 0, [SEP] 41, Shelf, -0.283, 0.274, 1.066, 0, 270, 0, [SEP] 42, Shelf, -1.224, 1.288, 0.270, 0, 0, 0, [SEP] 43, Shelf, -1.218, 1.810, 0.275, 0, 0, 0, [SEP] 44, Shelf, -0.280, 1.810, 1.057, 0, 270, 0, [SEP] 45, Shelf, -1.218, 0.274, 0.262, 0, 0, 0, [SEP] 46, Shelf, -1.223, 0.782, 0.237, 0, 0, 0, [SEP] 47, Shelf, -0.280, 1.288, 1.055, 0, 270, 0, [SEP] 48, ShelvingUnit, -0.268, 0.004, 1.067, 0, 270, 0, [SEP] 49, ShelvingUnit, -1.218, 0.004, 0.244, 0, 0, 0, [SEP] 50, ArmChair, -2.027, 0.001, 4.422, 0, 178.692, 0, [SEP] 51, Drawer, -4.329, 1.014, 4.311, 0, 180, 0, [SEP] 52, Drawer, -3.750, 1.014, 4.311, 0, 180, 0, [SEP] 53, Cabinet, -4.049, 0.561, 4.212, 0, 180, 0, [SEP] 54, Cabinet, -4.032, 0.561, 4.212, 0, 180, 0, [SEP] 55, Cabinet, -2.884, 0.561, 4.212, 0, 180, 0, [SEP] 56, Dresser, -4.041, -0.000, 4.589, 0, 180, 0, [SEP] 57, Drawer, -4.916, 1.014, 4.311, 0, 180, 0, [SEP] 58, Drawer, -3.166, 1.014, 4.311, 0, 180, 0, [SEP] 59, Cabinet, -5.196, 0.561, 4.212, 0, 180, 0, [SEP] 60, Sofa, -0.705, -0.002, 2.753, 0, 270, 0, [SEP] 61, NorthWall, , , , , , , [SEP] 62, SouthWall, , , , , , , [SEP] 63, SouthWall, , , , , , , ", "output": ["STEP 1: move to the couch to the left of the fire place | STEP 2: pick up a phone from the couch | STEP 3: move to the left of the couch | STEP 4: turn on the lamp | END"]} +{"id": "trial_T20190909_103507_522012-0", "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, -5.5, 0.901, 1.25, 0, 90, 0, [SEP] 1, TissueBox, -4.741, 0.205, 4.331, 0, 90, 0, 61 [SEP] 2, TissueBox, -4.505, 1.112, 4.490, 0, 90, 0, 58 [SEP] 3, CellPhone, -3.222, 1.108, 4.589, 0, 90, 0, 58 [SEP] 4, CellPhone, -2.404, 0.034, 0.317, 0, 90, 0, 41 [SEP] 5, Vase, -5.534, 1.043, 0.372, 0, 0, 0, 40 [SEP] 6, Vase, -4.876, 0.207, 4.587, 0, 90, 0, 61 [SEP] 7, KeyChain, -3.543, 1.112, 4.786, 0, 90, 0, 58 [SEP] 8, KeyChain, -0.148, 0.593, 1.101, 0, 270, 0, 42 [SEP] 9, KeyChain, -1.835, 0.590, 4.297, 0, 90, 0, 52 [SEP] 10, CreditCard, -4.740, 0.997, 4.313, 0, 90, 0, 59 [SEP] 11, CreditCard, -3.543, 1.107, 4.292, 0, 90, 0, 54 [SEP] 12, RemoteControl, -1.960, 0.592, 4.297, 0, 0, 0, 52 [SEP] 13, Pillow, -0.870, 0.700, 2.753, 0, 0, 0, 62 [SEP] 14, Box, -2.914, 0.421, 4.589, 0, 0, 0, 57 [SEP] 15, Watch, -5.331, 0.862, 0.364, 0, 0, 0, 40 [SEP] 16, Pillow, -2.031, 0.668, 4.421, 0, 0, 0, 52 [SEP] 17, TissueBox, -5.364, 1.040, 0.504, 0, 0, 0, 40 [SEP] 18, Newspaper, -4.826, 1.117, 4.786, 0, 90, 0, 58 [SEP] 19, CreditCard, -3.455, 0.995, 4.313, 0, 90, 0, 58 [SEP] 20, KeyChain, -2.085, 0.590, 4.124, 0, 0, 0, 52 [SEP] 21, CellPhone, -4.625, 0.996, 4.313, 0, 90, 0, 58 [SEP] 22, Statue, -1.094, 1.107, 0.229, 0, 0, 0, 44 [SEP] 23, Laptop, -4.184, 1.105, 4.687, 0, 90, 0, 58 [SEP] 24, RemoteControl, -0.870, 0.611, 3.281, 0, 0, 0, 62 [SEP] 25, Vase, -0.263, 0.077, 1.011, 0, 270, 0, 43 [SEP] 26, DeskLamp, -4.649, 1.051, 0.268, 0, 0, 0, [SEP] 27, DeskLamp, -2.992, 1.107, 4.522, 0, 0, 0, [SEP] 28, FloorLamp, -0.650, 0.007, 4.431, 0, 0, 0, [SEP] 29, FloorLamp, -5.607, 0.007, 4.641, 0, 0, 0, [SEP] 30, Shelf, -5.237, 1.776, 0.070, 0, 0, 0, [SEP] 31, Shelf, -5.238, 1.968, 0.085, 0, 0, 0, [SEP] 32, Shelf, -5.242, 1.391, 0.086, 0, 0, 0, [SEP] 33, Shelf, -5.241, 1.582, 0.065, 0, 0, 0, [SEP] 34, LightSwitch, -6.002, 1.353, 3.404, 0, 90, 0, [SEP] 35, GarbageCan, -5.794, -0.033, 4.073, 0, 90, 0, [SEP] 36, Painting, -6.017, 1.802, 4.177, 90, 270, 0, [SEP] 37, HousePlant, -3.966, 1.625, 0.135, 0, 315, 0, [SEP] 38, Television, -3.355, 0.833, 0.027, 0, 0, 0, [SEP] 39, Drawer, -5.024, 0.903, 0.370, 0, 0, 0, [SEP] 40, SideTable, -5.024, 0.008, 0.267, 0, 0, 0, [SEP] 41, Safe, -2.298, 5.778, 0.268, 0, 90, 0, [SEP] 42, Shelf, -0.253, 0.781, 1.058, 0, 270, 0, [SEP] 43, Shelf, -0.283, 0.274, 1.066, 0, 270, 0, [SEP] 44, Shelf, -1.224, 1.288, 0.270, 0, 0, 0, [SEP] 45, Shelf, -1.218, 1.810, 0.275, 0, 0, 0, [SEP] 46, Shelf, -0.280, 1.810, 1.057, 0, 270, 0, [SEP] 47, Shelf, -1.218, 0.274, 0.262, 0, 0, 0, [SEP] 48, Shelf, -1.223, 0.782, 0.237, 0, 0, 0, [SEP] 49, Shelf, -0.280, 1.288, 1.055, 0, 270, 0, [SEP] 50, ShelvingUnit, -0.268, 0.004, 1.067, 0, 270, 0, [SEP] 51, ShelvingUnit, -1.218, 0.004, 0.244, 0, 0, 0, [SEP] 52, ArmChair, -2.027, 0.001, 4.422, 0, 178.692, 0, [SEP] 53, Drawer, -4.329, 1.014, 4.311, 0, 180, 0, [SEP] 54, Drawer, -3.750, 1.014, 4.311, 0, 180, 0, [SEP] 55, Cabinet, -4.049, 0.561, 4.212, 0, 180, 0, [SEP] 56, Cabinet, -4.032, 0.561, 4.212, 0, 180, 0, [SEP] 57, Cabinet, -2.884, 0.561, 4.212, 0, 180, 0, [SEP] 58, Dresser, -4.041, -0.000, 4.589, 0, 180, 0, [SEP] 59, Drawer, -4.916, 1.014, 4.311, 0, 180, 0, [SEP] 60, Drawer, -3.166, 1.014, 4.311, 0, 180, 0, [SEP] 61, Cabinet, -5.196, 0.561, 4.212, 0, 180, 0, [SEP] 62, Sofa, -0.705, -0.002, 2.753, 0, 270, 0, [SEP] 63, NorthWall, , , , , , , [SEP] 64, SouthWall, , , , , , , [SEP] 65, SouthWall, , , , , , , ", "output": ["STEP 1: Walk forward to the safe, then turn left and walk to the blue armchair. | STEP 2: Pick up the key chain in front of the remote control on the armchair. | STEP 3: Turn right and walk slightly forward to the tall lamp in front of you. | STEP 4: Turn on the lamp. | END"]} +{"id": "trial_T20190909_103507_522012-1", "input": "Look at keys using an illuminated lamp. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -5.5, 0.901, 1.25, 0, 90, 0, [SEP] 1, TissueBox, -4.741, 0.205, 4.331, 0, 90, 0, 61 [SEP] 2, TissueBox, -4.505, 1.112, 4.490, 0, 90, 0, 58 [SEP] 3, CellPhone, -3.222, 1.108, 4.589, 0, 90, 0, 58 [SEP] 4, CellPhone, -2.404, 0.034, 0.317, 0, 90, 0, 41 [SEP] 5, Vase, -5.534, 1.043, 0.372, 0, 0, 0, 40 [SEP] 6, Vase, -4.876, 0.207, 4.587, 0, 90, 0, 61 [SEP] 7, KeyChain, -3.543, 1.112, 4.786, 0, 90, 0, 58 [SEP] 8, KeyChain, -0.148, 0.593, 1.101, 0, 270, 0, 42 [SEP] 9, KeyChain, -1.835, 0.590, 4.297, 0, 90, 0, 52 [SEP] 10, CreditCard, -4.740, 0.997, 4.313, 0, 90, 0, 59 [SEP] 11, CreditCard, -3.543, 1.107, 4.292, 0, 90, 0, 54 [SEP] 12, RemoteControl, -1.960, 0.592, 4.297, 0, 0, 0, 52 [SEP] 13, Pillow, -0.870, 0.700, 2.753, 0, 0, 0, 62 [SEP] 14, Box, -2.914, 0.421, 4.589, 0, 0, 0, 57 [SEP] 15, Watch, -5.331, 0.862, 0.364, 0, 0, 0, 40 [SEP] 16, Pillow, -2.031, 0.668, 4.421, 0, 0, 0, 52 [SEP] 17, TissueBox, -5.364, 1.040, 0.504, 0, 0, 0, 40 [SEP] 18, Newspaper, -4.826, 1.117, 4.786, 0, 90, 0, 58 [SEP] 19, CreditCard, -3.455, 0.995, 4.313, 0, 90, 0, 58 [SEP] 20, KeyChain, -2.085, 0.590, 4.124, 0, 0, 0, 52 [SEP] 21, CellPhone, -4.625, 0.996, 4.313, 0, 90, 0, 58 [SEP] 22, Statue, -1.094, 1.107, 0.229, 0, 0, 0, 44 [SEP] 23, Laptop, -4.184, 1.105, 4.687, 0, 90, 0, 58 [SEP] 24, RemoteControl, -0.870, 0.611, 3.281, 0, 0, 0, 62 [SEP] 25, Vase, -0.263, 0.077, 1.011, 0, 270, 0, 43 [SEP] 26, DeskLamp, -4.649, 1.051, 0.268, 0, 0, 0, [SEP] 27, DeskLamp, -2.992, 1.107, 4.522, 0, 0, 0, [SEP] 28, FloorLamp, -0.650, 0.007, 4.431, 0, 0, 0, [SEP] 29, FloorLamp, -5.607, 0.007, 4.641, 0, 0, 0, [SEP] 30, Shelf, -5.237, 1.776, 0.070, 0, 0, 0, [SEP] 31, Shelf, -5.238, 1.968, 0.085, 0, 0, 0, [SEP] 32, Shelf, -5.242, 1.391, 0.086, 0, 0, 0, [SEP] 33, Shelf, -5.241, 1.582, 0.065, 0, 0, 0, [SEP] 34, LightSwitch, -6.002, 1.353, 3.404, 0, 90, 0, [SEP] 35, GarbageCan, -5.794, -0.033, 4.073, 0, 90, 0, [SEP] 36, Painting, -6.017, 1.802, 4.177, 90, 270, 0, [SEP] 37, HousePlant, -3.966, 1.625, 0.135, 0, 315, 0, [SEP] 38, Television, -3.355, 0.833, 0.027, 0, 0, 0, [SEP] 39, Drawer, -5.024, 0.903, 0.370, 0, 0, 0, [SEP] 40, SideTable, -5.024, 0.008, 0.267, 0, 0, 0, [SEP] 41, Safe, -2.298, 5.778, 0.268, 0, 90, 0, [SEP] 42, Shelf, -0.253, 0.781, 1.058, 0, 270, 0, [SEP] 43, Shelf, -0.283, 0.274, 1.066, 0, 270, 0, [SEP] 44, Shelf, -1.224, 1.288, 0.270, 0, 0, 0, [SEP] 45, Shelf, -1.218, 1.810, 0.275, 0, 0, 0, [SEP] 46, Shelf, -0.280, 1.810, 1.057, 0, 270, 0, [SEP] 47, Shelf, -1.218, 0.274, 0.262, 0, 0, 0, [SEP] 48, Shelf, -1.223, 0.782, 0.237, 0, 0, 0, [SEP] 49, Shelf, -0.280, 1.288, 1.055, 0, 270, 0, [SEP] 50, ShelvingUnit, -0.268, 0.004, 1.067, 0, 270, 0, [SEP] 51, ShelvingUnit, -1.218, 0.004, 0.244, 0, 0, 0, [SEP] 52, ArmChair, -2.027, 0.001, 4.422, 0, 178.692, 0, [SEP] 53, Drawer, -4.329, 1.014, 4.311, 0, 180, 0, [SEP] 54, Drawer, -3.750, 1.014, 4.311, 0, 180, 0, [SEP] 55, Cabinet, -4.049, 0.561, 4.212, 0, 180, 0, [SEP] 56, Cabinet, -4.032, 0.561, 4.212, 0, 180, 0, [SEP] 57, Cabinet, -2.884, 0.561, 4.212, 0, 180, 0, [SEP] 58, Dresser, -4.041, -0.000, 4.589, 0, 180, 0, [SEP] 59, Drawer, -4.916, 1.014, 4.311, 0, 180, 0, [SEP] 60, Drawer, -3.166, 1.014, 4.311, 0, 180, 0, [SEP] 61, Cabinet, -5.196, 0.561, 4.212, 0, 180, 0, [SEP] 62, Sofa, -0.705, -0.002, 2.753, 0, 270, 0, [SEP] 63, NorthWall, , , , , , , [SEP] 64, SouthWall, , , , , , , [SEP] 65, SouthWall, , , , , , , ", "output": ["STEP 1: Cross the room and when you get to the sofa, head left to stand in front of the blue chair. | STEP 2: Pick up the leftmost set of keys from the chair. | STEP 3: Turn right to carry the keys closer to the lamp, which is between the chair and sofa. | STEP 4: Turn on the lamp to look at the keys. | END"]} +{"id": "trial_T20190909_103507_522012-2", "input": "Look at some keys under 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, -5.5, 0.901, 1.25, 0, 90, 0, [SEP] 1, TissueBox, -4.741, 0.205, 4.331, 0, 90, 0, 61 [SEP] 2, TissueBox, -4.505, 1.112, 4.490, 0, 90, 0, 58 [SEP] 3, CellPhone, -3.222, 1.108, 4.589, 0, 90, 0, 58 [SEP] 4, CellPhone, -2.404, 0.034, 0.317, 0, 90, 0, 41 [SEP] 5, Vase, -5.534, 1.043, 0.372, 0, 0, 0, 40 [SEP] 6, Vase, -4.876, 0.207, 4.587, 0, 90, 0, 61 [SEP] 7, KeyChain, -3.543, 1.112, 4.786, 0, 90, 0, 58 [SEP] 8, KeyChain, -0.148, 0.593, 1.101, 0, 270, 0, 42 [SEP] 9, KeyChain, -1.835, 0.590, 4.297, 0, 90, 0, 52 [SEP] 10, CreditCard, -4.740, 0.997, 4.313, 0, 90, 0, 59 [SEP] 11, CreditCard, -3.543, 1.107, 4.292, 0, 90, 0, 54 [SEP] 12, RemoteControl, -1.960, 0.592, 4.297, 0, 0, 0, 52 [SEP] 13, Pillow, -0.870, 0.700, 2.753, 0, 0, 0, 62 [SEP] 14, Box, -2.914, 0.421, 4.589, 0, 0, 0, 57 [SEP] 15, Watch, -5.331, 0.862, 0.364, 0, 0, 0, 40 [SEP] 16, Pillow, -2.031, 0.668, 4.421, 0, 0, 0, 52 [SEP] 17, TissueBox, -5.364, 1.040, 0.504, 0, 0, 0, 40 [SEP] 18, Newspaper, -4.826, 1.117, 4.786, 0, 90, 0, 58 [SEP] 19, CreditCard, -3.455, 0.995, 4.313, 0, 90, 0, 58 [SEP] 20, KeyChain, -2.085, 0.590, 4.124, 0, 0, 0, 52 [SEP] 21, CellPhone, -4.625, 0.996, 4.313, 0, 90, 0, 58 [SEP] 22, Statue, -1.094, 1.107, 0.229, 0, 0, 0, 44 [SEP] 23, Laptop, -4.184, 1.105, 4.687, 0, 90, 0, 58 [SEP] 24, RemoteControl, -0.870, 0.611, 3.281, 0, 0, 0, 62 [SEP] 25, Vase, -0.263, 0.077, 1.011, 0, 270, 0, 43 [SEP] 26, DeskLamp, -4.649, 1.051, 0.268, 0, 0, 0, [SEP] 27, DeskLamp, -2.992, 1.107, 4.522, 0, 0, 0, [SEP] 28, FloorLamp, -0.650, 0.007, 4.431, 0, 0, 0, [SEP] 29, FloorLamp, -5.607, 0.007, 4.641, 0, 0, 0, [SEP] 30, Shelf, -5.237, 1.776, 0.070, 0, 0, 0, [SEP] 31, Shelf, -5.238, 1.968, 0.085, 0, 0, 0, [SEP] 32, Shelf, -5.242, 1.391, 0.086, 0, 0, 0, [SEP] 33, Shelf, -5.241, 1.582, 0.065, 0, 0, 0, [SEP] 34, LightSwitch, -6.002, 1.353, 3.404, 0, 90, 0, [SEP] 35, GarbageCan, -5.794, -0.033, 4.073, 0, 90, 0, [SEP] 36, Painting, -6.017, 1.802, 4.177, 90, 270, 0, [SEP] 37, HousePlant, -3.966, 1.625, 0.135, 0, 315, 0, [SEP] 38, Television, -3.355, 0.833, 0.027, 0, 0, 0, [SEP] 39, Drawer, -5.024, 0.903, 0.370, 0, 0, 0, [SEP] 40, SideTable, -5.024, 0.008, 0.267, 0, 0, 0, [SEP] 41, Safe, -2.298, 5.778, 0.268, 0, 90, 0, [SEP] 42, Shelf, -0.253, 0.781, 1.058, 0, 270, 0, [SEP] 43, Shelf, -0.283, 0.274, 1.066, 0, 270, 0, [SEP] 44, Shelf, -1.224, 1.288, 0.270, 0, 0, 0, [SEP] 45, Shelf, -1.218, 1.810, 0.275, 0, 0, 0, [SEP] 46, Shelf, -0.280, 1.810, 1.057, 0, 270, 0, [SEP] 47, Shelf, -1.218, 0.274, 0.262, 0, 0, 0, [SEP] 48, Shelf, -1.223, 0.782, 0.237, 0, 0, 0, [SEP] 49, Shelf, -0.280, 1.288, 1.055, 0, 270, 0, [SEP] 50, ShelvingUnit, -0.268, 0.004, 1.067, 0, 270, 0, [SEP] 51, ShelvingUnit, -1.218, 0.004, 0.244, 0, 0, 0, [SEP] 52, ArmChair, -2.027, 0.001, 4.422, 0, 178.692, 0, [SEP] 53, Drawer, -4.329, 1.014, 4.311, 0, 180, 0, [SEP] 54, Drawer, -3.750, 1.014, 4.311, 0, 180, 0, [SEP] 55, Cabinet, -4.049, 0.561, 4.212, 0, 180, 0, [SEP] 56, Cabinet, -4.032, 0.561, 4.212, 0, 180, 0, [SEP] 57, Cabinet, -2.884, 0.561, 4.212, 0, 180, 0, [SEP] 58, Dresser, -4.041, -0.000, 4.589, 0, 180, 0, [SEP] 59, Drawer, -4.916, 1.014, 4.311, 0, 180, 0, [SEP] 60, Drawer, -3.166, 1.014, 4.311, 0, 180, 0, [SEP] 61, Cabinet, -5.196, 0.561, 4.212, 0, 180, 0, [SEP] 62, Sofa, -0.705, -0.002, 2.753, 0, 270, 0, [SEP] 63, NorthWall, , , , , , , [SEP] 64, SouthWall, , , , , , , [SEP] 65, SouthWall, , , , , , , ", "output": ["STEP 1: Turn around and hang a left to walk to the blue armchair. | STEP 2: Pick up the leftmost keys from the blue armchair. | STEP 3: Turn to face the tall lamp on the right. | STEP 4: Turn on the tall lamp. | END"]} +{"id": "trial_T20190906_185530_954329-0", "input": "Put the baseball bat 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, -2.0, 0.900, 1.75, 0, 180, 0, [SEP] 1, Bowl, -0.819, 0.861, -1.356, 0, 0, 0, 36 [SEP] 2, Pen, -2.151, 1.729, 0.489, 0, 0, 0, 41 [SEP] 3, Pen, -1.834, 1.729, 0.530, 0, 0, 0, 41 [SEP] 4, Pencil, -1.728, 0.886, 0.530, 0, 0, 0, 39 [SEP] 5, Pencil, -0.549, 0.368, -0.692, 0, 0, 0, 37 [SEP] 6, KeyChain, -0.567, 0.857, -1.183, 0, 0, 0, 36 [SEP] 7, Book, 0.598, 0.783, 1.366, 0, 0, 0, 27 [SEP] 8, Book, -2.235, 0.386, 0.721, 0, 0, 0, 48 [SEP] 9, Pillow, 1.003, 0.918, 1.655, 0, 0, 0, 27 [SEP] 10, Laptop, 1.409, 0.781, 1.366, 0, 0, 0, 27 [SEP] 11, Laptop, 0.800, 0.781, 0.787, 0, 0, 0, 27 [SEP] 12, AlarmClock, -0.819, 0.858, -1.010, 0, 0, 0, 36 [SEP] 13, Book, 0.598, 0.783, 1.655, 0, 0, 0, 27 [SEP] 14, AlarmClock, -1.834, 1.724, 0.366, 0, 0, 0, 40 [SEP] 15, BasketBall, 1.976, 0.120, 0.211, 0, 331.076, 0, [SEP] 16, Pen, -0.735, 0.863, -1.183, 0, 0, 0, 36 [SEP] 17, Laptop, 1.409, 0.781, 1.945, 0, 0, 0, 27 [SEP] 18, BaseballBat, 1.953, 0.659, -1.81, 346.388, 0, 0, [SEP] 19, Bowl, -0.827, 0.850, -1.641, 0, 0, 0, 36 [SEP] 20, Pillow, 1.118, 0.867, 2.464, 0, 0, 0, 27 [SEP] 21, KeyChain, -2.187, 0.039, 2.522, 0, 180, 0, 51 [SEP] 22, CreditCard, -0.511, 0.083, -0.933, 0, 0, 0, 35 [SEP] 23, CellPhone, -0.399, 0.858, -0.836, 0, 0, 0, 36 [SEP] 24, CD, -0.823, 0.202, -0.338, 0, 0, 0, 29 [SEP] 25, Pencil, -0.819, 0.861, -0.663, 0, 0, 0, 36 [SEP] 26, Mug, -0.399, 0.855, -1.010, 0, 0, 0, 36 [SEP] 27, Bed, 1.227, -0.002, 1.664, 0, 0, 0, [SEP] 28, LightSwitch, 2.151, 1.233, -0.518, 0, 270, 0, [SEP] 29, GarbageCan, -0.747, 0.014, -0.327, 0, 0, 0, [SEP] 30, Mirror, -1.358, 1.427, 2.855, 0, 0, 0, [SEP] 31, DeskLamp, -2.296, 0.858, 0.750, 0, 0, 0, [SEP] 32, Window, -0.421, 1.534, -1.947, 90, 0, 0, [SEP] 33, Window, 0.579, 1.534, -1.947, 90, 0, 0, [SEP] 34, Drawer, -0.491, 0.739, -0.855, 0, 90, 0, [SEP] 35, Drawer, -0.491, 0.204, -0.855, 0, 90, 0, [SEP] 36, Desk, -0.639, 0.009, -1.187, 0, 90, 0, [SEP] 37, Drawer, -0.491, 0.487, -0.855, 0, 90, 0, [SEP] 38, Shelf, -1.965, 1.514, 0.416, 0, 0, 0, [SEP] 39, Shelf, -1.965, 1.092, 0.416, 0, 0, 0, [SEP] 40, Shelf, -1.312, 1.888, 0.416, 0, 0, 0, [SEP] 41, Shelf, -1.965, 1.888, 0.416, 0, 0, 0, [SEP] 42, Shelf, -1.312, 1.092, 0.416, 0, 0, 0, [SEP] 43, Shelf, -1.312, 1.514, 0.416, 0, 0, 0, [SEP] 44, Blinds, 0.601, 2.161, -1.916, 0, 0, 0, [SEP] 45, Blinds, -0.402, 2.161, -1.916, 0, 0, 0, [SEP] 46, Desk, -1.726, 0.001, 0.575, 0, 0, 0, [SEP] 47, Drawer, -2.058, 0.733, 0.734, 0, 0, 0, [SEP] 48, Drawer, -2.058, 0.482, 0.734, 0, 0, 0, [SEP] 49, Drawer, -2.058, 0.198, 0.735, 0, 0, 0, [SEP] 50, Chair, -0.137, 0.000, -1.587, 0, 315, 0, [SEP] 51, Safe, -2.183, -7.748, 2.576, 0, 180, 0, [SEP] 52, Chair, -1.433, 0.009, 0.780, 357.672, 206.726, 0, [SEP] 53, LaundryHamper, 0.163, 0.003, 2.635, 0, 86.390, 0, [SEP] 54, NorthWall, , , , , , , [SEP] 55, EastWall, , , , , , , [SEP] 56, SouthWall, , , , , , , [SEP] 57, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and walk to the opposite corner of the room by the door | STEP 2: Pick up the baseball bat from the corner of the room | STEP 3: Turn around and walk over to the side of the bed | STEP 4: Put the bat down on the bed just right of the green books | END"]} +{"id": "trial_T20190906_185530_954329-1", "input": "To put a bat on a 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, 1.75, 0, 180, 0, [SEP] 1, Bowl, -0.819, 0.861, -1.356, 0, 0, 0, 36 [SEP] 2, Pen, -2.151, 1.729, 0.489, 0, 0, 0, 41 [SEP] 3, Pen, -1.834, 1.729, 0.530, 0, 0, 0, 41 [SEP] 4, Pencil, -1.728, 0.886, 0.530, 0, 0, 0, 39 [SEP] 5, Pencil, -0.549, 0.368, -0.692, 0, 0, 0, 37 [SEP] 6, KeyChain, -0.567, 0.857, -1.183, 0, 0, 0, 36 [SEP] 7, Book, 0.598, 0.783, 1.366, 0, 0, 0, 27 [SEP] 8, Book, -2.235, 0.386, 0.721, 0, 0, 0, 48 [SEP] 9, Pillow, 1.003, 0.918, 1.655, 0, 0, 0, 27 [SEP] 10, Laptop, 1.409, 0.781, 1.366, 0, 0, 0, 27 [SEP] 11, Laptop, 0.800, 0.781, 0.787, 0, 0, 0, 27 [SEP] 12, AlarmClock, -0.819, 0.858, -1.010, 0, 0, 0, 36 [SEP] 13, Book, 0.598, 0.783, 1.655, 0, 0, 0, 27 [SEP] 14, AlarmClock, -1.834, 1.724, 0.366, 0, 0, 0, 40 [SEP] 15, BasketBall, 1.976, 0.120, 0.211, 0, 331.076, 0, [SEP] 16, Pen, -0.735, 0.863, -1.183, 0, 0, 0, 36 [SEP] 17, Laptop, 1.409, 0.781, 1.945, 0, 0, 0, 27 [SEP] 18, BaseballBat, 1.953, 0.659, -1.81, 346.388, 0, 0, [SEP] 19, Bowl, -0.827, 0.850, -1.641, 0, 0, 0, 36 [SEP] 20, Pillow, 1.118, 0.867, 2.464, 0, 0, 0, 27 [SEP] 21, KeyChain, -2.187, 0.039, 2.522, 0, 180, 0, 51 [SEP] 22, CreditCard, -0.511, 0.083, -0.933, 0, 0, 0, 35 [SEP] 23, CellPhone, -0.399, 0.858, -0.836, 0, 0, 0, 36 [SEP] 24, CD, -0.823, 0.202, -0.338, 0, 0, 0, 29 [SEP] 25, Pencil, -0.819, 0.861, -0.663, 0, 0, 0, 36 [SEP] 26, Mug, -0.399, 0.855, -1.010, 0, 0, 0, 36 [SEP] 27, Bed, 1.227, -0.002, 1.664, 0, 0, 0, [SEP] 28, LightSwitch, 2.151, 1.233, -0.518, 0, 270, 0, [SEP] 29, GarbageCan, -0.747, 0.014, -0.327, 0, 0, 0, [SEP] 30, Mirror, -1.358, 1.427, 2.855, 0, 0, 0, [SEP] 31, DeskLamp, -2.296, 0.858, 0.750, 0, 0, 0, [SEP] 32, Window, -0.421, 1.534, -1.947, 90, 0, 0, [SEP] 33, Window, 0.579, 1.534, -1.947, 90, 0, 0, [SEP] 34, Drawer, -0.491, 0.739, -0.855, 0, 90, 0, [SEP] 35, Drawer, -0.491, 0.204, -0.855, 0, 90, 0, [SEP] 36, Desk, -0.639, 0.009, -1.187, 0, 90, 0, [SEP] 37, Drawer, -0.491, 0.487, -0.855, 0, 90, 0, [SEP] 38, Shelf, -1.965, 1.514, 0.416, 0, 0, 0, [SEP] 39, Shelf, -1.965, 1.092, 0.416, 0, 0, 0, [SEP] 40, Shelf, -1.312, 1.888, 0.416, 0, 0, 0, [SEP] 41, Shelf, -1.965, 1.888, 0.416, 0, 0, 0, [SEP] 42, Shelf, -1.312, 1.092, 0.416, 0, 0, 0, [SEP] 43, Shelf, -1.312, 1.514, 0.416, 0, 0, 0, [SEP] 44, Blinds, 0.601, 2.161, -1.916, 0, 0, 0, [SEP] 45, Blinds, -0.402, 2.161, -1.916, 0, 0, 0, [SEP] 46, Desk, -1.726, 0.001, 0.575, 0, 0, 0, [SEP] 47, Drawer, -2.058, 0.733, 0.734, 0, 0, 0, [SEP] 48, Drawer, -2.058, 0.482, 0.734, 0, 0, 0, [SEP] 49, Drawer, -2.058, 0.198, 0.735, 0, 0, 0, [SEP] 50, Chair, -0.137, 0.000, -1.587, 0, 315, 0, [SEP] 51, Safe, -2.183, -7.748, 2.576, 0, 180, 0, [SEP] 52, Chair, -1.433, 0.009, 0.780, 357.672, 206.726, 0, [SEP] 53, LaundryHamper, 0.163, 0.003, 2.635, 0, 86.390, 0, [SEP] 54, NorthWall, , , , , , , [SEP] 55, EastWall, , , , , , , [SEP] 56, SouthWall, , , , , , , [SEP] 57, WestWall, , , , , , , ", "output": ["STEP 1: Left away from the desk, right at the bed and take a left at the end of the bed then take a right and go forward to the wall. | STEP 2: Pick up the bat leaning against the wall. | STEP 3: Turn right and go to the desk take a right at the desk and a left at the bed, go forward take a right and turn around to the right to the bed. | STEP 4: Place the bat on the bed in front of the right laptop. | END"]} +{"id": "trial_T20190906_185530_954329-2", "input": "Bring bat from the wall 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, 1.75, 0, 180, 0, [SEP] 1, Bowl, -0.819, 0.861, -1.356, 0, 0, 0, 36 [SEP] 2, Pen, -2.151, 1.729, 0.489, 0, 0, 0, 41 [SEP] 3, Pen, -1.834, 1.729, 0.530, 0, 0, 0, 41 [SEP] 4, Pencil, -1.728, 0.886, 0.530, 0, 0, 0, 39 [SEP] 5, Pencil, -0.549, 0.368, -0.692, 0, 0, 0, 37 [SEP] 6, KeyChain, -0.567, 0.857, -1.183, 0, 0, 0, 36 [SEP] 7, Book, 0.598, 0.783, 1.366, 0, 0, 0, 27 [SEP] 8, Book, -2.235, 0.386, 0.721, 0, 0, 0, 48 [SEP] 9, Pillow, 1.003, 0.918, 1.655, 0, 0, 0, 27 [SEP] 10, Laptop, 1.409, 0.781, 1.366, 0, 0, 0, 27 [SEP] 11, Laptop, 0.800, 0.781, 0.787, 0, 0, 0, 27 [SEP] 12, AlarmClock, -0.819, 0.858, -1.010, 0, 0, 0, 36 [SEP] 13, Book, 0.598, 0.783, 1.655, 0, 0, 0, 27 [SEP] 14, AlarmClock, -1.834, 1.724, 0.366, 0, 0, 0, 40 [SEP] 15, BasketBall, 1.976, 0.120, 0.211, 0, 331.076, 0, [SEP] 16, Pen, -0.735, 0.863, -1.183, 0, 0, 0, 36 [SEP] 17, Laptop, 1.409, 0.781, 1.945, 0, 0, 0, 27 [SEP] 18, BaseballBat, 1.953, 0.659, -1.81, 346.388, 0, 0, [SEP] 19, Bowl, -0.827, 0.850, -1.641, 0, 0, 0, 36 [SEP] 20, Pillow, 1.118, 0.867, 2.464, 0, 0, 0, 27 [SEP] 21, KeyChain, -2.187, 0.039, 2.522, 0, 180, 0, 51 [SEP] 22, CreditCard, -0.511, 0.083, -0.933, 0, 0, 0, 35 [SEP] 23, CellPhone, -0.399, 0.858, -0.836, 0, 0, 0, 36 [SEP] 24, CD, -0.823, 0.202, -0.338, 0, 0, 0, 29 [SEP] 25, Pencil, -0.819, 0.861, -0.663, 0, 0, 0, 36 [SEP] 26, Mug, -0.399, 0.855, -1.010, 0, 0, 0, 36 [SEP] 27, Bed, 1.227, -0.002, 1.664, 0, 0, 0, [SEP] 28, LightSwitch, 2.151, 1.233, -0.518, 0, 270, 0, [SEP] 29, GarbageCan, -0.747, 0.014, -0.327, 0, 0, 0, [SEP] 30, Mirror, -1.358, 1.427, 2.855, 0, 0, 0, [SEP] 31, DeskLamp, -2.296, 0.858, 0.750, 0, 0, 0, [SEP] 32, Window, -0.421, 1.534, -1.947, 90, 0, 0, [SEP] 33, Window, 0.579, 1.534, -1.947, 90, 0, 0, [SEP] 34, Drawer, -0.491, 0.739, -0.855, 0, 90, 0, [SEP] 35, Drawer, -0.491, 0.204, -0.855, 0, 90, 0, [SEP] 36, Desk, -0.639, 0.009, -1.187, 0, 90, 0, [SEP] 37, Drawer, -0.491, 0.487, -0.855, 0, 90, 0, [SEP] 38, Shelf, -1.965, 1.514, 0.416, 0, 0, 0, [SEP] 39, Shelf, -1.965, 1.092, 0.416, 0, 0, 0, [SEP] 40, Shelf, -1.312, 1.888, 0.416, 0, 0, 0, [SEP] 41, Shelf, -1.965, 1.888, 0.416, 0, 0, 0, [SEP] 42, Shelf, -1.312, 1.092, 0.416, 0, 0, 0, [SEP] 43, Shelf, -1.312, 1.514, 0.416, 0, 0, 0, [SEP] 44, Blinds, 0.601, 2.161, -1.916, 0, 0, 0, [SEP] 45, Blinds, -0.402, 2.161, -1.916, 0, 0, 0, [SEP] 46, Desk, -1.726, 0.001, 0.575, 0, 0, 0, [SEP] 47, Drawer, -2.058, 0.733, 0.734, 0, 0, 0, [SEP] 48, Drawer, -2.058, 0.482, 0.734, 0, 0, 0, [SEP] 49, Drawer, -2.058, 0.198, 0.735, 0, 0, 0, [SEP] 50, Chair, -0.137, 0.000, -1.587, 0, 315, 0, [SEP] 51, Safe, -2.183, -7.748, 2.576, 0, 180, 0, [SEP] 52, Chair, -1.433, 0.009, 0.780, 357.672, 206.726, 0, [SEP] 53, LaundryHamper, 0.163, 0.003, 2.635, 0, 86.390, 0, [SEP] 54, NorthWall, , , , , , , [SEP] 55, EastWall, , , , , , , [SEP] 56, SouthWall, , , , , , , [SEP] 57, WestWall, , , , , , , ", "output": ["STEP 1: Take left, walk toward bed, take right, take left at end of bed, take right to bat | STEP 2: Pick up the bat on the wall | STEP 3: take right, walk to desk, take right to side of bed | STEP 4: Set the bat down on the bed | END"]} +{"id": "trial_T20190907_083507_594820-0", "input": "Put a warm cup 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, -3.5, 0.900, 0.5, 0, 180, 0, [SEP] 1, Pan, -0.698, 0.931, 0.239, 0, 0, 0, 59 [SEP] 2, Potato, 1.028, 1.814, -1.236, 0, 270, 0, 81 [SEP] 3, Potato, 0.905, 0.893, 1.349, 0, 270, 0, 82 [SEP] 4, CreditCard, 0.754, 0.492, -0.565, 0, 270, 0, 63 [SEP] 5, CreditCard, 1.029, 0.908, -0.034, 0, 0, 0, 60 [SEP] 6, ButterKnife, 0.944, 0.911, -0.555, 0, 0, 0, 60 [SEP] 7, Fork, 0.773, 0.911, 0.139, 0, 0, 0, 60 [SEP] 8, Spoon, -1.104, 0.934, -0.118, 0, 0, 0, 59 [SEP] 9, Spoon, 0.834, 0.496, -0.607, 0, 270, 0, 63 [SEP] 10, Spatula, 0.915, 0.717, -0.731, 0, 0, 0, 57 [SEP] 11, Spatula, 1.029, 0.926, -0.034, 0, 180, 0, 60 [SEP] 12, Cup, 1.102, 1.663, -0.657, 0, 270, 0, 68 [SEP] 13, Cup, 0.966, 1.132, 1.349, 0, 270, 0, 82 [SEP] 14, Plate, 1.082, 2.211, -1.082, 0, 270, 0, 66 [SEP] 15, SoapBottle, -1.229, 0.933, -0.905, 0, 0, 0, 59 [SEP] 16, SoapBottle, -0.865, 0.177, 0.575, 0, 180, 0, 79 [SEP] 17, SaltShaker, 0.960, 0.104, -2.052, 0, 0, 0, 64 [SEP] 18, PepperShaker, -0.772, 0.929, -1.308, 0, 0, 0, 59 [SEP] 19, PepperShaker, 1.148, 1.662, -0.273, 0, 270, 0, 68 [SEP] 20, Lettuce, 0.773, 0.988, -0.381, 0, 0, 0, 60 [SEP] 21, Bread, 0.944, 0.992, 0.139, 0, 0, 0, 60 [SEP] 22, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 78 [SEP] 23, Mug, -0.624, 0.928, -1.154, 0, 0, 0, 59 [SEP] 24, Apple, 1.087, 1.693, 1.540, 0, 270, 0, 82 [SEP] 25, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 59 [SEP] 26, Glassbottle, 0.688, 0.912, -0.729, 0, 0, 0, 60 [SEP] 27, Bread, 0.905, 1.482, 1.063, 0, 270, 0, 82 [SEP] 28, CreditCard, 0.915, 0.699, -0.690, 0, 270, 0, 57 [SEP] 29, CellPhone, 0.773, 0.908, -0.381, 0, 0, 0, 60 [SEP] 30, Potato, -1.007, 0.207, 0.641, 0, 180, 0, 79 [SEP] 31, Knife, -0.624, 0.957, -0.067, 0, 0, 0, 59 [SEP] 32, Fork, -0.697, 0.780, -0.573, 0, 180, 0, 80 [SEP] 33, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 53 [SEP] 34, Lettuce, -0.753, 0.857, -0.745, 0, 90, 0, 80 [SEP] 35, Plate, 1.082, 2.211, -1.626, 0, 270, 0, 66 [SEP] 36, Apple, 0.965, 1.452, 1.444, 0, 270, 0, 82 [SEP] 37, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 55 [SEP] 38, Spatula, -0.642, 0.791, -0.918, 0, 0, 0, 80 [SEP] 39, PaperTowelRoll, -0.772, 1.037, -1.540, 0, 0, 0, 59 [SEP] 40, Tomato, 1.026, 1.683, 1.254, 0, 270, 0, 82 [SEP] 41, Egg, -1.054, 0.216, 0.510, 0, 180, 0, 79 [SEP] 42, SaltShaker, 0.811, 0.117, 0.374, 0, 270, 0, 60 [SEP] 43, PepperShaker, -0.477, 0.929, -0.143, 0, 0, 0, 59 [SEP] 44, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 85 [SEP] 45, ButterKnife, -0.697, 0.780, -0.832, 0, 90, 0, 80 [SEP] 46, SoapBottle, 0.773, 0.911, -1.793, 0, 0, 0, 65 [SEP] 47, Vase, 1.114, 0.912, -0.381, 0, 0, 0, 60 [SEP] 48, Bowl, 1.199, 0.914, -1.793, 0, 0, 0, 65 [SEP] 49, DishSponge, -1.571, 0.881, 2.692, 0, 0, 0, 85 [SEP] 50, Spoon, -0.624, 0.934, -1.463, 0, 0, 0, 59 [SEP] 51, Cup, 1.194, 1.663, -1.961, 0, 270, 0, 58 [SEP] 52, Mug, 0.783, 1.129, 1.063, 0, 270, 0, 82 [SEP] 53, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 54, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 55, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 56, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 57, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 58, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 59, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 60, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 61, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 62, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 63, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 64, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 65, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 66, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 67, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 68, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 69, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 70, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 71, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 72, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 73, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 74, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 75, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 76, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 77, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 78, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 79, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 80, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 81, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 82, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 83, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 84, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 85, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 86, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 87, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 88, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 89, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 90, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 91, NorthWall, , , , , , , [SEP] 92, EastWall, , , , , , , [SEP] 93, SouthWall, , , , , , , [SEP] 94, WestWall, , , , , , , ", "output": ["STEP 1: Turn around, move forward, turn right, move forward for the fridge, turn right, move forward, then turn left to approach the counter to the left of the stove. | STEP 2: Pick up the cup in the right cabinet, above the counter. | STEP 3: Turn right, move forward then turn left to face the stove. | STEP 4: Warm the cup in the microwave, above the stove. | STEP 5: Turn left, move forward, then turn right to face the counter next to the stove. | STEP 6: Place the cup in the cabinet above the counter, to the right. | END"]} +{"id": "trial_T20190907_083507_594820-1", "input": "Put a heated cup 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, -3.5, 0.900, 0.5, 0, 180, 0, [SEP] 1, Pan, -0.698, 0.931, 0.239, 0, 0, 0, 59 [SEP] 2, Potato, 1.028, 1.814, -1.236, 0, 270, 0, 81 [SEP] 3, Potato, 0.905, 0.893, 1.349, 0, 270, 0, 82 [SEP] 4, CreditCard, 0.754, 0.492, -0.565, 0, 270, 0, 63 [SEP] 5, CreditCard, 1.029, 0.908, -0.034, 0, 0, 0, 60 [SEP] 6, ButterKnife, 0.944, 0.911, -0.555, 0, 0, 0, 60 [SEP] 7, Fork, 0.773, 0.911, 0.139, 0, 0, 0, 60 [SEP] 8, Spoon, -1.104, 0.934, -0.118, 0, 0, 0, 59 [SEP] 9, Spoon, 0.834, 0.496, -0.607, 0, 270, 0, 63 [SEP] 10, Spatula, 0.915, 0.717, -0.731, 0, 0, 0, 57 [SEP] 11, Spatula, 1.029, 0.926, -0.034, 0, 180, 0, 60 [SEP] 12, Cup, 1.102, 1.663, -0.657, 0, 270, 0, 68 [SEP] 13, Cup, 0.966, 1.132, 1.349, 0, 270, 0, 82 [SEP] 14, Plate, 1.082, 2.211, -1.082, 0, 270, 0, 66 [SEP] 15, SoapBottle, -1.229, 0.933, -0.905, 0, 0, 0, 59 [SEP] 16, SoapBottle, -0.865, 0.177, 0.575, 0, 180, 0, 79 [SEP] 17, SaltShaker, 0.960, 0.104, -2.052, 0, 0, 0, 64 [SEP] 18, PepperShaker, -0.772, 0.929, -1.308, 0, 0, 0, 59 [SEP] 19, PepperShaker, 1.148, 1.662, -0.273, 0, 270, 0, 68 [SEP] 20, Lettuce, 0.773, 0.988, -0.381, 0, 0, 0, 60 [SEP] 21, Bread, 0.944, 0.992, 0.139, 0, 0, 0, 60 [SEP] 22, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 78 [SEP] 23, Mug, -0.624, 0.928, -1.154, 0, 0, 0, 59 [SEP] 24, Apple, 1.087, 1.693, 1.540, 0, 270, 0, 82 [SEP] 25, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 59 [SEP] 26, Glassbottle, 0.688, 0.912, -0.729, 0, 0, 0, 60 [SEP] 27, Bread, 0.905, 1.482, 1.063, 0, 270, 0, 82 [SEP] 28, CreditCard, 0.915, 0.699, -0.690, 0, 270, 0, 57 [SEP] 29, CellPhone, 0.773, 0.908, -0.381, 0, 0, 0, 60 [SEP] 30, Potato, -1.007, 0.207, 0.641, 0, 180, 0, 79 [SEP] 31, Knife, -0.624, 0.957, -0.067, 0, 0, 0, 59 [SEP] 32, Fork, -0.697, 0.780, -0.573, 0, 180, 0, 80 [SEP] 33, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 53 [SEP] 34, Lettuce, -0.753, 0.857, -0.745, 0, 90, 0, 80 [SEP] 35, Plate, 1.082, 2.211, -1.626, 0, 270, 0, 66 [SEP] 36, Apple, 0.965, 1.452, 1.444, 0, 270, 0, 82 [SEP] 37, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 55 [SEP] 38, Spatula, -0.642, 0.791, -0.918, 0, 0, 0, 80 [SEP] 39, PaperTowelRoll, -0.772, 1.037, -1.540, 0, 0, 0, 59 [SEP] 40, Tomato, 1.026, 1.683, 1.254, 0, 270, 0, 82 [SEP] 41, Egg, -1.054, 0.216, 0.510, 0, 180, 0, 79 [SEP] 42, SaltShaker, 0.811, 0.117, 0.374, 0, 270, 0, 60 [SEP] 43, PepperShaker, -0.477, 0.929, -0.143, 0, 0, 0, 59 [SEP] 44, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 85 [SEP] 45, ButterKnife, -0.697, 0.780, -0.832, 0, 90, 0, 80 [SEP] 46, SoapBottle, 0.773, 0.911, -1.793, 0, 0, 0, 65 [SEP] 47, Vase, 1.114, 0.912, -0.381, 0, 0, 0, 60 [SEP] 48, Bowl, 1.199, 0.914, -1.793, 0, 0, 0, 65 [SEP] 49, DishSponge, -1.571, 0.881, 2.692, 0, 0, 0, 85 [SEP] 50, Spoon, -0.624, 0.934, -1.463, 0, 0, 0, 59 [SEP] 51, Cup, 1.194, 1.663, -1.961, 0, 270, 0, 58 [SEP] 52, Mug, 0.783, 1.129, 1.063, 0, 270, 0, 82 [SEP] 53, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 54, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 55, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 56, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 57, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 58, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 59, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 60, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 61, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 62, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 63, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 64, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 65, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 66, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 67, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 68, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 69, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 70, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 71, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 72, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 73, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 74, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 75, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 76, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 77, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 78, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 79, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 80, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 81, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 82, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 83, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 84, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 85, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 86, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 87, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 88, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 89, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 90, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 91, NorthWall, , , , , , , [SEP] 92, EastWall, , , , , , , [SEP] 93, SouthWall, , , , , , , [SEP] 94, WestWall, , , , , , , ", "output": ["STEP 1: Head to the counter next to the stove on the left. | STEP 2: Open the cabinet above and pick up the green cup from in there. | STEP 3: 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 cabinet on the left next to the microwave. | STEP 6: Put the heated cup in the cabinet next to the microwave. | END"]} +{"id": "trial_T20190907_083507_594820-2", "input": "Put a warmed vase 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, -3.5, 0.900, 0.5, 0, 180, 0, [SEP] 1, Pan, -0.698, 0.931, 0.239, 0, 0, 0, 59 [SEP] 2, Potato, 1.028, 1.814, -1.236, 0, 270, 0, 81 [SEP] 3, Potato, 0.905, 0.893, 1.349, 0, 270, 0, 82 [SEP] 4, CreditCard, 0.754, 0.492, -0.565, 0, 270, 0, 63 [SEP] 5, CreditCard, 1.029, 0.908, -0.034, 0, 0, 0, 60 [SEP] 6, ButterKnife, 0.944, 0.911, -0.555, 0, 0, 0, 60 [SEP] 7, Fork, 0.773, 0.911, 0.139, 0, 0, 0, 60 [SEP] 8, Spoon, -1.104, 0.934, -0.118, 0, 0, 0, 59 [SEP] 9, Spoon, 0.834, 0.496, -0.607, 0, 270, 0, 63 [SEP] 10, Spatula, 0.915, 0.717, -0.731, 0, 0, 0, 57 [SEP] 11, Spatula, 1.029, 0.926, -0.034, 0, 180, 0, 60 [SEP] 12, Cup, 1.102, 1.663, -0.657, 0, 270, 0, 68 [SEP] 13, Cup, 0.966, 1.132, 1.349, 0, 270, 0, 82 [SEP] 14, Plate, 1.082, 2.211, -1.082, 0, 270, 0, 66 [SEP] 15, SoapBottle, -1.229, 0.933, -0.905, 0, 0, 0, 59 [SEP] 16, SoapBottle, -0.865, 0.177, 0.575, 0, 180, 0, 79 [SEP] 17, SaltShaker, 0.960, 0.104, -2.052, 0, 0, 0, 64 [SEP] 18, PepperShaker, -0.772, 0.929, -1.308, 0, 0, 0, 59 [SEP] 19, PepperShaker, 1.148, 1.662, -0.273, 0, 270, 0, 68 [SEP] 20, Lettuce, 0.773, 0.988, -0.381, 0, 0, 0, 60 [SEP] 21, Bread, 0.944, 0.992, 0.139, 0, 0, 0, 60 [SEP] 22, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 78 [SEP] 23, Mug, -0.624, 0.928, -1.154, 0, 0, 0, 59 [SEP] 24, Apple, 1.087, 1.693, 1.540, 0, 270, 0, 82 [SEP] 25, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 59 [SEP] 26, Glassbottle, 0.688, 0.912, -0.729, 0, 0, 0, 60 [SEP] 27, Bread, 0.905, 1.482, 1.063, 0, 270, 0, 82 [SEP] 28, CreditCard, 0.915, 0.699, -0.690, 0, 270, 0, 57 [SEP] 29, CellPhone, 0.773, 0.908, -0.381, 0, 0, 0, 60 [SEP] 30, Potato, -1.007, 0.207, 0.641, 0, 180, 0, 79 [SEP] 31, Knife, -0.624, 0.957, -0.067, 0, 0, 0, 59 [SEP] 32, Fork, -0.697, 0.780, -0.573, 0, 180, 0, 80 [SEP] 33, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 53 [SEP] 34, Lettuce, -0.753, 0.857, -0.745, 0, 90, 0, 80 [SEP] 35, Plate, 1.082, 2.211, -1.626, 0, 270, 0, 66 [SEP] 36, Apple, 0.965, 1.452, 1.444, 0, 270, 0, 82 [SEP] 37, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 55 [SEP] 38, Spatula, -0.642, 0.791, -0.918, 0, 0, 0, 80 [SEP] 39, PaperTowelRoll, -0.772, 1.037, -1.540, 0, 0, 0, 59 [SEP] 40, Tomato, 1.026, 1.683, 1.254, 0, 270, 0, 82 [SEP] 41, Egg, -1.054, 0.216, 0.510, 0, 180, 0, 79 [SEP] 42, SaltShaker, 0.811, 0.117, 0.374, 0, 270, 0, 60 [SEP] 43, PepperShaker, -0.477, 0.929, -0.143, 0, 0, 0, 59 [SEP] 44, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 85 [SEP] 45, ButterKnife, -0.697, 0.780, -0.832, 0, 90, 0, 80 [SEP] 46, SoapBottle, 0.773, 0.911, -1.793, 0, 0, 0, 65 [SEP] 47, Vase, 1.114, 0.912, -0.381, 0, 0, 0, 60 [SEP] 48, Bowl, 1.199, 0.914, -1.793, 0, 0, 0, 65 [SEP] 49, DishSponge, -1.571, 0.881, 2.692, 0, 0, 0, 85 [SEP] 50, Spoon, -0.624, 0.934, -1.463, 0, 0, 0, 59 [SEP] 51, Cup, 1.194, 1.663, -1.961, 0, 270, 0, 58 [SEP] 52, Mug, 0.783, 1.129, 1.063, 0, 270, 0, 82 [SEP] 53, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 54, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 55, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 56, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 57, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 58, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 59, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 60, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 61, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 62, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 63, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 64, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 65, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 66, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 67, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 68, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 69, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 70, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 71, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 72, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 73, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 74, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 75, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 76, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 77, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 78, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 79, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 80, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 81, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 82, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 83, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 84, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 85, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 86, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 87, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 88, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 89, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 90, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 91, NorthWall, , , , , , , [SEP] 92, EastWall, , , , , , , [SEP] 93, SouthWall, , , , , , , [SEP] 94, WestWall, , , , , , , ", "output": ["STEP 1: Go left and then right to stand in front of the cabinet to the left of the microwave. | STEP 2: Open the upper cabinet on the right and take out the green vase. | STEP 3: Go to the right and stand in front of the microwave. | STEP 4: Put the vase in the microwave and turn it on and then take it out and shut the door. | STEP 5: Go left and face the cabinets to the left of the stove. | STEP 6: Open the upper cabinet, closest to the microwave, and put the vase in and shut the door. | END"]} +{"id": "trial_T20190909_174840_771703-0", "input": "Put chilled 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, 0.0, 0.900, 0.0, 0, 180, 0, [SEP] 1, Statue, -1.292, 0.936, -0.905, 0, 0, 0, 60 [SEP] 2, Potato, -0.96, 0.207, 0.641, 0, 270, 0, 80 [SEP] 3, CreditCard, -1.469, 0.878, 2.719, 0, 0, 0, 87 [SEP] 4, CreditCard, 0.773, 0.908, -1.793, 0, 0, 0, 66 [SEP] 5, CellPhone, 1.114, 0.908, -0.729, 0, 0, 0, 61 [SEP] 6, DishSponge, 0.859, 0.910, -0.381, 0, 0, 0, 61 [SEP] 7, Glassbottle, -0.865, 0.177, 0.543, 0, 180, 0, 80 [SEP] 8, Spoon, -0.697, 0.777, -0.745, 0, 90, 0, 81 [SEP] 9, Knife, -0.698, 0.957, 0.315, 0, 0, 0, 60 [SEP] 10, Knife, 0.944, 0.934, -0.034, 0, 180, 0, 61 [SEP] 11, Cup, 1.029, 0.908, -0.555, 0, 0, 0, 61 [SEP] 12, Cup, 0.859, 0.908, -0.034, 0, 0, 0, 61 [SEP] 13, Plate, 0.859, 0.914, -0.208, 0, 0, 0, 61 [SEP] 14, Plate, 1.082, 2.211, -1.517, 0, 270, 0, 67 [SEP] 15, Bowl, 0.688, 0.914, -2.308, 0, 0, 0, 66 [SEP] 16, Bowl, 0.688, 0.914, -1.793, 0, 0, 0, 66 [SEP] 17, SaltShaker, 0.833, 0.150, -0.690, 0, 270, 0, 63 [SEP] 18, SaltShaker, 1.009, 1.662, -1.893, 0, 270, 0, 59 [SEP] 19, PepperShaker, 0.915, 0.491, -0.524, 0, 270, 0, 64 [SEP] 20, PepperShaker, -1.363, 0.550, 2.770, 0, 0, 0, 86 [SEP] 21, Lettuce, 1.114, 0.988, -0.381, 0, 0, 0, 61 [SEP] 22, Lettuce, -1.292, 1.010, -0.118, 0, 0, 0, 60 [SEP] 23, Bread, 0.905, 1.216, 1.349, 0, 270, 0, 83 [SEP] 24, Bread, 1.114, 0.992, -0.034, 0, 0, 0, 61 [SEP] 25, Apple, -1.054, 0.227, 0.641, 0, 180, 0, 80 [SEP] 26, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 60 [SEP] 27, Glassbottle, 0.688, 0.912, -1.965, 0, 0, 0, 66 [SEP] 28, Bread, -0.624, 1.014, -1.308, 0, 0, 0, 60 [SEP] 29, CreditCard, 0.688, 0.908, -2.051, 0, 0, 0, 66 [SEP] 30, CellPhone, -0.550, 0.930, 0.086, 0, 0, 0, 60 [SEP] 31, Potato, 0.905, 1.432, 1.254, 0, 270, 0, 83 [SEP] 32, Knife, 0.773, 0.934, -0.555, 0, 90, 0, 61 [SEP] 33, Fork, 0.834, 0.703, -0.607, 0, 270, 0, 58 [SEP] 34, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 54 [SEP] 35, Lettuce, 0.688, 0.988, -0.555, 0, 0, 0, 61 [SEP] 36, Plate, 0.844, 1.405, 1.063, 0, 270, 0, 83 [SEP] 37, Apple, -1.054, 0.227, 0.543, 0, 180, 0, 80 [SEP] 38, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 56 [SEP] 39, Spatula, 0.754, 0.717, -0.772, 0, 180, 0, 58 [SEP] 40, PaperTowelRoll, -0.477, 1.037, 0.315, 0, 0, 0, 60 [SEP] 41, Tomato, 0.905, 1.683, 1.158, 0, 270, 0, 83 [SEP] 42, Egg, 1.087, 1.439, 1.063, 0, 270, 0, 83 [SEP] 43, SaltShaker, 1.009, 1.662, -2.166, 0, 270, 0, 59 [SEP] 44, PepperShaker, 0.713, 0.150, -0.571, 0, 270, 0, 63 [SEP] 45, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 86 [SEP] 46, ButterKnife, -0.698, 0.780, -0.486, 0, 90, 0, 81 [SEP] 47, SoapBottle, 1.082, 2.208, -0.973, 0, 270, 0, 67 [SEP] 48, Vase, -1.655, 0.541, 2.725, 0, 0, 0, 86 [SEP] 49, Bowl, 0.905, 0.866, 1.349, 0, 270, 0, 83 [SEP] 50, DishSponge, 0.859, 0.910, -1.879, 0, 0, 0, 66 [SEP] 51, Spoon, -0.697, 0.777, -0.918, 0, 0, 0, 81 [SEP] 52, Cup, 0.783, 0.860, 0.967, 0, 270, 0, 83 [SEP] 53, Mug, 0.966, 1.638, 1.349, 0, 270, 0, 83 [SEP] 54, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 55, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 56, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 57, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 58, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 59, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 60, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 61, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 62, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 63, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 64, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 65, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 66, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 67, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 68, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 69, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 70, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 71, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 72, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 73, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 74, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 75, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 76, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 77, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 78, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 79, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 80, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 81, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 82, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 83, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 84, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 85, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 86, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 87, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 88, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 89, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 90, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 91, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 92, NorthWall, , , , , , , [SEP] 93, EastWall, , , , , , , [SEP] 94, SouthWall, , , , , , , [SEP] 95, WestWall, , , , , , , ", "output": ["STEP 1: Step forward, then turn left to face the counter near the dishwasher. | STEP 2: Pick up the lettuce nearest to you from the counter. | STEP 3: Turn around and move forward, then turn right to go to the fridge. | STEP 4: Open the fridge, put the lettuce inside and chill it, then take the lettuce out. | STEP 5: Turn right and move forward, then turn left at the dishwasher. | STEP 6: Place the lettuce on the counter. | END"]} +{"id": "trial_T20190909_174840_771703-1", "input": "put chilled lettuce on 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, 0.0, 0, 180, 0, [SEP] 1, Statue, -1.292, 0.936, -0.905, 0, 0, 0, 60 [SEP] 2, Potato, -0.96, 0.207, 0.641, 0, 270, 0, 80 [SEP] 3, CreditCard, -1.469, 0.878, 2.719, 0, 0, 0, 87 [SEP] 4, CreditCard, 0.773, 0.908, -1.793, 0, 0, 0, 66 [SEP] 5, CellPhone, 1.114, 0.908, -0.729, 0, 0, 0, 61 [SEP] 6, DishSponge, 0.859, 0.910, -0.381, 0, 0, 0, 61 [SEP] 7, Glassbottle, -0.865, 0.177, 0.543, 0, 180, 0, 80 [SEP] 8, Spoon, -0.697, 0.777, -0.745, 0, 90, 0, 81 [SEP] 9, Knife, -0.698, 0.957, 0.315, 0, 0, 0, 60 [SEP] 10, Knife, 0.944, 0.934, -0.034, 0, 180, 0, 61 [SEP] 11, Cup, 1.029, 0.908, -0.555, 0, 0, 0, 61 [SEP] 12, Cup, 0.859, 0.908, -0.034, 0, 0, 0, 61 [SEP] 13, Plate, 0.859, 0.914, -0.208, 0, 0, 0, 61 [SEP] 14, Plate, 1.082, 2.211, -1.517, 0, 270, 0, 67 [SEP] 15, Bowl, 0.688, 0.914, -2.308, 0, 0, 0, 66 [SEP] 16, Bowl, 0.688, 0.914, -1.793, 0, 0, 0, 66 [SEP] 17, SaltShaker, 0.833, 0.150, -0.690, 0, 270, 0, 63 [SEP] 18, SaltShaker, 1.009, 1.662, -1.893, 0, 270, 0, 59 [SEP] 19, PepperShaker, 0.915, 0.491, -0.524, 0, 270, 0, 64 [SEP] 20, PepperShaker, -1.363, 0.550, 2.770, 0, 0, 0, 86 [SEP] 21, Lettuce, 1.114, 0.988, -0.381, 0, 0, 0, 61 [SEP] 22, Lettuce, -1.292, 1.010, -0.118, 0, 0, 0, 60 [SEP] 23, Bread, 0.905, 1.216, 1.349, 0, 270, 0, 83 [SEP] 24, Bread, 1.114, 0.992, -0.034, 0, 0, 0, 61 [SEP] 25, Apple, -1.054, 0.227, 0.641, 0, 180, 0, 80 [SEP] 26, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 60 [SEP] 27, Glassbottle, 0.688, 0.912, -1.965, 0, 0, 0, 66 [SEP] 28, Bread, -0.624, 1.014, -1.308, 0, 0, 0, 60 [SEP] 29, CreditCard, 0.688, 0.908, -2.051, 0, 0, 0, 66 [SEP] 30, CellPhone, -0.550, 0.930, 0.086, 0, 0, 0, 60 [SEP] 31, Potato, 0.905, 1.432, 1.254, 0, 270, 0, 83 [SEP] 32, Knife, 0.773, 0.934, -0.555, 0, 90, 0, 61 [SEP] 33, Fork, 0.834, 0.703, -0.607, 0, 270, 0, 58 [SEP] 34, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 54 [SEP] 35, Lettuce, 0.688, 0.988, -0.555, 0, 0, 0, 61 [SEP] 36, Plate, 0.844, 1.405, 1.063, 0, 270, 0, 83 [SEP] 37, Apple, -1.054, 0.227, 0.543, 0, 180, 0, 80 [SEP] 38, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 56 [SEP] 39, Spatula, 0.754, 0.717, -0.772, 0, 180, 0, 58 [SEP] 40, PaperTowelRoll, -0.477, 1.037, 0.315, 0, 0, 0, 60 [SEP] 41, Tomato, 0.905, 1.683, 1.158, 0, 270, 0, 83 [SEP] 42, Egg, 1.087, 1.439, 1.063, 0, 270, 0, 83 [SEP] 43, SaltShaker, 1.009, 1.662, -2.166, 0, 270, 0, 59 [SEP] 44, PepperShaker, 0.713, 0.150, -0.571, 0, 270, 0, 63 [SEP] 45, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 86 [SEP] 46, ButterKnife, -0.698, 0.780, -0.486, 0, 90, 0, 81 [SEP] 47, SoapBottle, 1.082, 2.208, -0.973, 0, 270, 0, 67 [SEP] 48, Vase, -1.655, 0.541, 2.725, 0, 0, 0, 86 [SEP] 49, Bowl, 0.905, 0.866, 1.349, 0, 270, 0, 83 [SEP] 50, DishSponge, 0.859, 0.910, -1.879, 0, 0, 0, 66 [SEP] 51, Spoon, -0.697, 0.777, -0.918, 0, 0, 0, 81 [SEP] 52, Cup, 0.783, 0.860, 0.967, 0, 270, 0, 83 [SEP] 53, Mug, 0.966, 1.638, 1.349, 0, 270, 0, 83 [SEP] 54, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 55, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 56, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 57, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 58, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 59, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 60, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 61, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 62, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 63, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 64, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 65, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 66, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 67, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 68, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 69, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 70, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 71, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 72, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 73, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 74, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 75, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 76, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 77, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 78, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 79, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 80, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 81, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 82, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 83, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 84, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 85, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 86, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 87, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 88, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 89, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 90, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 91, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 92, NorthWall, , , , , , , [SEP] 93, EastWall, , , , , , , [SEP] 94, SouthWall, , , , , , , [SEP] 95, WestWall, , , , , , , ", "output": ["STEP 1: turn left to face counter | STEP 2: pick up the head of lettuce that is on the counter | STEP 3: turn left, walk to fridge, turn right | STEP 4: put the lettuce in fridge, wait a minute, take lettuce out | STEP 5: turn right, walk forward, turn left to face counter | STEP 6: put lettuce on counter | END"]} +{"id": "trial_T20190909_174840_771703-2", "input": "place a cold lettuce 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, 0.0, 0.900, 0.0, 0, 180, 0, [SEP] 1, Statue, -1.292, 0.936, -0.905, 0, 0, 0, 60 [SEP] 2, Potato, -0.96, 0.207, 0.641, 0, 270, 0, 80 [SEP] 3, CreditCard, -1.469, 0.878, 2.719, 0, 0, 0, 87 [SEP] 4, CreditCard, 0.773, 0.908, -1.793, 0, 0, 0, 66 [SEP] 5, CellPhone, 1.114, 0.908, -0.729, 0, 0, 0, 61 [SEP] 6, DishSponge, 0.859, 0.910, -0.381, 0, 0, 0, 61 [SEP] 7, Glassbottle, -0.865, 0.177, 0.543, 0, 180, 0, 80 [SEP] 8, Spoon, -0.697, 0.777, -0.745, 0, 90, 0, 81 [SEP] 9, Knife, -0.698, 0.957, 0.315, 0, 0, 0, 60 [SEP] 10, Knife, 0.944, 0.934, -0.034, 0, 180, 0, 61 [SEP] 11, Cup, 1.029, 0.908, -0.555, 0, 0, 0, 61 [SEP] 12, Cup, 0.859, 0.908, -0.034, 0, 0, 0, 61 [SEP] 13, Plate, 0.859, 0.914, -0.208, 0, 0, 0, 61 [SEP] 14, Plate, 1.082, 2.211, -1.517, 0, 270, 0, 67 [SEP] 15, Bowl, 0.688, 0.914, -2.308, 0, 0, 0, 66 [SEP] 16, Bowl, 0.688, 0.914, -1.793, 0, 0, 0, 66 [SEP] 17, SaltShaker, 0.833, 0.150, -0.690, 0, 270, 0, 63 [SEP] 18, SaltShaker, 1.009, 1.662, -1.893, 0, 270, 0, 59 [SEP] 19, PepperShaker, 0.915, 0.491, -0.524, 0, 270, 0, 64 [SEP] 20, PepperShaker, -1.363, 0.550, 2.770, 0, 0, 0, 86 [SEP] 21, Lettuce, 1.114, 0.988, -0.381, 0, 0, 0, 61 [SEP] 22, Lettuce, -1.292, 1.010, -0.118, 0, 0, 0, 60 [SEP] 23, Bread, 0.905, 1.216, 1.349, 0, 270, 0, 83 [SEP] 24, Bread, 1.114, 0.992, -0.034, 0, 0, 0, 61 [SEP] 25, Apple, -1.054, 0.227, 0.641, 0, 180, 0, 80 [SEP] 26, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 60 [SEP] 27, Glassbottle, 0.688, 0.912, -1.965, 0, 0, 0, 66 [SEP] 28, Bread, -0.624, 1.014, -1.308, 0, 0, 0, 60 [SEP] 29, CreditCard, 0.688, 0.908, -2.051, 0, 0, 0, 66 [SEP] 30, CellPhone, -0.550, 0.930, 0.086, 0, 0, 0, 60 [SEP] 31, Potato, 0.905, 1.432, 1.254, 0, 270, 0, 83 [SEP] 32, Knife, 0.773, 0.934, -0.555, 0, 90, 0, 61 [SEP] 33, Fork, 0.834, 0.703, -0.607, 0, 270, 0, 58 [SEP] 34, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 54 [SEP] 35, Lettuce, 0.688, 0.988, -0.555, 0, 0, 0, 61 [SEP] 36, Plate, 0.844, 1.405, 1.063, 0, 270, 0, 83 [SEP] 37, Apple, -1.054, 0.227, 0.543, 0, 180, 0, 80 [SEP] 38, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 56 [SEP] 39, Spatula, 0.754, 0.717, -0.772, 0, 180, 0, 58 [SEP] 40, PaperTowelRoll, -0.477, 1.037, 0.315, 0, 0, 0, 60 [SEP] 41, Tomato, 0.905, 1.683, 1.158, 0, 270, 0, 83 [SEP] 42, Egg, 1.087, 1.439, 1.063, 0, 270, 0, 83 [SEP] 43, SaltShaker, 1.009, 1.662, -2.166, 0, 270, 0, 59 [SEP] 44, PepperShaker, 0.713, 0.150, -0.571, 0, 270, 0, 63 [SEP] 45, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 86 [SEP] 46, ButterKnife, -0.698, 0.780, -0.486, 0, 90, 0, 81 [SEP] 47, SoapBottle, 1.082, 2.208, -0.973, 0, 270, 0, 67 [SEP] 48, Vase, -1.655, 0.541, 2.725, 0, 0, 0, 86 [SEP] 49, Bowl, 0.905, 0.866, 1.349, 0, 270, 0, 83 [SEP] 50, DishSponge, 0.859, 0.910, -1.879, 0, 0, 0, 66 [SEP] 51, Spoon, -0.697, 0.777, -0.918, 0, 0, 0, 81 [SEP] 52, Cup, 0.783, 0.860, 0.967, 0, 270, 0, 83 [SEP] 53, Mug, 0.966, 1.638, 1.349, 0, 270, 0, 83 [SEP] 54, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 55, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 56, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 57, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 58, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 59, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 60, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 61, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 62, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 63, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 64, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 65, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 66, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 67, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 68, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 69, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 70, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 71, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 72, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 73, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 74, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 75, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 76, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 77, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 78, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 79, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 80, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 81, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 82, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 83, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 84, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 85, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 86, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 87, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 88, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 89, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 90, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 91, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 92, NorthWall, , , , , , , [SEP] 93, EastWall, , , , , , , [SEP] 94, SouthWall, , , , , , , [SEP] 95, WestWall, , , , , , , ", "output": ["STEP 1: move left to the table | STEP 2: pick up the lettuce | STEP 3: move left to the fridge | STEP 4: cool the lettuce for some time and take it out | STEP 5: turn right and head to the table | STEP 6: place the lettuce on the table | END"]} +{"id": "trial_T20190907_161817_163233-0", "input": "Place a microwaved potato into the black trash can. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.0, 0.900, -1.75, 0, 0, 0, [SEP] 1, Pan, 1.026, 1.640, 1.349, 0, 90, 0, 83 [SEP] 2, Statue, -1.355, 0.936, -1.167, 0, 0, 0, 60 [SEP] 3, CreditCard, -1.418, 0.930, -0.118, 0, 0, 0, 60 [SEP] 4, CreditCard, -1.469, 0.878, 2.665, 0, 0, 0, 87 [SEP] 5, CellPhone, 0.875, 0.492, -0.690, 0, 270, 0, 64 [SEP] 6, DishSponge, -1.467, 0.553, 2.615, 0, 0, 0, 86 [SEP] 7, DishSponge, 1.055, 1.665, -2.234, 0, 270, 0, 59 [SEP] 8, Glassbottle, -1.981, 0.882, 2.719, 0, 0, 0, 87 [SEP] 9, Fork, 0.794, 0.494, -0.565, 0, 180, 0, 64 [SEP] 10, Fork, -0.550, 0.934, -1.540, 0, 0, 0, 60 [SEP] 11, Spoon, 0.773, 0.912, -0.034, 0, 0, 0, 61 [SEP] 12, Spatula, -0.698, 0.948, 0.239, 0, 0, 0, 60 [SEP] 13, Knife, -0.697, 0.804, -0.832, 0, 90, 0, 81 [SEP] 14, Egg, 1.199, 0.949, -1.879, 0, 0, 0, 66 [SEP] 15, Cup, 1.126, 1.792, -1.132, 0, 270, 0, 82 [SEP] 16, Plate, 1.148, 1.669, -0.593, 0, 270, 0, 69 [SEP] 17, SoapBottle, -0.846, 0.933, -1.463, 0, 0, 0, 60 [SEP] 18, Bowl, -1.229, 0.936, 0.144, 0, 0, 0, 60 [SEP] 19, PepperShaker, 0.754, 0.699, -0.524, 0, 270, 0, 58 [SEP] 20, PepperShaker, 0.753, 0.150, -0.531, 0, 270, 0, 63 [SEP] 21, Bread, 0.966, 1.482, 1.349, 0, 270, 0, 83 [SEP] 22, Mug, 0.965, 0.858, 1.540, 0, 270, 0, 83 [SEP] 23, Mug, 0.811, 0.115, 0.398, 0, 270, 0, 55 [SEP] 24, Apple, 1.029, 0.961, -0.381, 0, 0, 0, 61 [SEP] 25, Apple, 0.783, 1.185, 1.063, 0, 270, 0, 83 [SEP] 26, Statue, 0.859, 0.914, -0.555, 0, 0, 0, 61 [SEP] 27, Glassbottle, -0.912, 0.179, 0.608, 0, 180, 0, 80 [SEP] 28, Bread, 1.029, 0.992, -0.034, 0, 0, 0, 61 [SEP] 29, CreditCard, 0.688, 0.908, -0.208, 0, 0, 0, 61 [SEP] 30, CellPhone, -0.550, 0.930, -0.067, 0, 0, 0, 60 [SEP] 31, Potato, -0.642, 0.807, -0.400, 0, 90, 0, 81 [SEP] 32, Knife, 1.114, 0.934, -0.381, 0, 270, 0, 61 [SEP] 33, Fork, -0.698, 0.934, -1.154, 0, 0, 0, 60 [SEP] 34, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 54 [SEP] 35, Lettuce, -0.550, 1.010, 0.086, 0, 0, 0, 60 [SEP] 36, Plate, 0.910, 0.111, -1.972, 0, 0, 0, 65 [SEP] 37, Apple, 1.199, 0.961, -0.208, 0, 0, 0, 61 [SEP] 38, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 56 [SEP] 39, Spatula, -0.642, 0.791, -0.573, 0, 0, 0, 81 [SEP] 40, PaperTowelRoll, -1.101, 0.283, 0.510, 0, 180, 0, 80 [SEP] 41, Tomato, -1.167, 0.974, -0.643, 0, 0, 0, 60 [SEP] 42, Egg, -0.920, 0.971, -1.231, 0, 0, 0, 60 [SEP] 43, SaltShaker, 0.773, 0.907, -1.879, 0, 0, 0, 66 [SEP] 44, PepperShaker, 0.956, 0.698, -0.648, 0, 270, 0, 58 [SEP] 45, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 86 [SEP] 46, ButterKnife, -1.229, 0.933, -0.118, 0, 0, 0, 60 [SEP] 47, SoapBottle, 1.194, 1.666, -2.029, 0, 270, 0, 59 [SEP] 48, Vase, -1.776, 0.882, 2.719, 0, 0, 0, 87 [SEP] 49, Bowl, 0.966, 0.866, 1.063, 0, 270, 0, 83 [SEP] 50, DishSponge, -0.550, 0.933, -1.231, 0, 0, 0, 60 [SEP] 51, Spoon, 0.773, 0.912, -0.729, 0, 0, 0, 61 [SEP] 52, Cup, 1.126, 1.792, -1.339, 0, 270, 0, 82 [SEP] 53, Mug, -0.808, 0.775, -0.659, 0, 180, 0, 81 [SEP] 54, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 55, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 56, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 57, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 58, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 59, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 60, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 61, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 62, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 63, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 64, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 65, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 66, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 67, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 68, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 69, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 70, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 71, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 72, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 73, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 74, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 75, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 76, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 77, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 78, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 79, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 80, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 81, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 82, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 83, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 84, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 85, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 86, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 87, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 88, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 89, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 90, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 91, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 92, NorthWall, , , , , , , [SEP] 93, EastWall, , , , , , , [SEP] 94, SouthWall, , , , , , , [SEP] 95, WestWall, , , , , , , ", "output": ["STEP 1: Walk to the sink on your left. | STEP 2: Pick up the potato from the sink. | STEP 3: Turn left and walk to the microwave above the stove. | STEP 4: Microwave the potato and then pick the potato up from the microwave. | STEP 5: Turn left and walk to the black trash can next to the counter. | STEP 6: Place the potato in the black trash can. | END"]} +{"id": "trial_T20190907_161817_163233-1", "input": "Put a heated potato 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, 0.0, 0.900, -1.75, 0, 0, 0, [SEP] 1, Pan, 1.026, 1.640, 1.349, 0, 90, 0, 83 [SEP] 2, Statue, -1.355, 0.936, -1.167, 0, 0, 0, 60 [SEP] 3, CreditCard, -1.418, 0.930, -0.118, 0, 0, 0, 60 [SEP] 4, CreditCard, -1.469, 0.878, 2.665, 0, 0, 0, 87 [SEP] 5, CellPhone, 0.875, 0.492, -0.690, 0, 270, 0, 64 [SEP] 6, DishSponge, -1.467, 0.553, 2.615, 0, 0, 0, 86 [SEP] 7, DishSponge, 1.055, 1.665, -2.234, 0, 270, 0, 59 [SEP] 8, Glassbottle, -1.981, 0.882, 2.719, 0, 0, 0, 87 [SEP] 9, Fork, 0.794, 0.494, -0.565, 0, 180, 0, 64 [SEP] 10, Fork, -0.550, 0.934, -1.540, 0, 0, 0, 60 [SEP] 11, Spoon, 0.773, 0.912, -0.034, 0, 0, 0, 61 [SEP] 12, Spatula, -0.698, 0.948, 0.239, 0, 0, 0, 60 [SEP] 13, Knife, -0.697, 0.804, -0.832, 0, 90, 0, 81 [SEP] 14, Egg, 1.199, 0.949, -1.879, 0, 0, 0, 66 [SEP] 15, Cup, 1.126, 1.792, -1.132, 0, 270, 0, 82 [SEP] 16, Plate, 1.148, 1.669, -0.593, 0, 270, 0, 69 [SEP] 17, SoapBottle, -0.846, 0.933, -1.463, 0, 0, 0, 60 [SEP] 18, Bowl, -1.229, 0.936, 0.144, 0, 0, 0, 60 [SEP] 19, PepperShaker, 0.754, 0.699, -0.524, 0, 270, 0, 58 [SEP] 20, PepperShaker, 0.753, 0.150, -0.531, 0, 270, 0, 63 [SEP] 21, Bread, 0.966, 1.482, 1.349, 0, 270, 0, 83 [SEP] 22, Mug, 0.965, 0.858, 1.540, 0, 270, 0, 83 [SEP] 23, Mug, 0.811, 0.115, 0.398, 0, 270, 0, 55 [SEP] 24, Apple, 1.029, 0.961, -0.381, 0, 0, 0, 61 [SEP] 25, Apple, 0.783, 1.185, 1.063, 0, 270, 0, 83 [SEP] 26, Statue, 0.859, 0.914, -0.555, 0, 0, 0, 61 [SEP] 27, Glassbottle, -0.912, 0.179, 0.608, 0, 180, 0, 80 [SEP] 28, Bread, 1.029, 0.992, -0.034, 0, 0, 0, 61 [SEP] 29, CreditCard, 0.688, 0.908, -0.208, 0, 0, 0, 61 [SEP] 30, CellPhone, -0.550, 0.930, -0.067, 0, 0, 0, 60 [SEP] 31, Potato, -0.642, 0.807, -0.400, 0, 90, 0, 81 [SEP] 32, Knife, 1.114, 0.934, -0.381, 0, 270, 0, 61 [SEP] 33, Fork, -0.698, 0.934, -1.154, 0, 0, 0, 60 [SEP] 34, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 54 [SEP] 35, Lettuce, -0.550, 1.010, 0.086, 0, 0, 0, 60 [SEP] 36, Plate, 0.910, 0.111, -1.972, 0, 0, 0, 65 [SEP] 37, Apple, 1.199, 0.961, -0.208, 0, 0, 0, 61 [SEP] 38, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 56 [SEP] 39, Spatula, -0.642, 0.791, -0.573, 0, 0, 0, 81 [SEP] 40, PaperTowelRoll, -1.101, 0.283, 0.510, 0, 180, 0, 80 [SEP] 41, Tomato, -1.167, 0.974, -0.643, 0, 0, 0, 60 [SEP] 42, Egg, -0.920, 0.971, -1.231, 0, 0, 0, 60 [SEP] 43, SaltShaker, 0.773, 0.907, -1.879, 0, 0, 0, 66 [SEP] 44, PepperShaker, 0.956, 0.698, -0.648, 0, 270, 0, 58 [SEP] 45, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 86 [SEP] 46, ButterKnife, -1.229, 0.933, -0.118, 0, 0, 0, 60 [SEP] 47, SoapBottle, 1.194, 1.666, -2.029, 0, 270, 0, 59 [SEP] 48, Vase, -1.776, 0.882, 2.719, 0, 0, 0, 87 [SEP] 49, Bowl, 0.966, 0.866, 1.063, 0, 270, 0, 83 [SEP] 50, DishSponge, -0.550, 0.933, -1.231, 0, 0, 0, 60 [SEP] 51, Spoon, 0.773, 0.912, -0.729, 0, 0, 0, 61 [SEP] 52, Cup, 1.126, 1.792, -1.339, 0, 270, 0, 82 [SEP] 53, Mug, -0.808, 0.775, -0.659, 0, 180, 0, 81 [SEP] 54, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 55, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 56, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 57, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 58, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 59, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 60, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 61, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 62, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 63, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 64, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 65, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 66, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 67, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 68, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 69, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 70, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 71, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 72, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 73, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 74, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 75, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 76, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 77, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 78, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 79, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 80, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 81, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 82, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 83, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 84, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 85, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 86, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 87, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 88, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 89, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 90, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 91, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 92, NorthWall, , , , , , , [SEP] 93, EastWall, , , , , , , [SEP] 94, SouthWall, , , , , , , [SEP] 95, WestWall, , , , , , , ", "output": ["STEP 1: Move forward and face the kitchen sink on your left. | STEP 2: Pick up the potato that is in the sink. | STEP 3: Turn around to face the microwave that is above the stove behind you. | STEP 4: Place the potato between the two cups in the microwave and heat it before pulling it back out. | STEP 5: Turn left, walk until you reach the end of the kitchen island, then hang a left to face the trash bin. | STEP 6: Place the potato in the trash bin. | END"]} +{"id": "trial_T20190907_161817_163233-2", "input": "Microwave a potato and throw it away 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, -1.75, 0, 0, 0, [SEP] 1, Pan, 1.026, 1.640, 1.349, 0, 90, 0, 83 [SEP] 2, Statue, -1.355, 0.936, -1.167, 0, 0, 0, 60 [SEP] 3, CreditCard, -1.418, 0.930, -0.118, 0, 0, 0, 60 [SEP] 4, CreditCard, -1.469, 0.878, 2.665, 0, 0, 0, 87 [SEP] 5, CellPhone, 0.875, 0.492, -0.690, 0, 270, 0, 64 [SEP] 6, DishSponge, -1.467, 0.553, 2.615, 0, 0, 0, 86 [SEP] 7, DishSponge, 1.055, 1.665, -2.234, 0, 270, 0, 59 [SEP] 8, Glassbottle, -1.981, 0.882, 2.719, 0, 0, 0, 87 [SEP] 9, Fork, 0.794, 0.494, -0.565, 0, 180, 0, 64 [SEP] 10, Fork, -0.550, 0.934, -1.540, 0, 0, 0, 60 [SEP] 11, Spoon, 0.773, 0.912, -0.034, 0, 0, 0, 61 [SEP] 12, Spatula, -0.698, 0.948, 0.239, 0, 0, 0, 60 [SEP] 13, Knife, -0.697, 0.804, -0.832, 0, 90, 0, 81 [SEP] 14, Egg, 1.199, 0.949, -1.879, 0, 0, 0, 66 [SEP] 15, Cup, 1.126, 1.792, -1.132, 0, 270, 0, 82 [SEP] 16, Plate, 1.148, 1.669, -0.593, 0, 270, 0, 69 [SEP] 17, SoapBottle, -0.846, 0.933, -1.463, 0, 0, 0, 60 [SEP] 18, Bowl, -1.229, 0.936, 0.144, 0, 0, 0, 60 [SEP] 19, PepperShaker, 0.754, 0.699, -0.524, 0, 270, 0, 58 [SEP] 20, PepperShaker, 0.753, 0.150, -0.531, 0, 270, 0, 63 [SEP] 21, Bread, 0.966, 1.482, 1.349, 0, 270, 0, 83 [SEP] 22, Mug, 0.965, 0.858, 1.540, 0, 270, 0, 83 [SEP] 23, Mug, 0.811, 0.115, 0.398, 0, 270, 0, 55 [SEP] 24, Apple, 1.029, 0.961, -0.381, 0, 0, 0, 61 [SEP] 25, Apple, 0.783, 1.185, 1.063, 0, 270, 0, 83 [SEP] 26, Statue, 0.859, 0.914, -0.555, 0, 0, 0, 61 [SEP] 27, Glassbottle, -0.912, 0.179, 0.608, 0, 180, 0, 80 [SEP] 28, Bread, 1.029, 0.992, -0.034, 0, 0, 0, 61 [SEP] 29, CreditCard, 0.688, 0.908, -0.208, 0, 0, 0, 61 [SEP] 30, CellPhone, -0.550, 0.930, -0.067, 0, 0, 0, 60 [SEP] 31, Potato, -0.642, 0.807, -0.400, 0, 90, 0, 81 [SEP] 32, Knife, 1.114, 0.934, -0.381, 0, 270, 0, 61 [SEP] 33, Fork, -0.698, 0.934, -1.154, 0, 0, 0, 60 [SEP] 34, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 54 [SEP] 35, Lettuce, -0.550, 1.010, 0.086, 0, 0, 0, 60 [SEP] 36, Plate, 0.910, 0.111, -1.972, 0, 0, 0, 65 [SEP] 37, Apple, 1.199, 0.961, -0.208, 0, 0, 0, 61 [SEP] 38, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 56 [SEP] 39, Spatula, -0.642, 0.791, -0.573, 0, 0, 0, 81 [SEP] 40, PaperTowelRoll, -1.101, 0.283, 0.510, 0, 180, 0, 80 [SEP] 41, Tomato, -1.167, 0.974, -0.643, 0, 0, 0, 60 [SEP] 42, Egg, -0.920, 0.971, -1.231, 0, 0, 0, 60 [SEP] 43, SaltShaker, 0.773, 0.907, -1.879, 0, 0, 0, 66 [SEP] 44, PepperShaker, 0.956, 0.698, -0.648, 0, 270, 0, 58 [SEP] 45, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 86 [SEP] 46, ButterKnife, -1.229, 0.933, -0.118, 0, 0, 0, 60 [SEP] 47, SoapBottle, 1.194, 1.666, -2.029, 0, 270, 0, 59 [SEP] 48, Vase, -1.776, 0.882, 2.719, 0, 0, 0, 87 [SEP] 49, Bowl, 0.966, 0.866, 1.063, 0, 270, 0, 83 [SEP] 50, DishSponge, -0.550, 0.933, -1.231, 0, 0, 0, 60 [SEP] 51, Spoon, 0.773, 0.912, -0.729, 0, 0, 0, 61 [SEP] 52, Cup, 1.126, 1.792, -1.339, 0, 270, 0, 82 [SEP] 53, Mug, -0.808, 0.775, -0.659, 0, 180, 0, 81 [SEP] 54, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 55, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 56, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 57, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 58, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 59, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 60, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 61, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 62, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 63, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 64, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 65, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 66, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 67, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 68, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 69, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 70, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 71, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 72, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 73, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 74, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 75, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 76, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 77, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 78, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 79, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 80, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 81, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 82, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 83, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 84, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 85, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 86, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 87, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 88, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 89, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 90, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 91, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 92, NorthWall, , , , , , , [SEP] 93, EastWall, , , , , , , [SEP] 94, SouthWall, , , , , , , [SEP] 95, WestWall, , , , , , , ", "output": ["STEP 1: Walk forward and then turn left at the sink | STEP 2: Pick up a potato from in the sink | STEP 3: Turn to your left and then turn around to face the microwave | STEP 4: Cook the potato in the microwave for a few seconds and then pick it back up | STEP 5: Turn to your left, walk past the kitchen counter and then turn to face the trash can | STEP 6: Throw the potato in the trash can | END"]} +{"id": "trial_T20190910_160038_224287-0", "input": "To heat a tomato slice 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, -2.5, 0.900, 1.25, 0, 180, 0, [SEP] 1, Statue, -0.550, 0.936, -0.067, 0, 0, 0, 63 [SEP] 2, Vase, 1.082, 2.209, -1.626, 0, 270, 0, 70 [SEP] 3, Potato, -0.642, 0.811, -0.918, 0, 90, 0, 84 [SEP] 4, CreditCard, 0.688, 0.908, 0.313, 0, 0, 0, 64 [SEP] 5, CreditCard, 0.875, 0.700, -0.690, 0, 270, 0, 61 [SEP] 6, DishSponge, 0.753, 0.153, -0.729, 0, 270, 0, 66 [SEP] 7, DishSponge, -1.363, 0.553, 2.718, 0, 0, 0, 89 [SEP] 8, ButterKnife, -0.624, 0.933, 0.162, 0, 0, 0, 63 [SEP] 9, ButterKnife, 1.029, 0.911, -0.555, 0, 0, 0, 64 [SEP] 10, Glassbottle, -0.912, 0.177, 0.510, 0, 180, 0, 83 [SEP] 11, Glassbottle, 0.859, 0.912, -0.729, 0, 0, 0, 64 [SEP] 12, Fork, 1.114, 0.911, -0.729, 0, 180, 0, 64 [SEP] 13, Fork, -0.753, 0.780, -0.659, 0, 180, 0, 84 [SEP] 14, Spatula, -1.167, 0.948, 0.144, 0, 0, 0, 63 [SEP] 15, Knife, -0.772, 0.957, -1.463, 0, 90, 0, 63 [SEP] 16, Knife, -1.104, 0.957, -1.167, 0, 90, 0, 63 [SEP] 17, Plate, 1.169, 2.211, -1.299, 0, 270, 0, 70 [SEP] 18, Plate, 1.147, 1.669, 0.216, 0, 270, 0, 71 [SEP] 19, Tomato, -0.642, 0.821, -0.745, 0, 90, 0, 84 [SEP] 20, SoapBottle, 1.114, 0.911, -0.208, 0, 0, 0, 64 [SEP] 21, SaltShaker, 0.754, 0.491, -0.690, 0, 270, 0, 67 [SEP] 22, PepperShaker, 0.875, 0.491, -0.565, 0, 270, 0, 67 [SEP] 23, Lettuce, 0.944, 0.988, -0.381, 0, 0, 0, 64 [SEP] 24, Bread, -0.550, 1.014, -1.231, 0, 0, 0, 63 [SEP] 25, Bread, 1.026, 0.944, 1.063, 0, 270, 0, 86 [SEP] 26, Mug, -0.846, 0.928, -1.386, 0, 0, 0, 63 [SEP] 27, Apple, 1.199, 0.961, -0.381, 0, 0, 0, 64 [SEP] 28, Apple, -1.054, 0.229, 0.576, 0, 180, 0, 83 [SEP] 29, Statue, -1.292, 0.936, -0.643, 0, 0, 0, 63 [SEP] 30, Glassbottle, -0.912, 0.179, 0.641, 0, 180, 0, 83 [SEP] 31, Bread, 0.966, 1.482, 1.063, 0, 270, 0, 86 [SEP] 32, CreditCard, -1.778, 0.551, 2.770, 0, 0, 0, 89 [SEP] 33, CellPhone, 0.859, 0.908, -0.381, 0, 0, 0, 64 [SEP] 34, Potato, 1.028, 1.825, -1.339, 0, 270, 0, 85 [SEP] 35, Knife, 1.029, 0.934, -0.381, 0, 90, 0, 64 [SEP] 36, Fork, 0.773, 0.911, -1.879, 0, 0, 0, 69 [SEP] 37, Pan, 0.905, 1.640, 1.254, 0, 0, 0, 86 [SEP] 38, Lettuce, 0.905, 1.212, 1.444, 0, 270, 0, 86 [SEP] 39, Plate, 0.905, 0.866, 1.254, 0, 270, 0, 86 [SEP] 40, Apple, 1.026, 1.185, 0.967, 0, 270, 0, 86 [SEP] 41, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 59 [SEP] 42, Spatula, -0.808, 0.795, -0.573, 0, 180, 0, 84 [SEP] 43, PaperTowelRoll, 0.688, 1.015, -2.136, 0, 0, 0, 69 [SEP] 44, Tomato, 1.026, 0.903, 1.540, 0, 270, 0, 86 [SEP] 45, Egg, -0.753, 0.814, -0.400, 0, 90, 0, 84 [SEP] 46, SaltShaker, 1.148, 1.662, -0.657, 0, 270, 0, 72 [SEP] 47, PepperShaker, 0.754, 0.698, -0.607, 0, 270, 0, 61 [SEP] 48, Vase, 1.199, 0.911, 0.139, 0, 0, 0, 64 [SEP] 49, ButterKnife, -0.550, 0.933, -1.618, 0, 0, 0, 63 [SEP] 50, SoapBottle, 1.055, 1.666, -2.097, 0, 270, 0, 62 [SEP] 51, Vase, -1.355, 0.934, -0.380, 0, 0, 0, 63 [SEP] 52, Bowl, 0.844, 1.646, 1.540, 0, 270, 0, 86 [SEP] 53, DishSponge, 0.944, 0.910, -0.208, 0, 0, 0, 64 [SEP] 54, Spoon, 1.029, 0.912, 0.139, 0, 270, 0, 64 [SEP] 55, Cup, 1.148, 1.640, 0.967, 0, 270, 0, 86 [SEP] 56, Mug, 1.026, 1.129, 1.063, 0, 90, 0, 86 [SEP] 57, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 58, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 59, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 60, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 61, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 62, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 63, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 64, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 65, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 66, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 67, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 68, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 69, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 70, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 71, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 72, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 73, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 74, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 75, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 76, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 77, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 78, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 79, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 80, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 81, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 82, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 83, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 84, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 85, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 86, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 87, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 88, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 89, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 90, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 91, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 92, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 93, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 94, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 95, NorthWall, , , , , , , [SEP] 96, EastWall, , , , , , , [SEP] 97, SouthWall, , , , , , , [SEP] 98, WestWall, , , , , , , ", "output": ["STEP 1: Walk around the left of the counter and turn left to face the knife on the counter. | STEP 2: Pick up the knife on the counter. | STEP 3: Turn around to face the sink. | STEP 4: Cut the tomato in the sink into slices. | STEP 5: Place the knife in the sink. | STEP 6: Pick up a slice of tomato in the sink. | STEP 7: Turn around to face the microwave. | STEP 8: Heat the tomato slice in the microwave and remove it. | STEP 9: Turn around to face the sink. | STEP 10: Place the tomato slice in the sink. | END"]} +{"id": "trial_T20190910_160038_224287-1", "input": "Cut the tomato and warm it placing it back 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, 1.25, 0, 180, 0, [SEP] 1, Statue, -0.550, 0.936, -0.067, 0, 0, 0, 63 [SEP] 2, Vase, 1.082, 2.209, -1.626, 0, 270, 0, 70 [SEP] 3, Potato, -0.642, 0.811, -0.918, 0, 90, 0, 84 [SEP] 4, CreditCard, 0.688, 0.908, 0.313, 0, 0, 0, 64 [SEP] 5, CreditCard, 0.875, 0.700, -0.690, 0, 270, 0, 61 [SEP] 6, DishSponge, 0.753, 0.153, -0.729, 0, 270, 0, 66 [SEP] 7, DishSponge, -1.363, 0.553, 2.718, 0, 0, 0, 89 [SEP] 8, ButterKnife, -0.624, 0.933, 0.162, 0, 0, 0, 63 [SEP] 9, ButterKnife, 1.029, 0.911, -0.555, 0, 0, 0, 64 [SEP] 10, Glassbottle, -0.912, 0.177, 0.510, 0, 180, 0, 83 [SEP] 11, Glassbottle, 0.859, 0.912, -0.729, 0, 0, 0, 64 [SEP] 12, Fork, 1.114, 0.911, -0.729, 0, 180, 0, 64 [SEP] 13, Fork, -0.753, 0.780, -0.659, 0, 180, 0, 84 [SEP] 14, Spatula, -1.167, 0.948, 0.144, 0, 0, 0, 63 [SEP] 15, Knife, -0.772, 0.957, -1.463, 0, 90, 0, 63 [SEP] 16, Knife, -1.104, 0.957, -1.167, 0, 90, 0, 63 [SEP] 17, Plate, 1.169, 2.211, -1.299, 0, 270, 0, 70 [SEP] 18, Plate, 1.147, 1.669, 0.216, 0, 270, 0, 71 [SEP] 19, Tomato, -0.642, 0.821, -0.745, 0, 90, 0, 84 [SEP] 20, SoapBottle, 1.114, 0.911, -0.208, 0, 0, 0, 64 [SEP] 21, SaltShaker, 0.754, 0.491, -0.690, 0, 270, 0, 67 [SEP] 22, PepperShaker, 0.875, 0.491, -0.565, 0, 270, 0, 67 [SEP] 23, Lettuce, 0.944, 0.988, -0.381, 0, 0, 0, 64 [SEP] 24, Bread, -0.550, 1.014, -1.231, 0, 0, 0, 63 [SEP] 25, Bread, 1.026, 0.944, 1.063, 0, 270, 0, 86 [SEP] 26, Mug, -0.846, 0.928, -1.386, 0, 0, 0, 63 [SEP] 27, Apple, 1.199, 0.961, -0.381, 0, 0, 0, 64 [SEP] 28, Apple, -1.054, 0.229, 0.576, 0, 180, 0, 83 [SEP] 29, Statue, -1.292, 0.936, -0.643, 0, 0, 0, 63 [SEP] 30, Glassbottle, -0.912, 0.179, 0.641, 0, 180, 0, 83 [SEP] 31, Bread, 0.966, 1.482, 1.063, 0, 270, 0, 86 [SEP] 32, CreditCard, -1.778, 0.551, 2.770, 0, 0, 0, 89 [SEP] 33, CellPhone, 0.859, 0.908, -0.381, 0, 0, 0, 64 [SEP] 34, Potato, 1.028, 1.825, -1.339, 0, 270, 0, 85 [SEP] 35, Knife, 1.029, 0.934, -0.381, 0, 90, 0, 64 [SEP] 36, Fork, 0.773, 0.911, -1.879, 0, 0, 0, 69 [SEP] 37, Pan, 0.905, 1.640, 1.254, 0, 0, 0, 86 [SEP] 38, Lettuce, 0.905, 1.212, 1.444, 0, 270, 0, 86 [SEP] 39, Plate, 0.905, 0.866, 1.254, 0, 270, 0, 86 [SEP] 40, Apple, 1.026, 1.185, 0.967, 0, 270, 0, 86 [SEP] 41, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 59 [SEP] 42, Spatula, -0.808, 0.795, -0.573, 0, 180, 0, 84 [SEP] 43, PaperTowelRoll, 0.688, 1.015, -2.136, 0, 0, 0, 69 [SEP] 44, Tomato, 1.026, 0.903, 1.540, 0, 270, 0, 86 [SEP] 45, Egg, -0.753, 0.814, -0.400, 0, 90, 0, 84 [SEP] 46, SaltShaker, 1.148, 1.662, -0.657, 0, 270, 0, 72 [SEP] 47, PepperShaker, 0.754, 0.698, -0.607, 0, 270, 0, 61 [SEP] 48, Vase, 1.199, 0.911, 0.139, 0, 0, 0, 64 [SEP] 49, ButterKnife, -0.550, 0.933, -1.618, 0, 0, 0, 63 [SEP] 50, SoapBottle, 1.055, 1.666, -2.097, 0, 270, 0, 62 [SEP] 51, Vase, -1.355, 0.934, -0.380, 0, 0, 0, 63 [SEP] 52, Bowl, 0.844, 1.646, 1.540, 0, 270, 0, 86 [SEP] 53, DishSponge, 0.944, 0.910, -0.208, 0, 0, 0, 64 [SEP] 54, Spoon, 1.029, 0.912, 0.139, 0, 270, 0, 64 [SEP] 55, Cup, 1.148, 1.640, 0.967, 0, 270, 0, 86 [SEP] 56, Mug, 1.026, 1.129, 1.063, 0, 90, 0, 86 [SEP] 57, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 58, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 59, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 60, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 61, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 62, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 63, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 64, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 65, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 66, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 67, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 68, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 69, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 70, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 71, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 72, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 73, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 74, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 75, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 76, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 77, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 78, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 79, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 80, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 81, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 82, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 83, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 84, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 85, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 86, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 87, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 88, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 89, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 90, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 91, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 92, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 93, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 94, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 95, NorthWall, , , , , , , [SEP] 96, EastWall, , , , , , , [SEP] 97, SouthWall, , , , , , , [SEP] 98, WestWall, , , , , , , ", "output": ["STEP 1: turn left and then turn right at the fridge going just pass it to the counter on the left | STEP 2: pick up the knife on the counter | STEP 3: turn left and then right crossing over to the sink | STEP 4: cut a slice out of the tomato | STEP 5: place knife in the sink and pick up tomato slice | STEP 6: turn around and go to the microwave over the stove | STEP 7: place tomato in the microwave | STEP 8: close the door and turn on for several seconds and then take it out and close the door | STEP 9: turn around and go back to the sink | STEP 10: place the tomato in the sink | END"]} +{"id": "trial_T20190910_160038_224287-2", "input": "Put a warm tomato 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, -2.5, 0.900, 1.25, 0, 180, 0, [SEP] 1, Statue, -0.550, 0.936, -0.067, 0, 0, 0, 63 [SEP] 2, Vase, 1.082, 2.209, -1.626, 0, 270, 0, 70 [SEP] 3, Potato, -0.642, 0.811, -0.918, 0, 90, 0, 84 [SEP] 4, CreditCard, 0.688, 0.908, 0.313, 0, 0, 0, 64 [SEP] 5, CreditCard, 0.875, 0.700, -0.690, 0, 270, 0, 61 [SEP] 6, DishSponge, 0.753, 0.153, -0.729, 0, 270, 0, 66 [SEP] 7, DishSponge, -1.363, 0.553, 2.718, 0, 0, 0, 89 [SEP] 8, ButterKnife, -0.624, 0.933, 0.162, 0, 0, 0, 63 [SEP] 9, ButterKnife, 1.029, 0.911, -0.555, 0, 0, 0, 64 [SEP] 10, Glassbottle, -0.912, 0.177, 0.510, 0, 180, 0, 83 [SEP] 11, Glassbottle, 0.859, 0.912, -0.729, 0, 0, 0, 64 [SEP] 12, Fork, 1.114, 0.911, -0.729, 0, 180, 0, 64 [SEP] 13, Fork, -0.753, 0.780, -0.659, 0, 180, 0, 84 [SEP] 14, Spatula, -1.167, 0.948, 0.144, 0, 0, 0, 63 [SEP] 15, Knife, -0.772, 0.957, -1.463, 0, 90, 0, 63 [SEP] 16, Knife, -1.104, 0.957, -1.167, 0, 90, 0, 63 [SEP] 17, Plate, 1.169, 2.211, -1.299, 0, 270, 0, 70 [SEP] 18, Plate, 1.147, 1.669, 0.216, 0, 270, 0, 71 [SEP] 19, Tomato, -0.642, 0.821, -0.745, 0, 90, 0, 84 [SEP] 20, SoapBottle, 1.114, 0.911, -0.208, 0, 0, 0, 64 [SEP] 21, SaltShaker, 0.754, 0.491, -0.690, 0, 270, 0, 67 [SEP] 22, PepperShaker, 0.875, 0.491, -0.565, 0, 270, 0, 67 [SEP] 23, Lettuce, 0.944, 0.988, -0.381, 0, 0, 0, 64 [SEP] 24, Bread, -0.550, 1.014, -1.231, 0, 0, 0, 63 [SEP] 25, Bread, 1.026, 0.944, 1.063, 0, 270, 0, 86 [SEP] 26, Mug, -0.846, 0.928, -1.386, 0, 0, 0, 63 [SEP] 27, Apple, 1.199, 0.961, -0.381, 0, 0, 0, 64 [SEP] 28, Apple, -1.054, 0.229, 0.576, 0, 180, 0, 83 [SEP] 29, Statue, -1.292, 0.936, -0.643, 0, 0, 0, 63 [SEP] 30, Glassbottle, -0.912, 0.179, 0.641, 0, 180, 0, 83 [SEP] 31, Bread, 0.966, 1.482, 1.063, 0, 270, 0, 86 [SEP] 32, CreditCard, -1.778, 0.551, 2.770, 0, 0, 0, 89 [SEP] 33, CellPhone, 0.859, 0.908, -0.381, 0, 0, 0, 64 [SEP] 34, Potato, 1.028, 1.825, -1.339, 0, 270, 0, 85 [SEP] 35, Knife, 1.029, 0.934, -0.381, 0, 90, 0, 64 [SEP] 36, Fork, 0.773, 0.911, -1.879, 0, 0, 0, 69 [SEP] 37, Pan, 0.905, 1.640, 1.254, 0, 0, 0, 86 [SEP] 38, Lettuce, 0.905, 1.212, 1.444, 0, 270, 0, 86 [SEP] 39, Plate, 0.905, 0.866, 1.254, 0, 270, 0, 86 [SEP] 40, Apple, 1.026, 1.185, 0.967, 0, 270, 0, 86 [SEP] 41, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 59 [SEP] 42, Spatula, -0.808, 0.795, -0.573, 0, 180, 0, 84 [SEP] 43, PaperTowelRoll, 0.688, 1.015, -2.136, 0, 0, 0, 69 [SEP] 44, Tomato, 1.026, 0.903, 1.540, 0, 270, 0, 86 [SEP] 45, Egg, -0.753, 0.814, -0.400, 0, 90, 0, 84 [SEP] 46, SaltShaker, 1.148, 1.662, -0.657, 0, 270, 0, 72 [SEP] 47, PepperShaker, 0.754, 0.698, -0.607, 0, 270, 0, 61 [SEP] 48, Vase, 1.199, 0.911, 0.139, 0, 0, 0, 64 [SEP] 49, ButterKnife, -0.550, 0.933, -1.618, 0, 0, 0, 63 [SEP] 50, SoapBottle, 1.055, 1.666, -2.097, 0, 270, 0, 62 [SEP] 51, Vase, -1.355, 0.934, -0.380, 0, 0, 0, 63 [SEP] 52, Bowl, 0.844, 1.646, 1.540, 0, 270, 0, 86 [SEP] 53, DishSponge, 0.944, 0.910, -0.208, 0, 0, 0, 64 [SEP] 54, Spoon, 1.029, 0.912, 0.139, 0, 270, 0, 64 [SEP] 55, Cup, 1.148, 1.640, 0.967, 0, 270, 0, 86 [SEP] 56, Mug, 1.026, 1.129, 1.063, 0, 90, 0, 86 [SEP] 57, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 58, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 59, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 60, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 61, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 62, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 63, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 64, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 65, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 66, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 67, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 68, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 69, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 70, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 71, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 72, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 73, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 74, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 75, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 76, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 77, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 78, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 79, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 80, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 81, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 82, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 83, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 84, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 85, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 86, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 87, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 88, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 89, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 90, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 91, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 92, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 93, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 94, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 95, NorthWall, , , , , , , [SEP] 96, EastWall, , , , , , , [SEP] 97, SouthWall, , , , , , , [SEP] 98, WestWall, , , , , , , ", "output": ["STEP 1: Turn to your left, go to the refrigerator, then turn right and go to the first counter on your left. | STEP 2: Pick up the knife on the back of the counter, behind the lettuce. | STEP 3: Turn around and go to the sink. | STEP 4: Cut the tomato in the sink into slices. | STEP 5: Place the knife in the sink. | STEP 6: Pick up one of the tomato slices. | STEP 7: Turn around and go to the microwave above the stove. | STEP 8: Place the tomato slice in the microwave, heat it up, then remove the tomato slice from the microwave. | STEP 9: Turn back around to the sink. | STEP 10: Place the tomato slice in the sink. | END"]} +{"id": "trial_T20190909_121559_082363-0", "input": "Put a cold coffee up in the bottom 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, 0.900, 1.25, 0, 270, 0, [SEP] 1, Vase, -0.772, 0.934, -1.463, 0, 0, 0, 56 [SEP] 2, CreditCard, 0.834, 0.491, -0.731, 0, 270, 0, 60 [SEP] 3, CreditCard, -1.674, 0.551, 2.563, 0, 0, 0, 82 [SEP] 4, CellPhone, -1.881, 0.550, 2.822, 0, 0, 0, 82 [SEP] 5, DishSponge, -0.697, 0.780, -0.832, 0, 90, 0, 77 [SEP] 6, ButterKnife, -0.550, 0.933, -0.143, 0, 0, 0, 56 [SEP] 7, Glassbottle, -1.363, 0.554, 2.718, 0, 0, 0, 82 [SEP] 8, Spoon, -1.355, 0.934, -1.167, 0, 0, 0, 56 [SEP] 9, Spoon, -0.846, 0.934, -1.154, 0, 0, 0, 77 [SEP] 10, Egg, 0.844, 1.680, 1.349, 0, 270, 0, 79 [SEP] 11, Cup, -0.624, 0.930, -1.154, 0, 0, 0, 56 [SEP] 12, Plate, -0.642, 0.783, -0.659, 0, 90, 0, 77 [SEP] 13, Tomato, 0.688, 0.952, -1.965, 0, 0, 0, 62 [SEP] 14, Tomato, 0.944, 0.952, -1.793, 0, 0, 0, 62 [SEP] 15, SoapBottle, 0.859, 0.911, -0.729, 0, 0, 0, 57 [SEP] 16, SoapBottle, -0.550, 0.933, 0.162, 0, 0, 0, 56 [SEP] 17, Lettuce, 0.905, 0.940, 1.349, 0, 270, 0, 79 [SEP] 18, Lettuce, 0.773, 0.988, 0.139, 0, 0, 0, 57 [SEP] 19, Bread, 0.966, 1.216, 1.349, 0, 270, 0, 79 [SEP] 20, Mug, 1.101, 1.661, 0.280, 0, 270, 0, 64 [SEP] 21, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 75 [SEP] 22, Statue, -0.772, 0.936, 0.239, 0, 0, 0, 56 [SEP] 23, Glassbottle, 0.964, 0.121, 0.349, 0, 270, 0, 51 [SEP] 24, Bread, 1.029, 0.992, -0.208, 0, 0, 0, 57 [SEP] 25, CreditCard, -1.571, 0.878, 2.746, 0, 0, 0, 83 [SEP] 26, CellPhone, -0.920, 0.930, -1.231, 0, 0, 0, 56 [SEP] 27, Potato, -0.808, 0.811, -0.659, 0, 90, 0, 77 [SEP] 28, Knife, -1.229, 0.957, 0.144, 0, 0, 0, 56 [SEP] 29, Fork, -1.290, 0.921, -1.287, 0, 0, 0, 56 [SEP] 30, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 50 [SEP] 31, Lettuce, 0.688, 0.988, -0.381, 0, 0, 0, 57 [SEP] 32, Plate, 1.148, 1.669, -1.961, 0, 270, 0, 55 [SEP] 33, Apple, 1.093, 1.833, -1.236, 0, 270, 0, 78 [SEP] 34, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 52 [SEP] 35, Spatula, 0.915, 0.717, -0.731, 0, 0, 0, 54 [SEP] 36, PaperTowelRoll, -0.818, 0.281, 0.608, 0, 270, 0, 76 [SEP] 37, Tomato, -1.054, 0.217, 0.543, 0, 180, 0, 76 [SEP] 38, Egg, -0.920, 0.971, -1.308, 0, 0, 0, 56 [SEP] 39, SaltShaker, 0.793, 0.150, -0.690, 0, 270, 0, 59 [SEP] 40, PepperShaker, 0.996, 2.204, -1.191, 0, 270, 0, 63 [SEP] 41, Vase, 1.082, 2.207, -1.517, 0, 270, 0, 63 [SEP] 42, ButterKnife, -1.325, 0.919, -0.884, 0, 10.678, 0, 56 [SEP] 43, SoapBottle, 1.169, 2.208, -1.299, 0, 270, 0, 63 [SEP] 44, Vase, 1.148, 1.667, -0.401, 0, 270, 0, 65 [SEP] 45, Bowl, 0.844, 1.405, 1.444, 0, 270, 0, 79 [SEP] 46, DishSponge, 0.754, 0.494, -0.565, 0, 270, 0, 60 [SEP] 47, Spoon, -0.772, 0.934, -1.618, 0, 0, 0, 56 [SEP] 48, Cup, -0.808, 0.777, -0.573, 0, 90, 0, 77 [SEP] 49, Mug, 1.199, 0.906, 0.313, 0, 180, 0, 57 [SEP] 50, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 51, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 52, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 53, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 54, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 55, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 56, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 57, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 58, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 59, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 60, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 61, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 62, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 63, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 64, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 65, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 66, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 67, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 68, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 69, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 70, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 71, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 72, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 73, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 74, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 75, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 76, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 77, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 78, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 79, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 80, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 81, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 82, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 83, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 84, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 85, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 86, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 87, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 88, NorthWall, , , , , , , [SEP] 89, EastWall, , , , , , , [SEP] 90, SouthWall, , , , , , , [SEP] 91, WestWall, , , , , , , ", "output": ["STEP 1: Turn left for one step, turn left again and walk to the refrigerator, turn right for three steps and turn left to face the counter and look up at the cabinets. | STEP 2: Open both doors on the left cabinet, take the coffee mug out of the cabinet and then shut the doors. | STEP 3: Bring the coffee mug down then turn around for one step, turn right for four steps and turn right to face the refrigerator. | STEP 4: Open the refrigerator and put the coffee mug on the second shelf, near the front edge a few inches off center to the right. and shut the door, wait a few seconds then open the fridge, take the cup out and shut the door. | STEP 5: Turn around for one step, turn left for two steps then turn left and stop. | STEP 6: Open the bottom cabinet to the right of the refrigerator and then put the cup in toward the front and shut the cabinet door. | END"]} +{"id": "trial_T20190909_121559_082363-1", "input": "Chill a cup and place it in the lower 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, 0.900, 1.25, 0, 270, 0, [SEP] 1, Vase, -0.772, 0.934, -1.463, 0, 0, 0, 56 [SEP] 2, CreditCard, 0.834, 0.491, -0.731, 0, 270, 0, 60 [SEP] 3, CreditCard, -1.674, 0.551, 2.563, 0, 0, 0, 82 [SEP] 4, CellPhone, -1.881, 0.550, 2.822, 0, 0, 0, 82 [SEP] 5, DishSponge, -0.697, 0.780, -0.832, 0, 90, 0, 77 [SEP] 6, ButterKnife, -0.550, 0.933, -0.143, 0, 0, 0, 56 [SEP] 7, Glassbottle, -1.363, 0.554, 2.718, 0, 0, 0, 82 [SEP] 8, Spoon, -1.355, 0.934, -1.167, 0, 0, 0, 56 [SEP] 9, Spoon, -0.846, 0.934, -1.154, 0, 0, 0, 77 [SEP] 10, Egg, 0.844, 1.680, 1.349, 0, 270, 0, 79 [SEP] 11, Cup, -0.624, 0.930, -1.154, 0, 0, 0, 56 [SEP] 12, Plate, -0.642, 0.783, -0.659, 0, 90, 0, 77 [SEP] 13, Tomato, 0.688, 0.952, -1.965, 0, 0, 0, 62 [SEP] 14, Tomato, 0.944, 0.952, -1.793, 0, 0, 0, 62 [SEP] 15, SoapBottle, 0.859, 0.911, -0.729, 0, 0, 0, 57 [SEP] 16, SoapBottle, -0.550, 0.933, 0.162, 0, 0, 0, 56 [SEP] 17, Lettuce, 0.905, 0.940, 1.349, 0, 270, 0, 79 [SEP] 18, Lettuce, 0.773, 0.988, 0.139, 0, 0, 0, 57 [SEP] 19, Bread, 0.966, 1.216, 1.349, 0, 270, 0, 79 [SEP] 20, Mug, 1.101, 1.661, 0.280, 0, 270, 0, 64 [SEP] 21, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 75 [SEP] 22, Statue, -0.772, 0.936, 0.239, 0, 0, 0, 56 [SEP] 23, Glassbottle, 0.964, 0.121, 0.349, 0, 270, 0, 51 [SEP] 24, Bread, 1.029, 0.992, -0.208, 0, 0, 0, 57 [SEP] 25, CreditCard, -1.571, 0.878, 2.746, 0, 0, 0, 83 [SEP] 26, CellPhone, -0.920, 0.930, -1.231, 0, 0, 0, 56 [SEP] 27, Potato, -0.808, 0.811, -0.659, 0, 90, 0, 77 [SEP] 28, Knife, -1.229, 0.957, 0.144, 0, 0, 0, 56 [SEP] 29, Fork, -1.290, 0.921, -1.287, 0, 0, 0, 56 [SEP] 30, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 50 [SEP] 31, Lettuce, 0.688, 0.988, -0.381, 0, 0, 0, 57 [SEP] 32, Plate, 1.148, 1.669, -1.961, 0, 270, 0, 55 [SEP] 33, Apple, 1.093, 1.833, -1.236, 0, 270, 0, 78 [SEP] 34, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 52 [SEP] 35, Spatula, 0.915, 0.717, -0.731, 0, 0, 0, 54 [SEP] 36, PaperTowelRoll, -0.818, 0.281, 0.608, 0, 270, 0, 76 [SEP] 37, Tomato, -1.054, 0.217, 0.543, 0, 180, 0, 76 [SEP] 38, Egg, -0.920, 0.971, -1.308, 0, 0, 0, 56 [SEP] 39, SaltShaker, 0.793, 0.150, -0.690, 0, 270, 0, 59 [SEP] 40, PepperShaker, 0.996, 2.204, -1.191, 0, 270, 0, 63 [SEP] 41, Vase, 1.082, 2.207, -1.517, 0, 270, 0, 63 [SEP] 42, ButterKnife, -1.325, 0.919, -0.884, 0, 10.678, 0, 56 [SEP] 43, SoapBottle, 1.169, 2.208, -1.299, 0, 270, 0, 63 [SEP] 44, Vase, 1.148, 1.667, -0.401, 0, 270, 0, 65 [SEP] 45, Bowl, 0.844, 1.405, 1.444, 0, 270, 0, 79 [SEP] 46, DishSponge, 0.754, 0.494, -0.565, 0, 270, 0, 60 [SEP] 47, Spoon, -0.772, 0.934, -1.618, 0, 0, 0, 56 [SEP] 48, Cup, -0.808, 0.777, -0.573, 0, 90, 0, 77 [SEP] 49, Mug, 1.199, 0.906, 0.313, 0, 180, 0, 57 [SEP] 50, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 51, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 52, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 53, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 54, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 55, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 56, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 57, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 58, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 59, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 60, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 61, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 62, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 63, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 64, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 65, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 66, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 67, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 68, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 69, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 70, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 71, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 72, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 73, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 74, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 75, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 76, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 77, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 78, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 79, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 80, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 81, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 82, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 83, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 84, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 85, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 86, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 87, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 88, NorthWall, , , , , , , [SEP] 89, EastWall, , , , , , , [SEP] 90, SouthWall, , , , , , , [SEP] 91, WestWall, , , , , , , ", "output": ["STEP 1: Move to the right of the refrigerator to the counter | STEP 2: Open the cupboard door above and take out the cup in the cupboard | STEP 3: close the cupboard door, turn to the right, and carry the cup to the refrigerator | STEP 4: Open the refrigerator door, place the cup inside the refrigerator on the shelf, close the refrigerator door, wait, open the refrigerator door, and take out the cup | STEP 5: Turn to the right of the refrigerator and open the lower cupboard door | STEP 6: Put the cup in the lower cupboard and close the door | END"]} +{"id": "trial_T20190909_121559_082363-2", "input": "Chill a cup 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, 0.900, 1.25, 0, 270, 0, [SEP] 1, Vase, -0.772, 0.934, -1.463, 0, 0, 0, 56 [SEP] 2, CreditCard, 0.834, 0.491, -0.731, 0, 270, 0, 60 [SEP] 3, CreditCard, -1.674, 0.551, 2.563, 0, 0, 0, 82 [SEP] 4, CellPhone, -1.881, 0.550, 2.822, 0, 0, 0, 82 [SEP] 5, DishSponge, -0.697, 0.780, -0.832, 0, 90, 0, 77 [SEP] 6, ButterKnife, -0.550, 0.933, -0.143, 0, 0, 0, 56 [SEP] 7, Glassbottle, -1.363, 0.554, 2.718, 0, 0, 0, 82 [SEP] 8, Spoon, -1.355, 0.934, -1.167, 0, 0, 0, 56 [SEP] 9, Spoon, -0.846, 0.934, -1.154, 0, 0, 0, 77 [SEP] 10, Egg, 0.844, 1.680, 1.349, 0, 270, 0, 79 [SEP] 11, Cup, -0.624, 0.930, -1.154, 0, 0, 0, 56 [SEP] 12, Plate, -0.642, 0.783, -0.659, 0, 90, 0, 77 [SEP] 13, Tomato, 0.688, 0.952, -1.965, 0, 0, 0, 62 [SEP] 14, Tomato, 0.944, 0.952, -1.793, 0, 0, 0, 62 [SEP] 15, SoapBottle, 0.859, 0.911, -0.729, 0, 0, 0, 57 [SEP] 16, SoapBottle, -0.550, 0.933, 0.162, 0, 0, 0, 56 [SEP] 17, Lettuce, 0.905, 0.940, 1.349, 0, 270, 0, 79 [SEP] 18, Lettuce, 0.773, 0.988, 0.139, 0, 0, 0, 57 [SEP] 19, Bread, 0.966, 1.216, 1.349, 0, 270, 0, 79 [SEP] 20, Mug, 1.101, 1.661, 0.280, 0, 270, 0, 64 [SEP] 21, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 75 [SEP] 22, Statue, -0.772, 0.936, 0.239, 0, 0, 0, 56 [SEP] 23, Glassbottle, 0.964, 0.121, 0.349, 0, 270, 0, 51 [SEP] 24, Bread, 1.029, 0.992, -0.208, 0, 0, 0, 57 [SEP] 25, CreditCard, -1.571, 0.878, 2.746, 0, 0, 0, 83 [SEP] 26, CellPhone, -0.920, 0.930, -1.231, 0, 0, 0, 56 [SEP] 27, Potato, -0.808, 0.811, -0.659, 0, 90, 0, 77 [SEP] 28, Knife, -1.229, 0.957, 0.144, 0, 0, 0, 56 [SEP] 29, Fork, -1.290, 0.921, -1.287, 0, 0, 0, 56 [SEP] 30, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 50 [SEP] 31, Lettuce, 0.688, 0.988, -0.381, 0, 0, 0, 57 [SEP] 32, Plate, 1.148, 1.669, -1.961, 0, 270, 0, 55 [SEP] 33, Apple, 1.093, 1.833, -1.236, 0, 270, 0, 78 [SEP] 34, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 52 [SEP] 35, Spatula, 0.915, 0.717, -0.731, 0, 0, 0, 54 [SEP] 36, PaperTowelRoll, -0.818, 0.281, 0.608, 0, 270, 0, 76 [SEP] 37, Tomato, -1.054, 0.217, 0.543, 0, 180, 0, 76 [SEP] 38, Egg, -0.920, 0.971, -1.308, 0, 0, 0, 56 [SEP] 39, SaltShaker, 0.793, 0.150, -0.690, 0, 270, 0, 59 [SEP] 40, PepperShaker, 0.996, 2.204, -1.191, 0, 270, 0, 63 [SEP] 41, Vase, 1.082, 2.207, -1.517, 0, 270, 0, 63 [SEP] 42, ButterKnife, -1.325, 0.919, -0.884, 0, 10.678, 0, 56 [SEP] 43, SoapBottle, 1.169, 2.208, -1.299, 0, 270, 0, 63 [SEP] 44, Vase, 1.148, 1.667, -0.401, 0, 270, 0, 65 [SEP] 45, Bowl, 0.844, 1.405, 1.444, 0, 270, 0, 79 [SEP] 46, DishSponge, 0.754, 0.494, -0.565, 0, 270, 0, 60 [SEP] 47, Spoon, -0.772, 0.934, -1.618, 0, 0, 0, 56 [SEP] 48, Cup, -0.808, 0.777, -0.573, 0, 90, 0, 77 [SEP] 49, Mug, 1.199, 0.906, 0.313, 0, 180, 0, 57 [SEP] 50, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 51, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 52, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 53, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 54, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 55, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 56, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 57, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 58, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 59, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 60, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 61, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 62, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 63, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 64, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 65, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 66, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 67, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 68, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 69, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 70, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 71, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 72, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 73, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 74, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 75, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 76, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 77, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 78, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 79, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 80, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 81, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 82, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 83, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 84, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 85, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 86, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 87, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 88, NorthWall, , , , , , , [SEP] 89, EastWall, , , , , , , [SEP] 90, SouthWall, , , , , , , [SEP] 91, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and then left. Turn right to move past the island, but turn left to face the counter. | STEP 2: Open the top cabinet and remove the cup. Shut the door. | STEP 3: Hold the cup and look down, then turn to the left and face the fridge. | STEP 4: Open the fridge and place the cup inside. Shut the door. Open the door and take the cup out. Shut the door. | STEP 5: Hold the cup and take a few steps to the right. | STEP 6: Open the bottom cabinet and place the cup inside. Shut the cabinet. | END"]} +{"id": "trial_T20190908_145050_918567-0", "input": "place a microwaved apple inside the garbage 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, 0.75, 0, 270, 0, [SEP] 1, Statue, -1.571, 0.884, 2.719, 0, 0, 0, 61 [SEP] 2, Potato, 1.087, 1.432, 1.540, 0, 270, 0, 84 [SEP] 3, Potato, 1.114, 0.941, -0.381, 0, 0, 0, 62 [SEP] 4, CreditCard, -0.624, 0.930, -1.231, 0, 0, 0, 61 [SEP] 5, CreditCard, 0.944, 0.908, -1.793, 0, 0, 0, 67 [SEP] 6, CellPhone, -1.467, 0.550, 2.718, 0, 0, 0, 87 [SEP] 7, CellPhone, 0.859, 0.908, -1.879, 0, 0, 0, 67 [SEP] 8, DishSponge, 0.910, 0.107, -1.812, 0, 0, 0, 66 [SEP] 9, ButterKnife, 0.859, 0.911, -0.381, 0, 0, 0, 62 [SEP] 10, Glassbottle, 1.239, 1.667, -0.038, 0, 270, 0, 69 [SEP] 11, Fork, -1.292, 0.934, 0.144, 0, 0, 0, 61 [SEP] 12, Spoon, -0.642, 0.777, -0.745, 0, 0, 0, 82 [SEP] 13, Knife, 0.859, 0.934, -0.034, 0, 0, 0, 62 [SEP] 14, Knife, -0.698, 0.957, -1.618, 0, 0, 0, 61 [SEP] 15, Egg, -0.753, 0.814, -0.918, 0, 90, 0, 82 [SEP] 16, Egg, 1.126, 1.821, -1.236, 0, 270, 0, 83 [SEP] 17, Cup, 1.240, 1.663, -0.401, 0, 270, 0, 70 [SEP] 18, Plate, 1.193, 1.669, 0.216, 0, 270, 0, 69 [SEP] 19, Plate, 1.126, 2.211, -1.408, 0, 270, 0, 68 [SEP] 20, Bowl, 0.773, 0.914, -0.381, 0, 0, 0, 62 [SEP] 21, Bowl, 0.966, 1.405, 1.158, 0, 270, 0, 84 [SEP] 22, PepperShaker, -1.467, 0.550, 2.563, 0, 0, 0, 87 [SEP] 23, Bread, 1.114, 0.992, -0.208, 0, 0, 0, 62 [SEP] 24, Apple, -0.912, 0.229, 0.543, 0, 180, 0, 81 [SEP] 25, Apple, -0.477, 0.983, 0.086, 0, 0, 0, 61 [SEP] 26, Apple, -1.007, 0.227, 0.576, 0, 180, 0, 81 [SEP] 27, Statue, 0.773, 0.914, -0.729, 0, 180, 0, 62 [SEP] 28, Glassbottle, -0.477, 0.934, -1.308, 0, 0, 0, 61 [SEP] 29, Bread, 0.966, 0.944, 1.349, 0, 270, 0, 84 [SEP] 30, CreditCard, -0.698, 0.930, 0.086, 0, 0, 0, 61 [SEP] 31, CellPhone, -1.229, 0.930, -0.118, 0, 0, 0, 61 [SEP] 32, Potato, 0.905, 1.673, 1.444, 0, 270, 0, 84 [SEP] 33, Knife, -0.624, 0.957, 0.009, 0, 90, 0, 61 [SEP] 34, Fork, 0.875, 0.495, -0.524, 0, 0, 0, 65 [SEP] 35, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 55 [SEP] 36, Lettuce, 0.966, 1.479, 1.349, 0, 270, 0, 84 [SEP] 37, Plate, 1.101, 1.669, -2.166, 0, 270, 0, 60 [SEP] 38, Apple, 0.688, 0.961, -1.793, 0, 0, 0, 67 [SEP] 39, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 57 [SEP] 40, Spatula, 1.199, 0.926, 0.313, 0, 270, 0, 62 [SEP] 41, PaperTowelRoll, -0.818, 0.283, 0.575, 0, 270, 0, 81 [SEP] 42, Tomato, 0.688, 0.952, -1.965, 0, 0, 0, 67 [SEP] 43, Egg, 0.966, 0.900, 1.158, 0, 270, 0, 84 [SEP] 44, SaltShaker, 1.082, 2.204, -0.973, 0, 270, 0, 68 [SEP] 45, PepperShaker, 0.964, 0.117, 0.325, 0, 270, 0, 62 [SEP] 46, Vase, 1.212, 2.207, -1.082, 0, 270, 0, 68 [SEP] 47, ButterKnife, -0.624, 0.933, -1.540, 0, 0, 0, 61 [SEP] 48, SoapBottle, 1.082, 2.208, -1.626, 0, 270, 0, 68 [SEP] 49, Vase, -1.881, 0.555, 2.822, 0, 0, 0, 87 [SEP] 50, Bowl, -0.624, 0.936, -1.308, 0, 0, 0, 61 [SEP] 51, DishSponge, -0.808, 0.780, -0.659, 0, 90, 0, 82 [SEP] 52, Spoon, 0.793, 0.154, -0.611, 0, 270, 0, 64 [SEP] 53, Cup, 1.087, 1.399, 1.063, 0, 270, 0, 84 [SEP] 54, Mug, -0.642, 0.775, -0.659, 0, 90, 0, 82 [SEP] 55, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 56, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 57, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 58, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 59, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 60, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 61, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 62, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 63, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 64, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 65, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 66, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 67, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 68, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 69, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 70, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 71, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 72, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 73, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 74, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 75, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 76, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 77, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 78, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 79, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 80, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 81, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 82, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 83, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 84, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 85, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 86, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 87, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 88, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 89, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 90, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 91, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 92, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 93, NorthWall, , , , , , , [SEP] 94, EastWall, , , , , , , [SEP] 95, SouthWall, , , , , , , [SEP] 96, WestWall, , , , , , , ", "output": ["STEP 1: walk forwards a bit to the garbage bin on your left | STEP 2: grab the apple out of the garbage bin | STEP 3: turn left and walk over to the kitchen stove at the near end of the right side of the room, then look up at the microwave above the stove | STEP 4: place the apple inside of the microwave, cook it, then take it back out | STEP 5: turn left and walk over to the fridge on the right side of the room, but then turn left to walk over to the garbage bin again up ahead on the floor | STEP 6: place the apple inside of the garbage bin | END"]} +{"id": "trial_T20190908_145050_918567-1", "input": "Put a cooked 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, -0.25, 0.900, 0.75, 0, 270, 0, [SEP] 1, Statue, -1.571, 0.884, 2.719, 0, 0, 0, 61 [SEP] 2, Potato, 1.087, 1.432, 1.540, 0, 270, 0, 84 [SEP] 3, Potato, 1.114, 0.941, -0.381, 0, 0, 0, 62 [SEP] 4, CreditCard, -0.624, 0.930, -1.231, 0, 0, 0, 61 [SEP] 5, CreditCard, 0.944, 0.908, -1.793, 0, 0, 0, 67 [SEP] 6, CellPhone, -1.467, 0.550, 2.718, 0, 0, 0, 87 [SEP] 7, CellPhone, 0.859, 0.908, -1.879, 0, 0, 0, 67 [SEP] 8, DishSponge, 0.910, 0.107, -1.812, 0, 0, 0, 66 [SEP] 9, ButterKnife, 0.859, 0.911, -0.381, 0, 0, 0, 62 [SEP] 10, Glassbottle, 1.239, 1.667, -0.038, 0, 270, 0, 69 [SEP] 11, Fork, -1.292, 0.934, 0.144, 0, 0, 0, 61 [SEP] 12, Spoon, -0.642, 0.777, -0.745, 0, 0, 0, 82 [SEP] 13, Knife, 0.859, 0.934, -0.034, 0, 0, 0, 62 [SEP] 14, Knife, -0.698, 0.957, -1.618, 0, 0, 0, 61 [SEP] 15, Egg, -0.753, 0.814, -0.918, 0, 90, 0, 82 [SEP] 16, Egg, 1.126, 1.821, -1.236, 0, 270, 0, 83 [SEP] 17, Cup, 1.240, 1.663, -0.401, 0, 270, 0, 70 [SEP] 18, Plate, 1.193, 1.669, 0.216, 0, 270, 0, 69 [SEP] 19, Plate, 1.126, 2.211, -1.408, 0, 270, 0, 68 [SEP] 20, Bowl, 0.773, 0.914, -0.381, 0, 0, 0, 62 [SEP] 21, Bowl, 0.966, 1.405, 1.158, 0, 270, 0, 84 [SEP] 22, PepperShaker, -1.467, 0.550, 2.563, 0, 0, 0, 87 [SEP] 23, Bread, 1.114, 0.992, -0.208, 0, 0, 0, 62 [SEP] 24, Apple, -0.912, 0.229, 0.543, 0, 180, 0, 81 [SEP] 25, Apple, -0.477, 0.983, 0.086, 0, 0, 0, 61 [SEP] 26, Apple, -1.007, 0.227, 0.576, 0, 180, 0, 81 [SEP] 27, Statue, 0.773, 0.914, -0.729, 0, 180, 0, 62 [SEP] 28, Glassbottle, -0.477, 0.934, -1.308, 0, 0, 0, 61 [SEP] 29, Bread, 0.966, 0.944, 1.349, 0, 270, 0, 84 [SEP] 30, CreditCard, -0.698, 0.930, 0.086, 0, 0, 0, 61 [SEP] 31, CellPhone, -1.229, 0.930, -0.118, 0, 0, 0, 61 [SEP] 32, Potato, 0.905, 1.673, 1.444, 0, 270, 0, 84 [SEP] 33, Knife, -0.624, 0.957, 0.009, 0, 90, 0, 61 [SEP] 34, Fork, 0.875, 0.495, -0.524, 0, 0, 0, 65 [SEP] 35, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 55 [SEP] 36, Lettuce, 0.966, 1.479, 1.349, 0, 270, 0, 84 [SEP] 37, Plate, 1.101, 1.669, -2.166, 0, 270, 0, 60 [SEP] 38, Apple, 0.688, 0.961, -1.793, 0, 0, 0, 67 [SEP] 39, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 57 [SEP] 40, Spatula, 1.199, 0.926, 0.313, 0, 270, 0, 62 [SEP] 41, PaperTowelRoll, -0.818, 0.283, 0.575, 0, 270, 0, 81 [SEP] 42, Tomato, 0.688, 0.952, -1.965, 0, 0, 0, 67 [SEP] 43, Egg, 0.966, 0.900, 1.158, 0, 270, 0, 84 [SEP] 44, SaltShaker, 1.082, 2.204, -0.973, 0, 270, 0, 68 [SEP] 45, PepperShaker, 0.964, 0.117, 0.325, 0, 270, 0, 62 [SEP] 46, Vase, 1.212, 2.207, -1.082, 0, 270, 0, 68 [SEP] 47, ButterKnife, -0.624, 0.933, -1.540, 0, 0, 0, 61 [SEP] 48, SoapBottle, 1.082, 2.208, -1.626, 0, 270, 0, 68 [SEP] 49, Vase, -1.881, 0.555, 2.822, 0, 0, 0, 87 [SEP] 50, Bowl, -0.624, 0.936, -1.308, 0, 0, 0, 61 [SEP] 51, DishSponge, -0.808, 0.780, -0.659, 0, 90, 0, 82 [SEP] 52, Spoon, 0.793, 0.154, -0.611, 0, 270, 0, 64 [SEP] 53, Cup, 1.087, 1.399, 1.063, 0, 270, 0, 84 [SEP] 54, Mug, -0.642, 0.775, -0.659, 0, 90, 0, 82 [SEP] 55, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 56, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 57, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 58, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 59, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 60, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 61, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 62, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 63, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 64, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 65, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 66, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 67, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 68, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 69, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 70, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 71, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 72, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 73, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 74, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 75, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 76, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 77, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 78, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 79, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 80, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 81, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 82, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 83, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 84, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 85, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 86, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 87, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 88, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 89, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 90, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 91, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 92, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 93, NorthWall, , , , , , , [SEP] 94, EastWall, , , , , , , [SEP] 95, SouthWall, , , , , , , [SEP] 96, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and go to the front of the trash can. | STEP 2: Pick up the apple on the right in the trash can. | STEP 3: Turn left and then go right to the stove. | STEP 4: Put the apple in the microwave above the stove, cook the apple and then take it out. | STEP 5: Turn left, go to the fridge and turn left again and go to the trash can. | STEP 6: Put the cooked apple in the trash can next to the other apple. | END"]} +{"id": "trial_T20190908_145050_918567-2", "input": "Put a heated 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, -0.25, 0.900, 0.75, 0, 270, 0, [SEP] 1, Statue, -1.571, 0.884, 2.719, 0, 0, 0, 61 [SEP] 2, Potato, 1.087, 1.432, 1.540, 0, 270, 0, 84 [SEP] 3, Potato, 1.114, 0.941, -0.381, 0, 0, 0, 62 [SEP] 4, CreditCard, -0.624, 0.930, -1.231, 0, 0, 0, 61 [SEP] 5, CreditCard, 0.944, 0.908, -1.793, 0, 0, 0, 67 [SEP] 6, CellPhone, -1.467, 0.550, 2.718, 0, 0, 0, 87 [SEP] 7, CellPhone, 0.859, 0.908, -1.879, 0, 0, 0, 67 [SEP] 8, DishSponge, 0.910, 0.107, -1.812, 0, 0, 0, 66 [SEP] 9, ButterKnife, 0.859, 0.911, -0.381, 0, 0, 0, 62 [SEP] 10, Glassbottle, 1.239, 1.667, -0.038, 0, 270, 0, 69 [SEP] 11, Fork, -1.292, 0.934, 0.144, 0, 0, 0, 61 [SEP] 12, Spoon, -0.642, 0.777, -0.745, 0, 0, 0, 82 [SEP] 13, Knife, 0.859, 0.934, -0.034, 0, 0, 0, 62 [SEP] 14, Knife, -0.698, 0.957, -1.618, 0, 0, 0, 61 [SEP] 15, Egg, -0.753, 0.814, -0.918, 0, 90, 0, 82 [SEP] 16, Egg, 1.126, 1.821, -1.236, 0, 270, 0, 83 [SEP] 17, Cup, 1.240, 1.663, -0.401, 0, 270, 0, 70 [SEP] 18, Plate, 1.193, 1.669, 0.216, 0, 270, 0, 69 [SEP] 19, Plate, 1.126, 2.211, -1.408, 0, 270, 0, 68 [SEP] 20, Bowl, 0.773, 0.914, -0.381, 0, 0, 0, 62 [SEP] 21, Bowl, 0.966, 1.405, 1.158, 0, 270, 0, 84 [SEP] 22, PepperShaker, -1.467, 0.550, 2.563, 0, 0, 0, 87 [SEP] 23, Bread, 1.114, 0.992, -0.208, 0, 0, 0, 62 [SEP] 24, Apple, -0.912, 0.229, 0.543, 0, 180, 0, 81 [SEP] 25, Apple, -0.477, 0.983, 0.086, 0, 0, 0, 61 [SEP] 26, Apple, -1.007, 0.227, 0.576, 0, 180, 0, 81 [SEP] 27, Statue, 0.773, 0.914, -0.729, 0, 180, 0, 62 [SEP] 28, Glassbottle, -0.477, 0.934, -1.308, 0, 0, 0, 61 [SEP] 29, Bread, 0.966, 0.944, 1.349, 0, 270, 0, 84 [SEP] 30, CreditCard, -0.698, 0.930, 0.086, 0, 0, 0, 61 [SEP] 31, CellPhone, -1.229, 0.930, -0.118, 0, 0, 0, 61 [SEP] 32, Potato, 0.905, 1.673, 1.444, 0, 270, 0, 84 [SEP] 33, Knife, -0.624, 0.957, 0.009, 0, 90, 0, 61 [SEP] 34, Fork, 0.875, 0.495, -0.524, 0, 0, 0, 65 [SEP] 35, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 55 [SEP] 36, Lettuce, 0.966, 1.479, 1.349, 0, 270, 0, 84 [SEP] 37, Plate, 1.101, 1.669, -2.166, 0, 270, 0, 60 [SEP] 38, Apple, 0.688, 0.961, -1.793, 0, 0, 0, 67 [SEP] 39, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 57 [SEP] 40, Spatula, 1.199, 0.926, 0.313, 0, 270, 0, 62 [SEP] 41, PaperTowelRoll, -0.818, 0.283, 0.575, 0, 270, 0, 81 [SEP] 42, Tomato, 0.688, 0.952, -1.965, 0, 0, 0, 67 [SEP] 43, Egg, 0.966, 0.900, 1.158, 0, 270, 0, 84 [SEP] 44, SaltShaker, 1.082, 2.204, -0.973, 0, 270, 0, 68 [SEP] 45, PepperShaker, 0.964, 0.117, 0.325, 0, 270, 0, 62 [SEP] 46, Vase, 1.212, 2.207, -1.082, 0, 270, 0, 68 [SEP] 47, ButterKnife, -0.624, 0.933, -1.540, 0, 0, 0, 61 [SEP] 48, SoapBottle, 1.082, 2.208, -1.626, 0, 270, 0, 68 [SEP] 49, Vase, -1.881, 0.555, 2.822, 0, 0, 0, 87 [SEP] 50, Bowl, -0.624, 0.936, -1.308, 0, 0, 0, 61 [SEP] 51, DishSponge, -0.808, 0.780, -0.659, 0, 90, 0, 82 [SEP] 52, Spoon, 0.793, 0.154, -0.611, 0, 270, 0, 64 [SEP] 53, Cup, 1.087, 1.399, 1.063, 0, 270, 0, 84 [SEP] 54, Mug, -0.642, 0.775, -0.659, 0, 90, 0, 82 [SEP] 55, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 56, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 57, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 58, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 59, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 60, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 61, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 62, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 63, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 64, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 65, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 66, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 67, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 68, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 69, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 70, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 71, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 72, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 73, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 74, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 75, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 76, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 77, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 78, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 79, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 80, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 81, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 82, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 83, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 84, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 85, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 86, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 87, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 88, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 89, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 90, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 91, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 92, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 93, NorthWall, , , , , , , [SEP] 94, EastWall, , , , , , , [SEP] 95, SouthWall, , , , , , , [SEP] 96, WestWall, , , , , , , ", "output": ["STEP 1: Move around the trash can in front of you, face the trash can by the end of the island. | STEP 2: Pick up the apple on the right side of the trash can. | STEP 3: Turn left, go to the fridge, turn right, go to the stove, turn left and bring the apple to the microwave over the stove. | STEP 4: Heat the apple in the microwave over the stove. | STEP 5: Take the heated apple from the microwave, head back around the island to the left, face the trash can. | STEP 6: Put the apple in the right side of the trash can. | END"]} +{"id": "trial_T20190908_113610_425142-0", "input": "To heat an egg and place 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, 0.0, 0.900, -1.0, 0, 270, 0, [SEP] 1, Potato, -0.772, 0.963, -1.540, 0, 0, 0, 57 [SEP] 2, Potato, -0.808, 0.807, -0.573, 0, 90, 0, 78 [SEP] 3, DishSponge, -1.363, 0.553, 2.615, 0, 0, 0, 83 [SEP] 4, ButterKnife, 0.773, 0.911, 0.139, 0, 0, 0, 58 [SEP] 5, ButterKnife, -0.550, 0.933, -1.154, 0, 0, 0, 57 [SEP] 6, Glassbottle, 1.029, 0.912, -0.034, 0, 0, 0, 58 [SEP] 7, Glassbottle, 1.169, 2.208, -1.517, 0, 270, 0, 64 [SEP] 8, Fork, -1.229, 0.934, -1.430, 0, 90, 0, 57 [SEP] 9, Spoon, 0.859, 0.912, -0.729, 0, 0, 0, 58 [SEP] 10, Spoon, 0.944, 0.912, 0.139, 0, 270, 0, 58 [SEP] 11, Cup, 1.093, 1.780, -1.236, 0, 270, 0, 79 [SEP] 12, Cup, -0.808, 0.777, -0.832, 0, 90, 0, 78 [SEP] 13, Tomato, 1.026, 1.175, 0.967, 0, 270, 0, 80 [SEP] 14, Tomato, -0.697, 0.821, -0.832, 0, 90, 0, 78 [SEP] 15, SoapBottle, 0.688, 0.911, -1.965, 0, 0, 0, 63 [SEP] 16, Bowl, 0.905, 0.866, 1.540, 0, 270, 0, 80 [SEP] 17, Lettuce, 0.905, 1.212, 1.349, 0, 270, 0, 80 [SEP] 18, Lettuce, 0.688, 0.988, -0.729, 0, 0, 0, 58 [SEP] 19, Bread, 0.905, 1.482, 1.349, 0, 270, 0, 80 [SEP] 20, Mug, 0.861, 0.103, -2.212, 0, 0, 0, 62 [SEP] 21, Mug, -1.229, 0.928, -0.118, 0, 0, 0, 57 [SEP] 22, Apple, 1.087, 1.693, 0.967, 0, 270, 0, 80 [SEP] 23, Statue, -1.355, 0.936, -0.380, 0, 0, 0, 57 [SEP] 24, Glassbottle, -0.550, 0.934, -0.067, 0, 0, 0, 57 [SEP] 25, Bread, -0.779, 0.996, 0.209, 0, 258.641, 0, 57 [SEP] 26, CreditCard, -1.878, 0.878, 2.719, 0, 0, 0, 84 [SEP] 27, CellPhone, -1.985, 0.550, 2.822, 0, 0, 0, 83 [SEP] 28, Potato, -0.698, 0.811, -0.486, 0, 90, 0, 78 [SEP] 29, Knife, -1.229, 0.957, -1.430, 0, 180, 0, 57 [SEP] 30, Fork, 0.944, 0.911, -0.381, 0, 0, 0, 58 [SEP] 31, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 51 [SEP] 32, Lettuce, -0.912, 0.256, 0.543, 0, 90, 0, 77 [SEP] 33, Plate, 0.966, 0.866, 1.158, 0, 270, 0, 80 [SEP] 34, Apple, 1.093, 1.845, -1.339, 0, 270, 0, 79 [SEP] 35, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 53 [SEP] 36, Spatula, 0.915, 0.509, -0.607, 0, 0, 0, 61 [SEP] 37, PaperTowelRoll, -1.101, 0.283, 0.543, 0, 180, 0, 77 [SEP] 38, Tomato, -0.550, 0.974, 0.162, 0, 0, 0, 57 [SEP] 39, Egg, 0.688, 0.949, -2.222, 0, 0, 0, 63 [SEP] 40, SaltShaker, 1.193, 1.662, 0.280, 0, 270, 0, 65 [SEP] 41, PepperShaker, -1.776, 0.878, 2.719, 0, 0, 0, 84 [SEP] 42, Vase, 1.212, 2.207, -1.191, 0, 270, 0, 64 [SEP] 43, ButterKnife, 1.114, 0.911, -0.381, 0, 0, 0, 58 [SEP] 44, SoapBottle, 0.859, 0.911, -0.208, 0, 0, 0, 58 [SEP] 45, Vase, 1.148, 1.667, -0.465, 0, 270, 0, 66 [SEP] 46, Bowl, 1.026, 1.138, 1.158, 0, 270, 0, 80 [SEP] 47, DishSponge, 1.101, 1.665, -2.097, 0, 270, 0, 56 [SEP] 48, Spoon, -0.642, 0.781, -0.745, 0, 90, 0, 78 [SEP] 49, Cup, 1.014, 0.118, 0.423, 0, 270, 0, 52 [SEP] 50, Mug, -1.292, 0.928, -0.905, 0, 0, 0, 57 [SEP] 51, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 52, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 53, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 54, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 55, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 56, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 57, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 58, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 59, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 60, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 61, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 62, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 63, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 64, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 65, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 66, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 67, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 68, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 69, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 70, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 71, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 72, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 73, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 74, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 75, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 76, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 77, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 78, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 79, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 80, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 81, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 82, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 83, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 84, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 85, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 86, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 87, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 88, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 89, NorthWall, , , , , , , [SEP] 90, EastWall, , , , , , , [SEP] 91, SouthWall, , , , , , , [SEP] 92, WestWall, , , , , , , ", "output": ["STEP 1: Turn left, turn left at the window to face the counter with the coffee maker on it. | STEP 2: Pick up the egg in front of the coffee maker on the counter. | STEP 3: Turn left and walk to the stove on the right, look up above the stove at the microwave. | STEP 4: Open the microwave door, place the egg inside the microwave, heat the egg, open the microwave door, take the egg out of the microwave. | STEP 5: Turn left, turn left at the end of the island and face the black bin on the floor. | STEP 6: Put the egg inside of the black bin on the floor. | END"]} +{"id": "trial_T20190908_113610_425142-1", "input": "Dispose the heated egg 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, 0.0, 0.900, -1.0, 0, 270, 0, [SEP] 1, Potato, -0.772, 0.963, -1.540, 0, 0, 0, 57 [SEP] 2, Potato, -0.808, 0.807, -0.573, 0, 90, 0, 78 [SEP] 3, DishSponge, -1.363, 0.553, 2.615, 0, 0, 0, 83 [SEP] 4, ButterKnife, 0.773, 0.911, 0.139, 0, 0, 0, 58 [SEP] 5, ButterKnife, -0.550, 0.933, -1.154, 0, 0, 0, 57 [SEP] 6, Glassbottle, 1.029, 0.912, -0.034, 0, 0, 0, 58 [SEP] 7, Glassbottle, 1.169, 2.208, -1.517, 0, 270, 0, 64 [SEP] 8, Fork, -1.229, 0.934, -1.430, 0, 90, 0, 57 [SEP] 9, Spoon, 0.859, 0.912, -0.729, 0, 0, 0, 58 [SEP] 10, Spoon, 0.944, 0.912, 0.139, 0, 270, 0, 58 [SEP] 11, Cup, 1.093, 1.780, -1.236, 0, 270, 0, 79 [SEP] 12, Cup, -0.808, 0.777, -0.832, 0, 90, 0, 78 [SEP] 13, Tomato, 1.026, 1.175, 0.967, 0, 270, 0, 80 [SEP] 14, Tomato, -0.697, 0.821, -0.832, 0, 90, 0, 78 [SEP] 15, SoapBottle, 0.688, 0.911, -1.965, 0, 0, 0, 63 [SEP] 16, Bowl, 0.905, 0.866, 1.540, 0, 270, 0, 80 [SEP] 17, Lettuce, 0.905, 1.212, 1.349, 0, 270, 0, 80 [SEP] 18, Lettuce, 0.688, 0.988, -0.729, 0, 0, 0, 58 [SEP] 19, Bread, 0.905, 1.482, 1.349, 0, 270, 0, 80 [SEP] 20, Mug, 0.861, 0.103, -2.212, 0, 0, 0, 62 [SEP] 21, Mug, -1.229, 0.928, -0.118, 0, 0, 0, 57 [SEP] 22, Apple, 1.087, 1.693, 0.967, 0, 270, 0, 80 [SEP] 23, Statue, -1.355, 0.936, -0.380, 0, 0, 0, 57 [SEP] 24, Glassbottle, -0.550, 0.934, -0.067, 0, 0, 0, 57 [SEP] 25, Bread, -0.779, 0.996, 0.209, 0, 258.641, 0, 57 [SEP] 26, CreditCard, -1.878, 0.878, 2.719, 0, 0, 0, 84 [SEP] 27, CellPhone, -1.985, 0.550, 2.822, 0, 0, 0, 83 [SEP] 28, Potato, -0.698, 0.811, -0.486, 0, 90, 0, 78 [SEP] 29, Knife, -1.229, 0.957, -1.430, 0, 180, 0, 57 [SEP] 30, Fork, 0.944, 0.911, -0.381, 0, 0, 0, 58 [SEP] 31, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 51 [SEP] 32, Lettuce, -0.912, 0.256, 0.543, 0, 90, 0, 77 [SEP] 33, Plate, 0.966, 0.866, 1.158, 0, 270, 0, 80 [SEP] 34, Apple, 1.093, 1.845, -1.339, 0, 270, 0, 79 [SEP] 35, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 53 [SEP] 36, Spatula, 0.915, 0.509, -0.607, 0, 0, 0, 61 [SEP] 37, PaperTowelRoll, -1.101, 0.283, 0.543, 0, 180, 0, 77 [SEP] 38, Tomato, -0.550, 0.974, 0.162, 0, 0, 0, 57 [SEP] 39, Egg, 0.688, 0.949, -2.222, 0, 0, 0, 63 [SEP] 40, SaltShaker, 1.193, 1.662, 0.280, 0, 270, 0, 65 [SEP] 41, PepperShaker, -1.776, 0.878, 2.719, 0, 0, 0, 84 [SEP] 42, Vase, 1.212, 2.207, -1.191, 0, 270, 0, 64 [SEP] 43, ButterKnife, 1.114, 0.911, -0.381, 0, 0, 0, 58 [SEP] 44, SoapBottle, 0.859, 0.911, -0.208, 0, 0, 0, 58 [SEP] 45, Vase, 1.148, 1.667, -0.465, 0, 270, 0, 66 [SEP] 46, Bowl, 1.026, 1.138, 1.158, 0, 270, 0, 80 [SEP] 47, DishSponge, 1.101, 1.665, -2.097, 0, 270, 0, 56 [SEP] 48, Spoon, -0.642, 0.781, -0.745, 0, 90, 0, 78 [SEP] 49, Cup, 1.014, 0.118, 0.423, 0, 270, 0, 52 [SEP] 50, Mug, -1.292, 0.928, -0.905, 0, 0, 0, 57 [SEP] 51, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 52, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 53, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 54, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 55, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 56, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 57, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 58, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 59, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 60, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 61, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 62, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 63, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 64, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 65, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 66, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 67, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 68, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 69, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 70, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 71, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 72, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 73, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 74, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 75, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 76, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 77, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 78, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 79, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 80, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 81, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 82, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 83, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 84, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 85, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 86, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 87, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 88, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 89, NorthWall, , , , , , , [SEP] 90, EastWall, , , , , , , [SEP] 91, SouthWall, , , , , , , [SEP] 92, WestWall, , , , , , , ", "output": ["STEP 1: Turn left move forward then face the counter with coffee maker | STEP 2: Pick up the egg in front of the coffee maker | STEP 3: Turn left then head to the microwave | STEP 4: Open the microwave put in and out the egg then close the microwave | STEP 5: Turn left then walk forward head to the trash bin on your left | STEP 6: Drop the egg in the trash bin | END"]} +{"id": "trial_T20190908_113610_425142-2", "input": "Put a heated egg 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, 0.0, 0.900, -1.0, 0, 270, 0, [SEP] 1, Potato, -0.772, 0.963, -1.540, 0, 0, 0, 57 [SEP] 2, Potato, -0.808, 0.807, -0.573, 0, 90, 0, 78 [SEP] 3, DishSponge, -1.363, 0.553, 2.615, 0, 0, 0, 83 [SEP] 4, ButterKnife, 0.773, 0.911, 0.139, 0, 0, 0, 58 [SEP] 5, ButterKnife, -0.550, 0.933, -1.154, 0, 0, 0, 57 [SEP] 6, Glassbottle, 1.029, 0.912, -0.034, 0, 0, 0, 58 [SEP] 7, Glassbottle, 1.169, 2.208, -1.517, 0, 270, 0, 64 [SEP] 8, Fork, -1.229, 0.934, -1.430, 0, 90, 0, 57 [SEP] 9, Spoon, 0.859, 0.912, -0.729, 0, 0, 0, 58 [SEP] 10, Spoon, 0.944, 0.912, 0.139, 0, 270, 0, 58 [SEP] 11, Cup, 1.093, 1.780, -1.236, 0, 270, 0, 79 [SEP] 12, Cup, -0.808, 0.777, -0.832, 0, 90, 0, 78 [SEP] 13, Tomato, 1.026, 1.175, 0.967, 0, 270, 0, 80 [SEP] 14, Tomato, -0.697, 0.821, -0.832, 0, 90, 0, 78 [SEP] 15, SoapBottle, 0.688, 0.911, -1.965, 0, 0, 0, 63 [SEP] 16, Bowl, 0.905, 0.866, 1.540, 0, 270, 0, 80 [SEP] 17, Lettuce, 0.905, 1.212, 1.349, 0, 270, 0, 80 [SEP] 18, Lettuce, 0.688, 0.988, -0.729, 0, 0, 0, 58 [SEP] 19, Bread, 0.905, 1.482, 1.349, 0, 270, 0, 80 [SEP] 20, Mug, 0.861, 0.103, -2.212, 0, 0, 0, 62 [SEP] 21, Mug, -1.229, 0.928, -0.118, 0, 0, 0, 57 [SEP] 22, Apple, 1.087, 1.693, 0.967, 0, 270, 0, 80 [SEP] 23, Statue, -1.355, 0.936, -0.380, 0, 0, 0, 57 [SEP] 24, Glassbottle, -0.550, 0.934, -0.067, 0, 0, 0, 57 [SEP] 25, Bread, -0.779, 0.996, 0.209, 0, 258.641, 0, 57 [SEP] 26, CreditCard, -1.878, 0.878, 2.719, 0, 0, 0, 84 [SEP] 27, CellPhone, -1.985, 0.550, 2.822, 0, 0, 0, 83 [SEP] 28, Potato, -0.698, 0.811, -0.486, 0, 90, 0, 78 [SEP] 29, Knife, -1.229, 0.957, -1.430, 0, 180, 0, 57 [SEP] 30, Fork, 0.944, 0.911, -0.381, 0, 0, 0, 58 [SEP] 31, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 51 [SEP] 32, Lettuce, -0.912, 0.256, 0.543, 0, 90, 0, 77 [SEP] 33, Plate, 0.966, 0.866, 1.158, 0, 270, 0, 80 [SEP] 34, Apple, 1.093, 1.845, -1.339, 0, 270, 0, 79 [SEP] 35, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 53 [SEP] 36, Spatula, 0.915, 0.509, -0.607, 0, 0, 0, 61 [SEP] 37, PaperTowelRoll, -1.101, 0.283, 0.543, 0, 180, 0, 77 [SEP] 38, Tomato, -0.550, 0.974, 0.162, 0, 0, 0, 57 [SEP] 39, Egg, 0.688, 0.949, -2.222, 0, 0, 0, 63 [SEP] 40, SaltShaker, 1.193, 1.662, 0.280, 0, 270, 0, 65 [SEP] 41, PepperShaker, -1.776, 0.878, 2.719, 0, 0, 0, 84 [SEP] 42, Vase, 1.212, 2.207, -1.191, 0, 270, 0, 64 [SEP] 43, ButterKnife, 1.114, 0.911, -0.381, 0, 0, 0, 58 [SEP] 44, SoapBottle, 0.859, 0.911, -0.208, 0, 0, 0, 58 [SEP] 45, Vase, 1.148, 1.667, -0.465, 0, 270, 0, 66 [SEP] 46, Bowl, 1.026, 1.138, 1.158, 0, 270, 0, 80 [SEP] 47, DishSponge, 1.101, 1.665, -2.097, 0, 270, 0, 56 [SEP] 48, Spoon, -0.642, 0.781, -0.745, 0, 90, 0, 78 [SEP] 49, Cup, 1.014, 0.118, 0.423, 0, 270, 0, 52 [SEP] 50, Mug, -1.292, 0.928, -0.905, 0, 0, 0, 57 [SEP] 51, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 52, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 53, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 54, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 55, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 56, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 57, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 58, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 59, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 60, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 61, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 62, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 63, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 64, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 65, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 66, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 67, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 68, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 69, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 70, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 71, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 72, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 73, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 74, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 75, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 76, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 77, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 78, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 79, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 80, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 81, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 82, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 83, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 84, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 85, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 86, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 87, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 88, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 89, NorthWall, , , , , , , [SEP] 90, EastWall, , , , , , , [SEP] 91, SouthWall, , , , , , , [SEP] 92, WestWall, , , , , , , ", "output": ["STEP 1: Turn left, move to the window, turn left, go to the egg on the counter. | STEP 2: Pick up the egg on the counter. | STEP 3: Bring the egg to the left, to the microwave over the stove. | STEP 4: Heat the egg in the microwave. | STEP 5: Bring the heated egg to the left, around the side of the island, to the trash can next to the island. | STEP 6: Put the egg in the trash can. | END"]} +{"id": "trial_T20190908_092954_222448-0", "input": "Place a skillet containing a spoon into a sink. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.900, 1.25, 0, 90, 0, [SEP] 1, Pan, 0.842, 0.950, -1.098, 0, 0, 0, 51 [SEP] 2, Statue, -1.355, 0.936, 0.144, 0, 0, 0, 57 [SEP] 3, Vase, -1.104, 0.934, -0.905, 0, 0, 0, 57 [SEP] 4, Potato, -1.041, 0.963, 0.144, 0, 0, 0, 57 [SEP] 5, CreditCard, 0.688, 0.908, -1.965, 0, 0, 0, 63 [SEP] 6, CreditCard, 1.199, 0.908, 0.139, 0, 0, 0, 58 [SEP] 7, DishSponge, 0.754, 0.494, -0.648, 0, 270, 0, 61 [SEP] 8, DishSponge, -1.467, 0.553, 2.770, 0, 0, 0, 83 [SEP] 9, ButterKnife, 0.773, 0.911, 0.313, 0, 0, 0, 58 [SEP] 10, Fork, 1.114, 0.911, -0.208, 0, 0, 0, 58 [SEP] 11, Spatula, 0.754, 0.717, -0.690, 0, 180, 0, 55 [SEP] 12, Spatula, 1.199, 0.926, 0.139, 0, 90, 0, 58 [SEP] 13, Egg, -0.865, 0.216, 0.510, 0, 180, 0, 77 [SEP] 14, Plate, 1.126, 2.211, -0.973, 0, 270, 0, 64 [SEP] 15, Plate, 0.944, 0.914, -0.381, 0, 0, 0, 58 [SEP] 16, SoapBottle, 1.199, 0.911, -0.034, 0, 0, 0, 58 [SEP] 17, Bowl, 0.966, 1.138, 0.967, 0, 270, 0, 80 [SEP] 18, SaltShaker, 1.148, 1.662, -2.097, 0, 270, 0, 56 [SEP] 19, PepperShaker, -1.981, 0.878, 2.719, 0, 0, 0, 84 [SEP] 20, Lettuce, 0.905, 1.212, 1.349, 0, 270, 0, 80 [SEP] 21, Lettuce, 0.905, 0.940, 1.349, 0, 270, 0, 80 [SEP] 22, Mug, 1.193, 1.661, -0.038, 0, 0, 0, 65 [SEP] 23, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 57 [SEP] 24, Glassbottle, 0.910, 0.109, -1.812, 0, 0, 0, 62 [SEP] 25, Bread, -0.779, 0.996, 0.209, 0, 258.641, 0, 57 [SEP] 26, CreditCard, -1.881, 0.551, 2.563, 0, 0, 0, 83 [SEP] 27, CellPhone, -0.477, 0.930, 0.009, 0, 0, 0, 57 [SEP] 28, Potato, -0.753, 0.811, -0.400, 0, 90, 0, 78 [SEP] 29, Knife, -0.550, 0.957, -1.463, 0, 0, 0, 57 [SEP] 30, Fork, 0.773, 0.911, 0.139, 0, 0, 0, 58 [SEP] 31, Pan, 1.077, 0.950, -1.504, 0, 0, 0, 53 [SEP] 32, Lettuce, 1.029, 0.988, 0.139, 0, 0, 0, 58 [SEP] 33, Plate, 1.101, 1.669, 0.280, 0, 270, 0, 65 [SEP] 34, Apple, 0.995, 1.845, -1.339, 0, 270, 0, 79 [SEP] 35, Pot, -1.221, 0.92, -0.49, 0, 0, 0, 57 [SEP] 36, Spatula, 0.914, 0.168, -0.611, 0, 0, 0, 60 [SEP] 37, PaperTowelRoll, -1.881, 0.658, 2.667, 0, 0, 0, 83 [SEP] 38, Tomato, 1.026, 1.683, 1.158, 0, 270, 0, 80 [SEP] 39, Egg, 0.844, 1.172, 1.254, 0, 270, 0, 80 [SEP] 40, SaltShaker, -1.674, 0.878, 2.773, 0, 0, 0, 84 [SEP] 41, PepperShaker, -0.698, 0.929, -1.540, 0, 0, 0, 57 [SEP] 42, Vase, 0.964, 0.120, 0.374, 0, 270, 0, 52 [SEP] 43, ButterKnife, -1.292, 0.933, -0.118, 0, 0, 0, 57 [SEP] 44, SoapBottle, 0.773, 0.911, -1.879, 0, 0, 0, 63 [SEP] 45, Vase, 1.082, 2.209, -1.191, 0, 270, 0, 64 [SEP] 46, Bowl, -0.698, 0.936, -1.308, 0, 0, 0, 57 [SEP] 47, DishSponge, 0.773, 0.910, -0.381, 0, 0, 0, 58 [SEP] 48, Spoon, -1.241, 0.919, -1.209, 0, 0, 0, 57 [SEP] 49, Cup, 1.199, 0.908, -1.793, 0, 0, 0, 63 [SEP] 50, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 76 [SEP] 51, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 52, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 53, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 54, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 55, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 56, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 57, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 58, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 59, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 60, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 61, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 62, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 63, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 64, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 65, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 66, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 67, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 68, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 69, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 70, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 71, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 72, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 73, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 74, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 75, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 76, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 77, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 78, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 79, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 80, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 81, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 82, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 83, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 84, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 85, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 86, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 87, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 88, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 89, NorthWall, , , , , , , [SEP] 90, EastWall, , , , , , , [SEP] 91, SouthWall, , , , , , , [SEP] 92, WestWall, , , , , , , ", "output": ["STEP 1: Turn around to the right and walk around the island to the far side. | STEP 2: Pick up the spoon from beside the plant. | STEP 3: Turn to the left and walk to the stove. | STEP 4: Place the spoon into the front left skillet | STEP 5: Pick up the skillet. | STEP 6: Turn to the left and walk to the sink. | STEP 7: Place the skillet into the sink. | END"]} +{"id": "trial_T20190908_092954_222448-1", "input": "To take the dishes 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, -1.0, 0.900, 1.25, 0, 90, 0, [SEP] 1, Pan, 0.842, 0.950, -1.098, 0, 0, 0, 51 [SEP] 2, Statue, -1.355, 0.936, 0.144, 0, 0, 0, 57 [SEP] 3, Vase, -1.104, 0.934, -0.905, 0, 0, 0, 57 [SEP] 4, Potato, -1.041, 0.963, 0.144, 0, 0, 0, 57 [SEP] 5, CreditCard, 0.688, 0.908, -1.965, 0, 0, 0, 63 [SEP] 6, CreditCard, 1.199, 0.908, 0.139, 0, 0, 0, 58 [SEP] 7, DishSponge, 0.754, 0.494, -0.648, 0, 270, 0, 61 [SEP] 8, DishSponge, -1.467, 0.553, 2.770, 0, 0, 0, 83 [SEP] 9, ButterKnife, 0.773, 0.911, 0.313, 0, 0, 0, 58 [SEP] 10, Fork, 1.114, 0.911, -0.208, 0, 0, 0, 58 [SEP] 11, Spatula, 0.754, 0.717, -0.690, 0, 180, 0, 55 [SEP] 12, Spatula, 1.199, 0.926, 0.139, 0, 90, 0, 58 [SEP] 13, Egg, -0.865, 0.216, 0.510, 0, 180, 0, 77 [SEP] 14, Plate, 1.126, 2.211, -0.973, 0, 270, 0, 64 [SEP] 15, Plate, 0.944, 0.914, -0.381, 0, 0, 0, 58 [SEP] 16, SoapBottle, 1.199, 0.911, -0.034, 0, 0, 0, 58 [SEP] 17, Bowl, 0.966, 1.138, 0.967, 0, 270, 0, 80 [SEP] 18, SaltShaker, 1.148, 1.662, -2.097, 0, 270, 0, 56 [SEP] 19, PepperShaker, -1.981, 0.878, 2.719, 0, 0, 0, 84 [SEP] 20, Lettuce, 0.905, 1.212, 1.349, 0, 270, 0, 80 [SEP] 21, Lettuce, 0.905, 0.940, 1.349, 0, 270, 0, 80 [SEP] 22, Mug, 1.193, 1.661, -0.038, 0, 0, 0, 65 [SEP] 23, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 57 [SEP] 24, Glassbottle, 0.910, 0.109, -1.812, 0, 0, 0, 62 [SEP] 25, Bread, -0.779, 0.996, 0.209, 0, 258.641, 0, 57 [SEP] 26, CreditCard, -1.881, 0.551, 2.563, 0, 0, 0, 83 [SEP] 27, CellPhone, -0.477, 0.930, 0.009, 0, 0, 0, 57 [SEP] 28, Potato, -0.753, 0.811, -0.400, 0, 90, 0, 78 [SEP] 29, Knife, -0.550, 0.957, -1.463, 0, 0, 0, 57 [SEP] 30, Fork, 0.773, 0.911, 0.139, 0, 0, 0, 58 [SEP] 31, Pan, 1.077, 0.950, -1.504, 0, 0, 0, 53 [SEP] 32, Lettuce, 1.029, 0.988, 0.139, 0, 0, 0, 58 [SEP] 33, Plate, 1.101, 1.669, 0.280, 0, 270, 0, 65 [SEP] 34, Apple, 0.995, 1.845, -1.339, 0, 270, 0, 79 [SEP] 35, Pot, -1.221, 0.92, -0.49, 0, 0, 0, 57 [SEP] 36, Spatula, 0.914, 0.168, -0.611, 0, 0, 0, 60 [SEP] 37, PaperTowelRoll, -1.881, 0.658, 2.667, 0, 0, 0, 83 [SEP] 38, Tomato, 1.026, 1.683, 1.158, 0, 270, 0, 80 [SEP] 39, Egg, 0.844, 1.172, 1.254, 0, 270, 0, 80 [SEP] 40, SaltShaker, -1.674, 0.878, 2.773, 0, 0, 0, 84 [SEP] 41, PepperShaker, -0.698, 0.929, -1.540, 0, 0, 0, 57 [SEP] 42, Vase, 0.964, 0.120, 0.374, 0, 270, 0, 52 [SEP] 43, ButterKnife, -1.292, 0.933, -0.118, 0, 0, 0, 57 [SEP] 44, SoapBottle, 0.773, 0.911, -1.879, 0, 0, 0, 63 [SEP] 45, Vase, 1.082, 2.209, -1.191, 0, 270, 0, 64 [SEP] 46, Bowl, -0.698, 0.936, -1.308, 0, 0, 0, 57 [SEP] 47, DishSponge, 0.773, 0.910, -0.381, 0, 0, 0, 58 [SEP] 48, Spoon, -1.241, 0.919, -1.209, 0, 0, 0, 57 [SEP] 49, Cup, 1.199, 0.908, -1.793, 0, 0, 0, 63 [SEP] 50, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 76 [SEP] 51, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 52, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 53, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 54, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 55, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 56, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 57, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 58, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 59, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 60, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 61, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 62, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 63, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 64, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 65, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 66, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 67, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 68, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 69, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 70, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 71, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 72, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 73, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 74, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 75, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 76, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 77, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 78, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 79, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 80, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 81, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 82, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 83, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 84, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 85, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 86, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 87, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 88, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 89, NorthWall, , , , , , , [SEP] 90, EastWall, , , , , , , [SEP] 91, SouthWall, , , , , , , [SEP] 92, WestWall, , , , , , , ", "output": ["STEP 1: Take one step forward then turn right and walk across the room, then turn right and take two steps, then turn right to face the counter. | STEP 2: Take the spoon that is on the counter behind the plant. | STEP 3: Turn to the right and walk across the room, then turn left and take two steps, then turn right. | STEP 4: Place the spoon on the plate on the left side of the stove. | STEP 5: Pick up the plate with the spoon on it. | STEP 6: Turn around and walk to the sink. | STEP 7: Place the plate with the spoon in the sink. | END"]} +{"id": "trial_T20190908_092954_222448-2", "input": "Put a pan 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, -1.0, 0.900, 1.25, 0, 90, 0, [SEP] 1, Pan, 0.842, 0.950, -1.098, 0, 0, 0, 51 [SEP] 2, Statue, -1.355, 0.936, 0.144, 0, 0, 0, 57 [SEP] 3, Vase, -1.104, 0.934, -0.905, 0, 0, 0, 57 [SEP] 4, Potato, -1.041, 0.963, 0.144, 0, 0, 0, 57 [SEP] 5, CreditCard, 0.688, 0.908, -1.965, 0, 0, 0, 63 [SEP] 6, CreditCard, 1.199, 0.908, 0.139, 0, 0, 0, 58 [SEP] 7, DishSponge, 0.754, 0.494, -0.648, 0, 270, 0, 61 [SEP] 8, DishSponge, -1.467, 0.553, 2.770, 0, 0, 0, 83 [SEP] 9, ButterKnife, 0.773, 0.911, 0.313, 0, 0, 0, 58 [SEP] 10, Fork, 1.114, 0.911, -0.208, 0, 0, 0, 58 [SEP] 11, Spatula, 0.754, 0.717, -0.690, 0, 180, 0, 55 [SEP] 12, Spatula, 1.199, 0.926, 0.139, 0, 90, 0, 58 [SEP] 13, Egg, -0.865, 0.216, 0.510, 0, 180, 0, 77 [SEP] 14, Plate, 1.126, 2.211, -0.973, 0, 270, 0, 64 [SEP] 15, Plate, 0.944, 0.914, -0.381, 0, 0, 0, 58 [SEP] 16, SoapBottle, 1.199, 0.911, -0.034, 0, 0, 0, 58 [SEP] 17, Bowl, 0.966, 1.138, 0.967, 0, 270, 0, 80 [SEP] 18, SaltShaker, 1.148, 1.662, -2.097, 0, 270, 0, 56 [SEP] 19, PepperShaker, -1.981, 0.878, 2.719, 0, 0, 0, 84 [SEP] 20, Lettuce, 0.905, 1.212, 1.349, 0, 270, 0, 80 [SEP] 21, Lettuce, 0.905, 0.940, 1.349, 0, 270, 0, 80 [SEP] 22, Mug, 1.193, 1.661, -0.038, 0, 0, 0, 65 [SEP] 23, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 57 [SEP] 24, Glassbottle, 0.910, 0.109, -1.812, 0, 0, 0, 62 [SEP] 25, Bread, -0.779, 0.996, 0.209, 0, 258.641, 0, 57 [SEP] 26, CreditCard, -1.881, 0.551, 2.563, 0, 0, 0, 83 [SEP] 27, CellPhone, -0.477, 0.930, 0.009, 0, 0, 0, 57 [SEP] 28, Potato, -0.753, 0.811, -0.400, 0, 90, 0, 78 [SEP] 29, Knife, -0.550, 0.957, -1.463, 0, 0, 0, 57 [SEP] 30, Fork, 0.773, 0.911, 0.139, 0, 0, 0, 58 [SEP] 31, Pan, 1.077, 0.950, -1.504, 0, 0, 0, 53 [SEP] 32, Lettuce, 1.029, 0.988, 0.139, 0, 0, 0, 58 [SEP] 33, Plate, 1.101, 1.669, 0.280, 0, 270, 0, 65 [SEP] 34, Apple, 0.995, 1.845, -1.339, 0, 270, 0, 79 [SEP] 35, Pot, -1.221, 0.92, -0.49, 0, 0, 0, 57 [SEP] 36, Spatula, 0.914, 0.168, -0.611, 0, 0, 0, 60 [SEP] 37, PaperTowelRoll, -1.881, 0.658, 2.667, 0, 0, 0, 83 [SEP] 38, Tomato, 1.026, 1.683, 1.158, 0, 270, 0, 80 [SEP] 39, Egg, 0.844, 1.172, 1.254, 0, 270, 0, 80 [SEP] 40, SaltShaker, -1.674, 0.878, 2.773, 0, 0, 0, 84 [SEP] 41, PepperShaker, -0.698, 0.929, -1.540, 0, 0, 0, 57 [SEP] 42, Vase, 0.964, 0.120, 0.374, 0, 270, 0, 52 [SEP] 43, ButterKnife, -1.292, 0.933, -0.118, 0, 0, 0, 57 [SEP] 44, SoapBottle, 0.773, 0.911, -1.879, 0, 0, 0, 63 [SEP] 45, Vase, 1.082, 2.209, -1.191, 0, 270, 0, 64 [SEP] 46, Bowl, -0.698, 0.936, -1.308, 0, 0, 0, 57 [SEP] 47, DishSponge, 0.773, 0.910, -0.381, 0, 0, 0, 58 [SEP] 48, Spoon, -1.241, 0.919, -1.209, 0, 0, 0, 57 [SEP] 49, Cup, 1.199, 0.908, -1.793, 0, 0, 0, 63 [SEP] 50, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 76 [SEP] 51, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 52, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 53, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 54, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 55, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 56, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 57, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 58, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 59, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 60, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 61, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 62, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 63, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 64, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 65, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 66, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 67, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 68, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 69, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 70, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 71, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 72, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 73, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 74, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 75, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 76, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 77, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 78, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 79, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 80, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 81, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 82, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 83, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 84, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 85, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 86, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 87, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 88, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 89, NorthWall, , , , , , , [SEP] 90, EastWall, , , , , , , [SEP] 91, SouthWall, , , , , , , [SEP] 92, WestWall, , , , , , , ", "output": ["STEP 1: Walk over to the fridge, then turn right and walk across the room and turn right then walk over to the end of the kitchen island. | STEP 2: Pick up the metal table spoon off of the kitchen island. | STEP 3: Turn right and walk around the kitchen island to the oven. | STEP 4: Put the table spoon in the metal pan that is on the front left burner of the stove. | STEP 5: Pick up the metal pan with the spoon in it. | STEP 6: Walk up to the sink that is behind you in the kitchen island. | STEP 7: Put the pan with the spoon in it into the sink basin. | END"]} +{"id": "trial_T20190908_115403_911841-0", "input": "To wash a slice of lettuce 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, -0.75, 0.900, 2.0, 0, 270, 0, [SEP] 1, Pan, -0.550, 0.931, 0.239, 0, 0, 0, 55 [SEP] 2, Statue, -1.229, 0.936, 0.144, 0, 0, 0, 55 [SEP] 3, Knife, 0.773, 0.934, -0.555, 0, 90, 0, 56 [SEP] 4, Egg, 1.199, 0.949, -1.793, 0, 0, 0, 61 [SEP] 5, Plate, 1.126, 2.211, -1.517, 0, 270, 0, 62 [SEP] 6, Tomato, 0.773, 0.952, -1.879, 0, 0, 0, 61 [SEP] 7, SoapBottle, 1.199, 0.911, -0.729, 0, 0, 0, 56 [SEP] 8, SoapBottle, -1.054, 0.179, 0.576, 0, 180, 0, 75 [SEP] 9, Bowl, 1.194, 1.669, -0.337, 0, 270, 0, 64 [SEP] 10, SaltShaker, 1.029, 0.907, -0.555, 0, 0, 0, 56 [SEP] 11, SaltShaker, -1.467, 0.550, 2.718, 0, 0, 0, 81 [SEP] 12, PepperShaker, 0.713, 0.699, -0.607, 0, 270, 0, 53 [SEP] 13, PepperShaker, 1.010, 0.104, -2.132, 0, 0, 0, 60 [SEP] 14, Lettuce, 0.773, 0.988, 0.139, 0, 0, 0, 56 [SEP] 15, Lettuce, 0.905, 1.479, 1.349, 0, 270, 0, 78 [SEP] 16, Lettuce, 0.688, 0.988, -0.729, 0, 0, 0, 56 [SEP] 17, Bread, 1.026, 1.482, 1.063, 0, 270, 0, 78 [SEP] 18, Bread, 1.026, 1.216, 1.254, 0, 270, 0, 78 [SEP] 19, Apple, 1.028, 1.845, -1.339, 0, 270, 0, 77 [SEP] 20, Apple, -0.642, 0.826, -0.745, 0, 90, 0, 76 [SEP] 21, Statue, -1.355, 0.936, -0.118, 0, 0, 0, 55 [SEP] 22, Glassbottle, -1.363, 0.554, 2.718, 0, 0, 0, 81 [SEP] 23, Bread, 1.029, 0.992, -0.381, 0, 0, 0, 56 [SEP] 24, CreditCard, 0.833, 0.150, -0.690, 0, 270, 0, 58 [SEP] 25, CellPhone, 0.688, 0.908, -0.729, 0, 0, 0, 56 [SEP] 26, Potato, 1.126, 1.825, -1.132, 0, 270, 0, 77 [SEP] 27, Knife, 1.199, 0.934, 0.139, 0, 270, 0, 56 [SEP] 28, Fork, 1.114, 0.911, -0.034, 0, 0, 0, 56 [SEP] 29, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 49 [SEP] 30, Lettuce, 0.966, 0.940, 1.254, 0, 270, 0, 78 [SEP] 31, Plate, 1.126, 2.211, -1.191, 0, 270, 0, 62 [SEP] 32, Apple, 1.199, 0.961, 0.313, 0, 0, 0, 56 [SEP] 33, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 51 [SEP] 34, Spatula, -0.808, 0.791, -0.486, 0, 180, 0, 76 [SEP] 35, PaperTowelRoll, -1.363, 0.658, 2.874, 0, 0, 0, 81 [SEP] 36, Tomato, 1.026, 1.683, 1.254, 0, 270, 0, 78 [SEP] 37, Egg, -0.818, 0.216, 0.510, 0, 180, 0, 75 [SEP] 38, SaltShaker, -0.920, 0.929, 0.162, 0, 0, 0, 55 [SEP] 39, PepperShaker, 0.794, 0.698, -0.524, 0, 270, 0, 53 [SEP] 40, Vase, -1.571, 0.881, 2.719, 0, 0, 0, 82 [SEP] 41, ButterKnife, -0.772, 0.933, 0.009, 0, 0, 0, 55 [SEP] 42, SoapBottle, -0.912, 0.177, 0.608, 0, 180, 0, 75 [SEP] 43, Vase, -0.846, 0.934, -1.308, 0, 0, 0, 55 [SEP] 44, Bowl, 0.944, 0.914, 0.139, 0, 0, 0, 56 [SEP] 45, DishSponge, 1.240, 1.665, -2.029, 0, 270, 0, 54 [SEP] 46, Spoon, -0.846, 0.934, -0.143, 0, 0, 0, 55 [SEP] 47, Cup, 1.199, 0.908, -0.208, 0, 0, 0, 56 [SEP] 48, Mug, 1.114, 0.906, -1.793, 0, 0, 0, 61 [SEP] 49, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 50, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 51, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 52, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 53, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 54, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 55, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 56, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 57, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 58, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 59, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 60, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 61, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 62, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 63, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 64, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 65, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 66, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 67, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 68, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 69, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 70, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 71, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 72, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 73, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 74, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 75, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 76, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 77, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 78, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 79, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 80, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 81, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 82, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 83, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 84, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 85, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 86, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 87, NorthWall, , , , , , , [SEP] 88, EastWall, , , , , , , [SEP] 89, SouthWall, , , , , , , [SEP] 90, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and walk forward to face the counter to the right of the fridge. | STEP 2: Pick up the knife on the counter. | STEP 3: Look down to face the lettuce on the counter. | STEP 4: Cut the lettuce on the counter into slices. | STEP 5: Turn around and step forward to face the sink. | STEP 6: Place the knife in the sink. | STEP 7: Turn around and step forward to face the lettuce on the counter. | STEP 8: Pick up the slice of lettuce on the counter. | STEP 9: Turn around and step forward to face the sink. | STEP 10: Wash the lettuce slice in the sink and then remove it. | STEP 11: Walk around the right side of the center table to face the trash can. | STEP 12: Place the lettuce slice in the trash can. | END"]} +{"id": "trial_T20190908_115403_911841-1", "input": "Put a rinsed slice of lettuce 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, -0.75, 0.900, 2.0, 0, 270, 0, [SEP] 1, Pan, -0.550, 0.931, 0.239, 0, 0, 0, 55 [SEP] 2, Statue, -1.229, 0.936, 0.144, 0, 0, 0, 55 [SEP] 3, Knife, 0.773, 0.934, -0.555, 0, 90, 0, 56 [SEP] 4, Egg, 1.199, 0.949, -1.793, 0, 0, 0, 61 [SEP] 5, Plate, 1.126, 2.211, -1.517, 0, 270, 0, 62 [SEP] 6, Tomato, 0.773, 0.952, -1.879, 0, 0, 0, 61 [SEP] 7, SoapBottle, 1.199, 0.911, -0.729, 0, 0, 0, 56 [SEP] 8, SoapBottle, -1.054, 0.179, 0.576, 0, 180, 0, 75 [SEP] 9, Bowl, 1.194, 1.669, -0.337, 0, 270, 0, 64 [SEP] 10, SaltShaker, 1.029, 0.907, -0.555, 0, 0, 0, 56 [SEP] 11, SaltShaker, -1.467, 0.550, 2.718, 0, 0, 0, 81 [SEP] 12, PepperShaker, 0.713, 0.699, -0.607, 0, 270, 0, 53 [SEP] 13, PepperShaker, 1.010, 0.104, -2.132, 0, 0, 0, 60 [SEP] 14, Lettuce, 0.773, 0.988, 0.139, 0, 0, 0, 56 [SEP] 15, Lettuce, 0.905, 1.479, 1.349, 0, 270, 0, 78 [SEP] 16, Lettuce, 0.688, 0.988, -0.729, 0, 0, 0, 56 [SEP] 17, Bread, 1.026, 1.482, 1.063, 0, 270, 0, 78 [SEP] 18, Bread, 1.026, 1.216, 1.254, 0, 270, 0, 78 [SEP] 19, Apple, 1.028, 1.845, -1.339, 0, 270, 0, 77 [SEP] 20, Apple, -0.642, 0.826, -0.745, 0, 90, 0, 76 [SEP] 21, Statue, -1.355, 0.936, -0.118, 0, 0, 0, 55 [SEP] 22, Glassbottle, -1.363, 0.554, 2.718, 0, 0, 0, 81 [SEP] 23, Bread, 1.029, 0.992, -0.381, 0, 0, 0, 56 [SEP] 24, CreditCard, 0.833, 0.150, -0.690, 0, 270, 0, 58 [SEP] 25, CellPhone, 0.688, 0.908, -0.729, 0, 0, 0, 56 [SEP] 26, Potato, 1.126, 1.825, -1.132, 0, 270, 0, 77 [SEP] 27, Knife, 1.199, 0.934, 0.139, 0, 270, 0, 56 [SEP] 28, Fork, 1.114, 0.911, -0.034, 0, 0, 0, 56 [SEP] 29, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 49 [SEP] 30, Lettuce, 0.966, 0.940, 1.254, 0, 270, 0, 78 [SEP] 31, Plate, 1.126, 2.211, -1.191, 0, 270, 0, 62 [SEP] 32, Apple, 1.199, 0.961, 0.313, 0, 0, 0, 56 [SEP] 33, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 51 [SEP] 34, Spatula, -0.808, 0.791, -0.486, 0, 180, 0, 76 [SEP] 35, PaperTowelRoll, -1.363, 0.658, 2.874, 0, 0, 0, 81 [SEP] 36, Tomato, 1.026, 1.683, 1.254, 0, 270, 0, 78 [SEP] 37, Egg, -0.818, 0.216, 0.510, 0, 180, 0, 75 [SEP] 38, SaltShaker, -0.920, 0.929, 0.162, 0, 0, 0, 55 [SEP] 39, PepperShaker, 0.794, 0.698, -0.524, 0, 270, 0, 53 [SEP] 40, Vase, -1.571, 0.881, 2.719, 0, 0, 0, 82 [SEP] 41, ButterKnife, -0.772, 0.933, 0.009, 0, 0, 0, 55 [SEP] 42, SoapBottle, -0.912, 0.177, 0.608, 0, 180, 0, 75 [SEP] 43, Vase, -0.846, 0.934, -1.308, 0, 0, 0, 55 [SEP] 44, Bowl, 0.944, 0.914, 0.139, 0, 0, 0, 56 [SEP] 45, DishSponge, 1.240, 1.665, -2.029, 0, 270, 0, 54 [SEP] 46, Spoon, -0.846, 0.934, -0.143, 0, 0, 0, 55 [SEP] 47, Cup, 1.199, 0.908, -0.208, 0, 0, 0, 56 [SEP] 48, Mug, 1.114, 0.906, -1.793, 0, 0, 0, 61 [SEP] 49, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 50, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 51, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 52, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 53, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 54, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 55, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 56, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 57, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 58, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 59, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 60, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 61, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 62, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 63, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 64, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 65, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 66, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 67, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 68, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 69, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 70, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 71, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 72, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 73, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 74, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 75, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 76, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 77, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 78, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 79, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 80, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 81, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 82, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 83, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 84, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 85, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 86, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 87, NorthWall, , , , , , , [SEP] 88, EastWall, , , , , , , [SEP] 89, SouthWall, , , , , , , [SEP] 90, WestWall, , , , , , , ", "output": ["STEP 1: Turn around, go pass the fridge and turn left to face the toaster. | STEP 2: Pick up the knife to the right of the toaster. | STEP 3: Look down at the lettuce on the counter. | STEP 4: Cut the lettuce on the counter. | STEP 5: Turn right and go to the sink. | STEP 6: Put the knife in the sink. | STEP 7: Turn around and go back to the counter with the toaster. | STEP 8: Pick up a slice of lettuce. | STEP 9: Turn around and go back to the sink. | STEP 10: Rinse the lettuce in the sink and pick it up. | STEP 11: Turn right, go to the end of the counter and turn left to go to the trash can. | STEP 12: Put the lettuce in the trash can behind the right bottle. | END"]} +{"id": "trial_T20190908_115403_911841-2", "input": "Put a washed slice of lettuce 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, -0.75, 0.900, 2.0, 0, 270, 0, [SEP] 1, Pan, -0.550, 0.931, 0.239, 0, 0, 0, 55 [SEP] 2, Statue, -1.229, 0.936, 0.144, 0, 0, 0, 55 [SEP] 3, Knife, 0.773, 0.934, -0.555, 0, 90, 0, 56 [SEP] 4, Egg, 1.199, 0.949, -1.793, 0, 0, 0, 61 [SEP] 5, Plate, 1.126, 2.211, -1.517, 0, 270, 0, 62 [SEP] 6, Tomato, 0.773, 0.952, -1.879, 0, 0, 0, 61 [SEP] 7, SoapBottle, 1.199, 0.911, -0.729, 0, 0, 0, 56 [SEP] 8, SoapBottle, -1.054, 0.179, 0.576, 0, 180, 0, 75 [SEP] 9, Bowl, 1.194, 1.669, -0.337, 0, 270, 0, 64 [SEP] 10, SaltShaker, 1.029, 0.907, -0.555, 0, 0, 0, 56 [SEP] 11, SaltShaker, -1.467, 0.550, 2.718, 0, 0, 0, 81 [SEP] 12, PepperShaker, 0.713, 0.699, -0.607, 0, 270, 0, 53 [SEP] 13, PepperShaker, 1.010, 0.104, -2.132, 0, 0, 0, 60 [SEP] 14, Lettuce, 0.773, 0.988, 0.139, 0, 0, 0, 56 [SEP] 15, Lettuce, 0.905, 1.479, 1.349, 0, 270, 0, 78 [SEP] 16, Lettuce, 0.688, 0.988, -0.729, 0, 0, 0, 56 [SEP] 17, Bread, 1.026, 1.482, 1.063, 0, 270, 0, 78 [SEP] 18, Bread, 1.026, 1.216, 1.254, 0, 270, 0, 78 [SEP] 19, Apple, 1.028, 1.845, -1.339, 0, 270, 0, 77 [SEP] 20, Apple, -0.642, 0.826, -0.745, 0, 90, 0, 76 [SEP] 21, Statue, -1.355, 0.936, -0.118, 0, 0, 0, 55 [SEP] 22, Glassbottle, -1.363, 0.554, 2.718, 0, 0, 0, 81 [SEP] 23, Bread, 1.029, 0.992, -0.381, 0, 0, 0, 56 [SEP] 24, CreditCard, 0.833, 0.150, -0.690, 0, 270, 0, 58 [SEP] 25, CellPhone, 0.688, 0.908, -0.729, 0, 0, 0, 56 [SEP] 26, Potato, 1.126, 1.825, -1.132, 0, 270, 0, 77 [SEP] 27, Knife, 1.199, 0.934, 0.139, 0, 270, 0, 56 [SEP] 28, Fork, 1.114, 0.911, -0.034, 0, 0, 0, 56 [SEP] 29, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 49 [SEP] 30, Lettuce, 0.966, 0.940, 1.254, 0, 270, 0, 78 [SEP] 31, Plate, 1.126, 2.211, -1.191, 0, 270, 0, 62 [SEP] 32, Apple, 1.199, 0.961, 0.313, 0, 0, 0, 56 [SEP] 33, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 51 [SEP] 34, Spatula, -0.808, 0.791, -0.486, 0, 180, 0, 76 [SEP] 35, PaperTowelRoll, -1.363, 0.658, 2.874, 0, 0, 0, 81 [SEP] 36, Tomato, 1.026, 1.683, 1.254, 0, 270, 0, 78 [SEP] 37, Egg, -0.818, 0.216, 0.510, 0, 180, 0, 75 [SEP] 38, SaltShaker, -0.920, 0.929, 0.162, 0, 0, 0, 55 [SEP] 39, PepperShaker, 0.794, 0.698, -0.524, 0, 270, 0, 53 [SEP] 40, Vase, -1.571, 0.881, 2.719, 0, 0, 0, 82 [SEP] 41, ButterKnife, -0.772, 0.933, 0.009, 0, 0, 0, 55 [SEP] 42, SoapBottle, -0.912, 0.177, 0.608, 0, 180, 0, 75 [SEP] 43, Vase, -0.846, 0.934, -1.308, 0, 0, 0, 55 [SEP] 44, Bowl, 0.944, 0.914, 0.139, 0, 0, 0, 56 [SEP] 45, DishSponge, 1.240, 1.665, -2.029, 0, 270, 0, 54 [SEP] 46, Spoon, -0.846, 0.934, -0.143, 0, 0, 0, 55 [SEP] 47, Cup, 1.199, 0.908, -0.208, 0, 0, 0, 56 [SEP] 48, Mug, 1.114, 0.906, -1.793, 0, 0, 0, 61 [SEP] 49, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 50, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 51, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 52, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 53, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 54, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 55, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 56, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 57, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 58, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 59, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 60, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 61, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 62, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 63, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 64, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 65, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 66, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 67, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 68, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 69, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 70, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 71, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 72, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 73, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 74, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 75, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 76, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 77, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 78, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 79, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 80, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 81, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 82, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 83, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 84, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 85, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 86, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 87, NorthWall, , , , , , , [SEP] 88, EastWall, , , , , , , [SEP] 89, SouthWall, , , , , , , [SEP] 90, WestWall, , , , , , , ", "output": ["STEP 1: Go to the toaster | STEP 2: Pick up the knife next to the toaster | STEP 3: Look down at the lettuce | STEP 4: Cut the lettuce | STEP 5: Go to the sink | STEP 6: Put the knife in the sink | STEP 7: Go to the cut lettuce | STEP 8: Pick up a slice of lettuce | STEP 9: Go to the sink | STEP 10: Wash the lettuce | STEP 11: Go to the black bin | STEP 12: Put the lettuce in the black bin | END"]} +{"id": "trial_T20190908_131500_521936-0", "input": "Put a microwaved chunk 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, -2.0, 0.900, 2.0, 0, 0, 0, [SEP] 1, CreditCard, 0.944, 0.908, -1.879, 0, 0, 0, 70 [SEP] 2, CreditCard, 0.753, 0.150, -0.571, 0, 270, 0, 67 [SEP] 3, CellPhone, 0.834, 0.699, -0.648, 0, 270, 0, 62 [SEP] 4, DishSponge, 0.688, 0.910, -0.381, 0, 0, 0, 65 [SEP] 5, ButterKnife, 0.944, 0.911, -0.729, 0, 0, 0, 65 [SEP] 6, ButterKnife, -1.292, 0.933, -0.380, 0, 0, 0, 64 [SEP] 7, Spatula, -0.550, 0.948, -1.618, 0, 0, 0, 64 [SEP] 8, Knife, 1.114, 0.934, -0.034, 0, 0, 0, 65 [SEP] 9, Knife, -0.624, 0.957, 0.009, 0, 180, 0, 64 [SEP] 10, Egg, 1.060, 1.833, -1.339, 0, 270, 0, 86 [SEP] 11, Egg, 1.087, 1.439, 1.158, 0, 270, 0, 87 [SEP] 12, Cup, 1.060, 1.792, -1.132, 0, 270, 0, 86 [SEP] 13, Cup, 1.014, 0.118, 0.398, 0, 270, 0, 59 [SEP] 14, Plate, 0.859, 0.914, -0.381, 0, 0, 0, 65 [SEP] 15, Plate, 1.082, 2.211, -0.973, 0, 270, 0, 71 [SEP] 16, Tomato, -0.846, 0.974, -1.308, 0, 0, 0, 64 [SEP] 17, Tomato, -1.104, 0.974, -0.118, 0, 0, 0, 64 [SEP] 18, SoapBottle, 0.910, 0.108, -2.292, 0, 0, 0, 69 [SEP] 19, SoapBottle, 0.773, 0.911, -0.034, 0, 0, 0, 65 [SEP] 20, Bowl, 0.905, 1.138, 0.967, 0, 270, 0, 87 [SEP] 21, Bowl, 0.844, 1.646, 1.349, 0, 270, 0, 87 [SEP] 22, SaltShaker, 1.055, 1.662, -1.893, 0, 270, 0, 63 [SEP] 23, SaltShaker, 0.954, 0.150, -0.690, 0, 270, 0, 67 [SEP] 24, PepperShaker, 0.833, 0.150, -0.611, 0, 270, 0, 67 [SEP] 25, Lettuce, 1.026, 0.940, 1.349, 0, 270, 0, 87 [SEP] 26, Mug, 0.844, 1.396, 1.254, 0, 270, 0, 87 [SEP] 27, Apple, -1.007, 0.227, 0.608, 0, 180, 0, 84 [SEP] 28, Apple, 0.965, 1.693, 1.540, 0, 270, 0, 87 [SEP] 29, Apple, 0.688, 0.961, -2.308, 0, 0, 0, 70 [SEP] 30, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 64 [SEP] 31, Glassbottle, 1.194, 1.667, -0.593, 0, 270, 0, 73 [SEP] 32, Bread, -0.779, 0.996, 0.209, 0, 258.641, 0, 64 [SEP] 33, CreditCard, -1.674, 0.878, 2.773, 0, 0, 0, 91 [SEP] 34, CellPhone, -0.624, 0.930, -1.463, 0, 0, 0, 64 [SEP] 35, Potato, -0.912, 0.207, 0.543, 0, 180, 0, 84 [SEP] 36, Knife, 1.114, 0.934, -0.381, 0, 0, 0, 65 [SEP] 37, Fork, -0.624, 0.934, -1.231, 0, 180, 0, 64 [SEP] 38, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 58 [SEP] 39, Lettuce, 0.688, 0.988, -0.729, 0, 0, 0, 65 [SEP] 40, Plate, 1.193, 1.669, 0.153, 0, 270, 0, 72 [SEP] 41, Apple, -0.753, 0.826, -0.745, 0, 90, 0, 85 [SEP] 42, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 60 [SEP] 43, Spatula, -0.697, 0.795, -0.573, 0, 270, 0, 85 [SEP] 44, PaperTowelRoll, -0.865, 0.281, 0.641, 0, 180, 0, 84 [SEP] 45, Tomato, 0.905, 1.442, 1.540, 0, 270, 0, 87 [SEP] 46, Egg, 0.966, 1.439, 0.967, 0, 270, 0, 87 [SEP] 47, SaltShaker, -1.467, 0.550, 2.874, 0, 0, 0, 90 [SEP] 48, PepperShaker, -0.477, 0.929, 0.162, 0, 0, 0, 64 [SEP] 49, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 90 [SEP] 50, ButterKnife, 0.773, 0.911, -1.879, 0, 0, 0, 70 [SEP] 51, SoapBottle, -0.698, 0.933, -1.231, 0, 0, 0, 64 [SEP] 52, Vase, -1.167, 0.934, 0.144, 0, 0, 0, 64 [SEP] 53, Bowl, 1.101, 1.669, -2.029, 0, 270, 0, 63 [SEP] 54, DishSponge, 0.833, 0.153, -0.729, 0, 270, 0, 67 [SEP] 55, Spoon, -0.772, 0.934, -1.154, 0, 0, 0, 85 [SEP] 56, Cup, -1.355, 0.930, -0.905, 0, 0, 0, 64 [SEP] 57, Mug, 1.082, 2.203, -1.517, 0, 270, 0, 71 [SEP] 58, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 59, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 60, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 61, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 62, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 63, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 64, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 65, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 66, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 67, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 68, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 69, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 70, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 71, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 72, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 73, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 74, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 75, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 76, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 77, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 78, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 79, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 80, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 81, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 82, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 83, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 84, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 85, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 86, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 87, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 88, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 89, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 90, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 91, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 92, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 93, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 94, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 95, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 96, NorthWall, , , , , , , [SEP] 97, EastWall, , , , , , , [SEP] 98, SouthWall, , , , , , , [SEP] 99, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and walk to the wall then turn right and walk to the window then turn left to face the coffee maker then take a step to your left please. | STEP 2: Pick up the knife that's in front of you. | STEP 3: Turn left and walk to the sink on your left turning left once you get there to face the sink,. | STEP 4: Cut the apple in the sink into three chunks,. | STEP 5: Put the knife in the sink horizontally near the bottom left corner of the sink. | STEP 6: Pick up one of the chunks of apple. | STEP 7: Turn left and take one step then turn left and walk to the microwave. | STEP 8: Cook the chunk of apple in the microwave then take it back out and close the door. | STEP 9: Turn right and walk to the wall then turn right and walk to the counter to your right and turn right to face it when you get there. | STEP 10: Put the chunk of apple on the counter please. | END"]} +{"id": "trial_T20190908_131500_521936-1", "input": "Put a heated apple piece 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, 2.0, 0, 0, 0, [SEP] 1, CreditCard, 0.944, 0.908, -1.879, 0, 0, 0, 70 [SEP] 2, CreditCard, 0.753, 0.150, -0.571, 0, 270, 0, 67 [SEP] 3, CellPhone, 0.834, 0.699, -0.648, 0, 270, 0, 62 [SEP] 4, DishSponge, 0.688, 0.910, -0.381, 0, 0, 0, 65 [SEP] 5, ButterKnife, 0.944, 0.911, -0.729, 0, 0, 0, 65 [SEP] 6, ButterKnife, -1.292, 0.933, -0.380, 0, 0, 0, 64 [SEP] 7, Spatula, -0.550, 0.948, -1.618, 0, 0, 0, 64 [SEP] 8, Knife, 1.114, 0.934, -0.034, 0, 0, 0, 65 [SEP] 9, Knife, -0.624, 0.957, 0.009, 0, 180, 0, 64 [SEP] 10, Egg, 1.060, 1.833, -1.339, 0, 270, 0, 86 [SEP] 11, Egg, 1.087, 1.439, 1.158, 0, 270, 0, 87 [SEP] 12, Cup, 1.060, 1.792, -1.132, 0, 270, 0, 86 [SEP] 13, Cup, 1.014, 0.118, 0.398, 0, 270, 0, 59 [SEP] 14, Plate, 0.859, 0.914, -0.381, 0, 0, 0, 65 [SEP] 15, Plate, 1.082, 2.211, -0.973, 0, 270, 0, 71 [SEP] 16, Tomato, -0.846, 0.974, -1.308, 0, 0, 0, 64 [SEP] 17, Tomato, -1.104, 0.974, -0.118, 0, 0, 0, 64 [SEP] 18, SoapBottle, 0.910, 0.108, -2.292, 0, 0, 0, 69 [SEP] 19, SoapBottle, 0.773, 0.911, -0.034, 0, 0, 0, 65 [SEP] 20, Bowl, 0.905, 1.138, 0.967, 0, 270, 0, 87 [SEP] 21, Bowl, 0.844, 1.646, 1.349, 0, 270, 0, 87 [SEP] 22, SaltShaker, 1.055, 1.662, -1.893, 0, 270, 0, 63 [SEP] 23, SaltShaker, 0.954, 0.150, -0.690, 0, 270, 0, 67 [SEP] 24, PepperShaker, 0.833, 0.150, -0.611, 0, 270, 0, 67 [SEP] 25, Lettuce, 1.026, 0.940, 1.349, 0, 270, 0, 87 [SEP] 26, Mug, 0.844, 1.396, 1.254, 0, 270, 0, 87 [SEP] 27, Apple, -1.007, 0.227, 0.608, 0, 180, 0, 84 [SEP] 28, Apple, 0.965, 1.693, 1.540, 0, 270, 0, 87 [SEP] 29, Apple, 0.688, 0.961, -2.308, 0, 0, 0, 70 [SEP] 30, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 64 [SEP] 31, Glassbottle, 1.194, 1.667, -0.593, 0, 270, 0, 73 [SEP] 32, Bread, -0.779, 0.996, 0.209, 0, 258.641, 0, 64 [SEP] 33, CreditCard, -1.674, 0.878, 2.773, 0, 0, 0, 91 [SEP] 34, CellPhone, -0.624, 0.930, -1.463, 0, 0, 0, 64 [SEP] 35, Potato, -0.912, 0.207, 0.543, 0, 180, 0, 84 [SEP] 36, Knife, 1.114, 0.934, -0.381, 0, 0, 0, 65 [SEP] 37, Fork, -0.624, 0.934, -1.231, 0, 180, 0, 64 [SEP] 38, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 58 [SEP] 39, Lettuce, 0.688, 0.988, -0.729, 0, 0, 0, 65 [SEP] 40, Plate, 1.193, 1.669, 0.153, 0, 270, 0, 72 [SEP] 41, Apple, -0.753, 0.826, -0.745, 0, 90, 0, 85 [SEP] 42, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 60 [SEP] 43, Spatula, -0.697, 0.795, -0.573, 0, 270, 0, 85 [SEP] 44, PaperTowelRoll, -0.865, 0.281, 0.641, 0, 180, 0, 84 [SEP] 45, Tomato, 0.905, 1.442, 1.540, 0, 270, 0, 87 [SEP] 46, Egg, 0.966, 1.439, 0.967, 0, 270, 0, 87 [SEP] 47, SaltShaker, -1.467, 0.550, 2.874, 0, 0, 0, 90 [SEP] 48, PepperShaker, -0.477, 0.929, 0.162, 0, 0, 0, 64 [SEP] 49, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 90 [SEP] 50, ButterKnife, 0.773, 0.911, -1.879, 0, 0, 0, 70 [SEP] 51, SoapBottle, -0.698, 0.933, -1.231, 0, 0, 0, 64 [SEP] 52, Vase, -1.167, 0.934, 0.144, 0, 0, 0, 64 [SEP] 53, Bowl, 1.101, 1.669, -2.029, 0, 270, 0, 63 [SEP] 54, DishSponge, 0.833, 0.153, -0.729, 0, 270, 0, 67 [SEP] 55, Spoon, -0.772, 0.934, -1.154, 0, 0, 0, 85 [SEP] 56, Cup, -1.355, 0.930, -0.905, 0, 0, 0, 64 [SEP] 57, Mug, 1.082, 2.203, -1.517, 0, 270, 0, 71 [SEP] 58, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 59, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 60, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 61, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 62, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 63, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 64, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 65, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 66, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 67, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 68, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 69, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 70, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 71, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 72, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 73, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 74, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 75, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 76, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 77, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 78, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 79, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 80, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 81, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 82, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 83, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 84, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 85, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 86, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 87, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 88, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 89, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 90, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 91, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 92, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 93, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 94, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 95, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 96, NorthWall, , , , , , , [SEP] 97, EastWall, , , , , , , [SEP] 98, SouthWall, , , , , , , [SEP] 99, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and go to the counter on the right of the stove. | STEP 2: Pick up the gray knife on the counter | STEP 3: Turn around and go to the front of the sink on the right. | STEP 4: Cut the green apple inside the sink | STEP 5: Place the gray knife inside the sink. | STEP 6: Pick up one piece of the apple out from the sink. | STEP 7: Turn around and go to the microwave above the stove. | STEP 8: Heat the cut apple in front of the green cup in the microwave and take it out. | STEP 9: Turn around and go to the left side of the kitchen island. | STEP 10: Place the heated apple on the counter towards the edge. | END"]} +{"id": "trial_T20190908_131500_521936-2", "input": "Put a heated apple slice 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, -2.0, 0.900, 2.0, 0, 0, 0, [SEP] 1, CreditCard, 0.944, 0.908, -1.879, 0, 0, 0, 70 [SEP] 2, CreditCard, 0.753, 0.150, -0.571, 0, 270, 0, 67 [SEP] 3, CellPhone, 0.834, 0.699, -0.648, 0, 270, 0, 62 [SEP] 4, DishSponge, 0.688, 0.910, -0.381, 0, 0, 0, 65 [SEP] 5, ButterKnife, 0.944, 0.911, -0.729, 0, 0, 0, 65 [SEP] 6, ButterKnife, -1.292, 0.933, -0.380, 0, 0, 0, 64 [SEP] 7, Spatula, -0.550, 0.948, -1.618, 0, 0, 0, 64 [SEP] 8, Knife, 1.114, 0.934, -0.034, 0, 0, 0, 65 [SEP] 9, Knife, -0.624, 0.957, 0.009, 0, 180, 0, 64 [SEP] 10, Egg, 1.060, 1.833, -1.339, 0, 270, 0, 86 [SEP] 11, Egg, 1.087, 1.439, 1.158, 0, 270, 0, 87 [SEP] 12, Cup, 1.060, 1.792, -1.132, 0, 270, 0, 86 [SEP] 13, Cup, 1.014, 0.118, 0.398, 0, 270, 0, 59 [SEP] 14, Plate, 0.859, 0.914, -0.381, 0, 0, 0, 65 [SEP] 15, Plate, 1.082, 2.211, -0.973, 0, 270, 0, 71 [SEP] 16, Tomato, -0.846, 0.974, -1.308, 0, 0, 0, 64 [SEP] 17, Tomato, -1.104, 0.974, -0.118, 0, 0, 0, 64 [SEP] 18, SoapBottle, 0.910, 0.108, -2.292, 0, 0, 0, 69 [SEP] 19, SoapBottle, 0.773, 0.911, -0.034, 0, 0, 0, 65 [SEP] 20, Bowl, 0.905, 1.138, 0.967, 0, 270, 0, 87 [SEP] 21, Bowl, 0.844, 1.646, 1.349, 0, 270, 0, 87 [SEP] 22, SaltShaker, 1.055, 1.662, -1.893, 0, 270, 0, 63 [SEP] 23, SaltShaker, 0.954, 0.150, -0.690, 0, 270, 0, 67 [SEP] 24, PepperShaker, 0.833, 0.150, -0.611, 0, 270, 0, 67 [SEP] 25, Lettuce, 1.026, 0.940, 1.349, 0, 270, 0, 87 [SEP] 26, Mug, 0.844, 1.396, 1.254, 0, 270, 0, 87 [SEP] 27, Apple, -1.007, 0.227, 0.608, 0, 180, 0, 84 [SEP] 28, Apple, 0.965, 1.693, 1.540, 0, 270, 0, 87 [SEP] 29, Apple, 0.688, 0.961, -2.308, 0, 0, 0, 70 [SEP] 30, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 64 [SEP] 31, Glassbottle, 1.194, 1.667, -0.593, 0, 270, 0, 73 [SEP] 32, Bread, -0.779, 0.996, 0.209, 0, 258.641, 0, 64 [SEP] 33, CreditCard, -1.674, 0.878, 2.773, 0, 0, 0, 91 [SEP] 34, CellPhone, -0.624, 0.930, -1.463, 0, 0, 0, 64 [SEP] 35, Potato, -0.912, 0.207, 0.543, 0, 180, 0, 84 [SEP] 36, Knife, 1.114, 0.934, -0.381, 0, 0, 0, 65 [SEP] 37, Fork, -0.624, 0.934, -1.231, 0, 180, 0, 64 [SEP] 38, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 58 [SEP] 39, Lettuce, 0.688, 0.988, -0.729, 0, 0, 0, 65 [SEP] 40, Plate, 1.193, 1.669, 0.153, 0, 270, 0, 72 [SEP] 41, Apple, -0.753, 0.826, -0.745, 0, 90, 0, 85 [SEP] 42, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 60 [SEP] 43, Spatula, -0.697, 0.795, -0.573, 0, 270, 0, 85 [SEP] 44, PaperTowelRoll, -0.865, 0.281, 0.641, 0, 180, 0, 84 [SEP] 45, Tomato, 0.905, 1.442, 1.540, 0, 270, 0, 87 [SEP] 46, Egg, 0.966, 1.439, 0.967, 0, 270, 0, 87 [SEP] 47, SaltShaker, -1.467, 0.550, 2.874, 0, 0, 0, 90 [SEP] 48, PepperShaker, -0.477, 0.929, 0.162, 0, 0, 0, 64 [SEP] 49, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 90 [SEP] 50, ButterKnife, 0.773, 0.911, -1.879, 0, 0, 0, 70 [SEP] 51, SoapBottle, -0.698, 0.933, -1.231, 0, 0, 0, 64 [SEP] 52, Vase, -1.167, 0.934, 0.144, 0, 0, 0, 64 [SEP] 53, Bowl, 1.101, 1.669, -2.029, 0, 270, 0, 63 [SEP] 54, DishSponge, 0.833, 0.153, -0.729, 0, 270, 0, 67 [SEP] 55, Spoon, -0.772, 0.934, -1.154, 0, 0, 0, 85 [SEP] 56, Cup, -1.355, 0.930, -0.905, 0, 0, 0, 64 [SEP] 57, Mug, 1.082, 2.203, -1.517, 0, 270, 0, 71 [SEP] 58, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 59, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 60, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 61, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 62, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 63, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 64, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 65, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 66, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 67, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 68, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 69, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 70, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 71, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 72, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 73, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 74, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 75, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 76, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 77, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 78, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 79, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 80, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 81, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 82, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 83, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 84, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 85, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 86, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 87, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 88, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 89, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 90, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 91, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 92, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 93, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 94, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 95, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 96, NorthWall, , , , , , , [SEP] 97, EastWall, , , , , , , [SEP] 98, SouthWall, , , , , , , [SEP] 99, WestWall, , , , , , , ", "output": ["STEP 1: Go to the coffeemaker | STEP 2: Pick up a knife from the counter | STEP 3: Go to the sink | STEP 4: Cut the apple in the sink | STEP 5: Put the knife down in the sink | STEP 6: Pick up an apple slice | STEP 7: Go to the microwave | STEP 8: Heat the apple slice | STEP 9: Go to the kitchen island | STEP 10: Put the apple slice down | END"]} +{"id": "trial_T20190907_020403_745438-0", "input": "Use the microwave to heat an apple. 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, -0.5, 0, 180, 0, [SEP] 1, Pan, 0.842, 0.950, -1.098, 0, 0, 0, 61 [SEP] 2, Pan, -1.167, 0.931, -0.905, 0, 90, 0, 67 [SEP] 3, Potato, 0.773, 0.941, -1.793, 0, 0, 0, 73 [SEP] 4, Potato, -1.054, 0.207, 0.576, 0, 180, 0, 87 [SEP] 5, CreditCard, 0.753, 0.150, -0.729, 0, 270, 0, 70 [SEP] 6, CreditCard, -1.355, 0.930, -0.643, 0, 0, 0, 67 [SEP] 7, CellPhone, 0.688, 0.908, -0.034, 0, 0, 0, 68 [SEP] 8, CellPhone, -1.467, 0.550, 2.615, 0, 0, 0, 93 [SEP] 9, DishSponge, -1.104, 0.933, 0.144, 0, 0, 0, 67 [SEP] 10, DishSponge, 0.875, 0.494, -0.607, 0, 270, 0, 71 [SEP] 11, Glassbottle, 0.944, 0.912, -1.793, 0, 0, 0, 73 [SEP] 12, Glassbottle, 0.944, 0.912, -0.034, 0, 0, 0, 68 [SEP] 13, Fork, 0.875, 0.703, -0.772, 0, 0, 0, 65 [SEP] 14, Fork, 0.874, 0.154, -0.571, 0, 0, 0, 70 [SEP] 15, Spoon, 0.859, 0.912, -0.729, 0, 0, 0, 68 [SEP] 16, Spatula, 0.915, 0.509, -0.524, 0, 0, 0, 71 [SEP] 17, Knife, 0.859, 0.934, -0.381, 0, 0, 0, 68 [SEP] 18, Knife, -0.624, 0.957, 0.009, 0, 180, 0, 67 [SEP] 19, Egg, -0.587, 0.818, -0.659, 0, 90, 0, 88 [SEP] 20, Egg, -0.587, 0.818, -0.832, 0, 90, 0, 88 [SEP] 21, Cup, 0.783, 0.860, 1.063, 0, 270, 0, 90 [SEP] 22, Cup, 1.060, 1.780, -1.288, 0, 270, 0, 89 [SEP] 23, Tomato, 0.844, 1.175, 1.444, 0, 270, 0, 90 [SEP] 24, SoapBottle, -1.167, 0.933, -0.118, 0, 0, 0, 67 [SEP] 25, Bowl, 0.944, 0.914, 0.139, 0, 0, 0, 68 [SEP] 26, Bowl, 1.029, 0.914, -0.381, 0, 0, 0, 68 [SEP] 27, Lettuce, 0.966, 1.479, 1.158, 0, 270, 0, 90 [SEP] 28, Mug, 0.905, 0.858, 1.349, 0, 270, 0, 90 [SEP] 29, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 86 [SEP] 30, Apple, -0.960, 0.229, 0.543, 0, 180, 0, 87 [SEP] 31, Apple, -0.808, 0.830, -0.400, 0, 90, 0, 88 [SEP] 32, Apple, 0.905, 1.452, 1.444, 0, 270, 0, 90 [SEP] 33, Statue, -0.772, 0.936, -1.540, 0, 0, 0, 67 [SEP] 34, Glassbottle, 1.148, 1.667, -0.401, 0, 270, 0, 76 [SEP] 35, Bread, -0.779, 0.996, 0.209, 0, 258.641, 0, 67 [SEP] 36, CreditCard, 0.754, 0.492, -0.565, 0, 270, 0, 71 [SEP] 37, CellPhone, 0.859, 0.908, -0.555, 0, 0, 0, 68 [SEP] 38, Potato, -0.587, 0.811, -0.486, 0, 90, 0, 88 [SEP] 39, Knife, -0.772, 0.957, -0.143, 0, 0, 0, 67 [SEP] 40, Fork, 1.029, 0.911, -0.208, 0, 90, 0, 68 [SEP] 41, Pan, 1.148, 1.664, -2.166, 0, 180, 0, 66 [SEP] 42, Lettuce, 1.114, 0.988, 0.139, 0, 0, 0, 68 [SEP] 43, Plate, 1.126, 2.211, -1.082, 0, 270, 0, 74 [SEP] 44, Apple, -0.865, 0.229, 0.510, 0, 180, 0, 87 [SEP] 45, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 63 [SEP] 46, Spatula, 0.915, 0.717, -0.565, 0, 0, 0, 65 [SEP] 47, PaperTowelRoll, -0.818, 0.283, 0.608, 0, 270, 0, 87 [SEP] 48, Tomato, 0.688, 0.952, -1.965, 0, 0, 0, 73 [SEP] 49, Egg, -0.808, 0.818, -0.832, 0, 90, 0, 88 [SEP] 50, SaltShaker, 0.773, 0.907, -1.879, 0, 0, 0, 73 [SEP] 51, PepperShaker, -1.570, 0.550, 2.770, 0, 0, 0, 93 [SEP] 52, Vase, 1.199, 0.911, -0.208, 0, 0, 0, 68 [SEP] 53, ButterKnife, -0.698, 0.933, -1.154, 0, 0, 0, 67 [SEP] 54, SoapBottle, 0.862, 0.121, 0.349, 0, 270, 0, 62 [SEP] 55, Vase, 1.114, 0.912, -0.729, 0, 0, 0, 68 [SEP] 56, Bowl, 0.811, 0.111, -1.892, 0, 0, 0, 72 [SEP] 57, DishSponge, 1.126, 2.207, -1.517, 0, 270, 0, 74 [SEP] 58, Spoon, -1.041, 0.934, -0.380, 0, 90, 0, 67 [SEP] 59, Cup, -1.571, 0.879, 2.665, 0, 0, 0, 94 [SEP] 60, Mug, -0.753, 0.775, -0.659, 0, 90, 0, 88 [SEP] 61, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 62, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 63, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 64, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 65, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 66, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 67, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 68, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 69, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 70, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 71, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 72, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 73, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 74, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 75, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 76, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 77, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 78, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 79, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 80, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 81, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 82, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 83, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 84, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 85, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 86, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 87, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 88, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 89, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 90, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 91, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 92, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 93, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 94, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 95, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 96, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 97, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 98, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 99, NorthWall, , , , , , , [SEP] 100, EastWall, , , , , , , [SEP] 101, SouthWall, , , , , , , [SEP] 102, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and walk halfway to the door, then turn right and walk to the fridge, then turn right and walk to the sink and face it. | STEP 2: Take the apple from the sink. | STEP 3: Turn around and look up at the microwave above the stove. | STEP 4: Heat the apple in the microwave then take it out. | STEP 5: Turn around and face the sink. | STEP 6: Put the apple in the sink. | END"]} +{"id": "trial_T20190907_020403_745438-1", "input": "Place 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, -2.75, 0.900, -0.5, 0, 180, 0, [SEP] 1, Pan, 0.842, 0.950, -1.098, 0, 0, 0, 61 [SEP] 2, Pan, -1.167, 0.931, -0.905, 0, 90, 0, 67 [SEP] 3, Potato, 0.773, 0.941, -1.793, 0, 0, 0, 73 [SEP] 4, Potato, -1.054, 0.207, 0.576, 0, 180, 0, 87 [SEP] 5, CreditCard, 0.753, 0.150, -0.729, 0, 270, 0, 70 [SEP] 6, CreditCard, -1.355, 0.930, -0.643, 0, 0, 0, 67 [SEP] 7, CellPhone, 0.688, 0.908, -0.034, 0, 0, 0, 68 [SEP] 8, CellPhone, -1.467, 0.550, 2.615, 0, 0, 0, 93 [SEP] 9, DishSponge, -1.104, 0.933, 0.144, 0, 0, 0, 67 [SEP] 10, DishSponge, 0.875, 0.494, -0.607, 0, 270, 0, 71 [SEP] 11, Glassbottle, 0.944, 0.912, -1.793, 0, 0, 0, 73 [SEP] 12, Glassbottle, 0.944, 0.912, -0.034, 0, 0, 0, 68 [SEP] 13, Fork, 0.875, 0.703, -0.772, 0, 0, 0, 65 [SEP] 14, Fork, 0.874, 0.154, -0.571, 0, 0, 0, 70 [SEP] 15, Spoon, 0.859, 0.912, -0.729, 0, 0, 0, 68 [SEP] 16, Spatula, 0.915, 0.509, -0.524, 0, 0, 0, 71 [SEP] 17, Knife, 0.859, 0.934, -0.381, 0, 0, 0, 68 [SEP] 18, Knife, -0.624, 0.957, 0.009, 0, 180, 0, 67 [SEP] 19, Egg, -0.587, 0.818, -0.659, 0, 90, 0, 88 [SEP] 20, Egg, -0.587, 0.818, -0.832, 0, 90, 0, 88 [SEP] 21, Cup, 0.783, 0.860, 1.063, 0, 270, 0, 90 [SEP] 22, Cup, 1.060, 1.780, -1.288, 0, 270, 0, 89 [SEP] 23, Tomato, 0.844, 1.175, 1.444, 0, 270, 0, 90 [SEP] 24, SoapBottle, -1.167, 0.933, -0.118, 0, 0, 0, 67 [SEP] 25, Bowl, 0.944, 0.914, 0.139, 0, 0, 0, 68 [SEP] 26, Bowl, 1.029, 0.914, -0.381, 0, 0, 0, 68 [SEP] 27, Lettuce, 0.966, 1.479, 1.158, 0, 270, 0, 90 [SEP] 28, Mug, 0.905, 0.858, 1.349, 0, 270, 0, 90 [SEP] 29, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 86 [SEP] 30, Apple, -0.960, 0.229, 0.543, 0, 180, 0, 87 [SEP] 31, Apple, -0.808, 0.830, -0.400, 0, 90, 0, 88 [SEP] 32, Apple, 0.905, 1.452, 1.444, 0, 270, 0, 90 [SEP] 33, Statue, -0.772, 0.936, -1.540, 0, 0, 0, 67 [SEP] 34, Glassbottle, 1.148, 1.667, -0.401, 0, 270, 0, 76 [SEP] 35, Bread, -0.779, 0.996, 0.209, 0, 258.641, 0, 67 [SEP] 36, CreditCard, 0.754, 0.492, -0.565, 0, 270, 0, 71 [SEP] 37, CellPhone, 0.859, 0.908, -0.555, 0, 0, 0, 68 [SEP] 38, Potato, -0.587, 0.811, -0.486, 0, 90, 0, 88 [SEP] 39, Knife, -0.772, 0.957, -0.143, 0, 0, 0, 67 [SEP] 40, Fork, 1.029, 0.911, -0.208, 0, 90, 0, 68 [SEP] 41, Pan, 1.148, 1.664, -2.166, 0, 180, 0, 66 [SEP] 42, Lettuce, 1.114, 0.988, 0.139, 0, 0, 0, 68 [SEP] 43, Plate, 1.126, 2.211, -1.082, 0, 270, 0, 74 [SEP] 44, Apple, -0.865, 0.229, 0.510, 0, 180, 0, 87 [SEP] 45, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 63 [SEP] 46, Spatula, 0.915, 0.717, -0.565, 0, 0, 0, 65 [SEP] 47, PaperTowelRoll, -0.818, 0.283, 0.608, 0, 270, 0, 87 [SEP] 48, Tomato, 0.688, 0.952, -1.965, 0, 0, 0, 73 [SEP] 49, Egg, -0.808, 0.818, -0.832, 0, 90, 0, 88 [SEP] 50, SaltShaker, 0.773, 0.907, -1.879, 0, 0, 0, 73 [SEP] 51, PepperShaker, -1.570, 0.550, 2.770, 0, 0, 0, 93 [SEP] 52, Vase, 1.199, 0.911, -0.208, 0, 0, 0, 68 [SEP] 53, ButterKnife, -0.698, 0.933, -1.154, 0, 0, 0, 67 [SEP] 54, SoapBottle, 0.862, 0.121, 0.349, 0, 270, 0, 62 [SEP] 55, Vase, 1.114, 0.912, -0.729, 0, 0, 0, 68 [SEP] 56, Bowl, 0.811, 0.111, -1.892, 0, 0, 0, 72 [SEP] 57, DishSponge, 1.126, 2.207, -1.517, 0, 270, 0, 74 [SEP] 58, Spoon, -1.041, 0.934, -0.380, 0, 90, 0, 67 [SEP] 59, Cup, -1.571, 0.879, 2.665, 0, 0, 0, 94 [SEP] 60, Mug, -0.753, 0.775, -0.659, 0, 90, 0, 88 [SEP] 61, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 62, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 63, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 64, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 65, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 66, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 67, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 68, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 69, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 70, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 71, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 72, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 73, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 74, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 75, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 76, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 77, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 78, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 79, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 80, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 81, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 82, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 83, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 84, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 85, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 86, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 87, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 88, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 89, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 90, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 91, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 92, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 93, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 94, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 95, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 96, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 97, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 98, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 99, NorthWall, , , , , , , [SEP] 100, EastWall, , , , , , , [SEP] 101, SouthWall, , , , , , , [SEP] 102, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and move towards the door next to the shelves. Turn right and move towards the refrigerator and turn right once past the black rubbish bin. Move to the sink and turn right to face the sink. | STEP 2: Pick up the green apple in the corner of the sink to the right of the mug. | STEP 3: Turn left and move to the oven and then turn left to face the microwave above the oven. | STEP 4: Place the green apple on the plate in the microwave, microwave the green apple, then open the microwave and pick up the green apple. | STEP 5: Turn left and move to the sink in the kitchen island. | STEP 6: Place the green apple in the sink between the two onions in front of the drain. | END"]} +{"id": "trial_T20190907_020403_745438-2", "input": "Put a cooked 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, -2.75, 0.900, -0.5, 0, 180, 0, [SEP] 1, Pan, 0.842, 0.950, -1.098, 0, 0, 0, 61 [SEP] 2, Pan, -1.167, 0.931, -0.905, 0, 90, 0, 67 [SEP] 3, Potato, 0.773, 0.941, -1.793, 0, 0, 0, 73 [SEP] 4, Potato, -1.054, 0.207, 0.576, 0, 180, 0, 87 [SEP] 5, CreditCard, 0.753, 0.150, -0.729, 0, 270, 0, 70 [SEP] 6, CreditCard, -1.355, 0.930, -0.643, 0, 0, 0, 67 [SEP] 7, CellPhone, 0.688, 0.908, -0.034, 0, 0, 0, 68 [SEP] 8, CellPhone, -1.467, 0.550, 2.615, 0, 0, 0, 93 [SEP] 9, DishSponge, -1.104, 0.933, 0.144, 0, 0, 0, 67 [SEP] 10, DishSponge, 0.875, 0.494, -0.607, 0, 270, 0, 71 [SEP] 11, Glassbottle, 0.944, 0.912, -1.793, 0, 0, 0, 73 [SEP] 12, Glassbottle, 0.944, 0.912, -0.034, 0, 0, 0, 68 [SEP] 13, Fork, 0.875, 0.703, -0.772, 0, 0, 0, 65 [SEP] 14, Fork, 0.874, 0.154, -0.571, 0, 0, 0, 70 [SEP] 15, Spoon, 0.859, 0.912, -0.729, 0, 0, 0, 68 [SEP] 16, Spatula, 0.915, 0.509, -0.524, 0, 0, 0, 71 [SEP] 17, Knife, 0.859, 0.934, -0.381, 0, 0, 0, 68 [SEP] 18, Knife, -0.624, 0.957, 0.009, 0, 180, 0, 67 [SEP] 19, Egg, -0.587, 0.818, -0.659, 0, 90, 0, 88 [SEP] 20, Egg, -0.587, 0.818, -0.832, 0, 90, 0, 88 [SEP] 21, Cup, 0.783, 0.860, 1.063, 0, 270, 0, 90 [SEP] 22, Cup, 1.060, 1.780, -1.288, 0, 270, 0, 89 [SEP] 23, Tomato, 0.844, 1.175, 1.444, 0, 270, 0, 90 [SEP] 24, SoapBottle, -1.167, 0.933, -0.118, 0, 0, 0, 67 [SEP] 25, Bowl, 0.944, 0.914, 0.139, 0, 0, 0, 68 [SEP] 26, Bowl, 1.029, 0.914, -0.381, 0, 0, 0, 68 [SEP] 27, Lettuce, 0.966, 1.479, 1.158, 0, 270, 0, 90 [SEP] 28, Mug, 0.905, 0.858, 1.349, 0, 270, 0, 90 [SEP] 29, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 86 [SEP] 30, Apple, -0.960, 0.229, 0.543, 0, 180, 0, 87 [SEP] 31, Apple, -0.808, 0.830, -0.400, 0, 90, 0, 88 [SEP] 32, Apple, 0.905, 1.452, 1.444, 0, 270, 0, 90 [SEP] 33, Statue, -0.772, 0.936, -1.540, 0, 0, 0, 67 [SEP] 34, Glassbottle, 1.148, 1.667, -0.401, 0, 270, 0, 76 [SEP] 35, Bread, -0.779, 0.996, 0.209, 0, 258.641, 0, 67 [SEP] 36, CreditCard, 0.754, 0.492, -0.565, 0, 270, 0, 71 [SEP] 37, CellPhone, 0.859, 0.908, -0.555, 0, 0, 0, 68 [SEP] 38, Potato, -0.587, 0.811, -0.486, 0, 90, 0, 88 [SEP] 39, Knife, -0.772, 0.957, -0.143, 0, 0, 0, 67 [SEP] 40, Fork, 1.029, 0.911, -0.208, 0, 90, 0, 68 [SEP] 41, Pan, 1.148, 1.664, -2.166, 0, 180, 0, 66 [SEP] 42, Lettuce, 1.114, 0.988, 0.139, 0, 0, 0, 68 [SEP] 43, Plate, 1.126, 2.211, -1.082, 0, 270, 0, 74 [SEP] 44, Apple, -0.865, 0.229, 0.510, 0, 180, 0, 87 [SEP] 45, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 63 [SEP] 46, Spatula, 0.915, 0.717, -0.565, 0, 0, 0, 65 [SEP] 47, PaperTowelRoll, -0.818, 0.283, 0.608, 0, 270, 0, 87 [SEP] 48, Tomato, 0.688, 0.952, -1.965, 0, 0, 0, 73 [SEP] 49, Egg, -0.808, 0.818, -0.832, 0, 90, 0, 88 [SEP] 50, SaltShaker, 0.773, 0.907, -1.879, 0, 0, 0, 73 [SEP] 51, PepperShaker, -1.570, 0.550, 2.770, 0, 0, 0, 93 [SEP] 52, Vase, 1.199, 0.911, -0.208, 0, 0, 0, 68 [SEP] 53, ButterKnife, -0.698, 0.933, -1.154, 0, 0, 0, 67 [SEP] 54, SoapBottle, 0.862, 0.121, 0.349, 0, 270, 0, 62 [SEP] 55, Vase, 1.114, 0.912, -0.729, 0, 0, 0, 68 [SEP] 56, Bowl, 0.811, 0.111, -1.892, 0, 0, 0, 72 [SEP] 57, DishSponge, 1.126, 2.207, -1.517, 0, 270, 0, 74 [SEP] 58, Spoon, -1.041, 0.934, -0.380, 0, 90, 0, 67 [SEP] 59, Cup, -1.571, 0.879, 2.665, 0, 0, 0, 94 [SEP] 60, Mug, -0.753, 0.775, -0.659, 0, 90, 0, 88 [SEP] 61, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 62, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 63, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 64, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 65, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 66, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 67, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 68, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 69, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 70, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 71, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 72, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 73, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 74, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 75, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 76, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 77, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 78, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 79, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 80, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 81, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 82, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 83, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 84, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 85, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 86, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 87, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 88, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 89, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 90, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 91, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 92, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 93, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 94, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 95, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 96, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 97, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 98, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 99, NorthWall, , , , , , , [SEP] 100, EastWall, , , , , , , [SEP] 101, SouthWall, , , , , , , [SEP] 102, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and go towards the door, take a right and go towards the fridge, take a right and go to the sink on your right. | STEP 2: Pick up the green apple that is in the sink. | STEP 3: Turn around and go to the microwave that is above the stove. | STEP 4: Open the microwave, put the apple inside, close the door, turn the microwave on to cook, remove the apple from the microwave and close the door. | STEP 5: Turn around and go back to the sink. | STEP 6: Put the apple in the sink between the two eggs. | END"]} +{"id": "trial_T20190907_020403_745438-3", "input": "Put an apple into a microwave to cook it 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, -0.5, 0, 180, 0, [SEP] 1, Pan, 0.842, 0.950, -1.098, 0, 0, 0, 61 [SEP] 2, Pan, -1.167, 0.931, -0.905, 0, 90, 0, 67 [SEP] 3, Potato, 0.773, 0.941, -1.793, 0, 0, 0, 73 [SEP] 4, Potato, -1.054, 0.207, 0.576, 0, 180, 0, 87 [SEP] 5, CreditCard, 0.753, 0.150, -0.729, 0, 270, 0, 70 [SEP] 6, CreditCard, -1.355, 0.930, -0.643, 0, 0, 0, 67 [SEP] 7, CellPhone, 0.688, 0.908, -0.034, 0, 0, 0, 68 [SEP] 8, CellPhone, -1.467, 0.550, 2.615, 0, 0, 0, 93 [SEP] 9, DishSponge, -1.104, 0.933, 0.144, 0, 0, 0, 67 [SEP] 10, DishSponge, 0.875, 0.494, -0.607, 0, 270, 0, 71 [SEP] 11, Glassbottle, 0.944, 0.912, -1.793, 0, 0, 0, 73 [SEP] 12, Glassbottle, 0.944, 0.912, -0.034, 0, 0, 0, 68 [SEP] 13, Fork, 0.875, 0.703, -0.772, 0, 0, 0, 65 [SEP] 14, Fork, 0.874, 0.154, -0.571, 0, 0, 0, 70 [SEP] 15, Spoon, 0.859, 0.912, -0.729, 0, 0, 0, 68 [SEP] 16, Spatula, 0.915, 0.509, -0.524, 0, 0, 0, 71 [SEP] 17, Knife, 0.859, 0.934, -0.381, 0, 0, 0, 68 [SEP] 18, Knife, -0.624, 0.957, 0.009, 0, 180, 0, 67 [SEP] 19, Egg, -0.587, 0.818, -0.659, 0, 90, 0, 88 [SEP] 20, Egg, -0.587, 0.818, -0.832, 0, 90, 0, 88 [SEP] 21, Cup, 0.783, 0.860, 1.063, 0, 270, 0, 90 [SEP] 22, Cup, 1.060, 1.780, -1.288, 0, 270, 0, 89 [SEP] 23, Tomato, 0.844, 1.175, 1.444, 0, 270, 0, 90 [SEP] 24, SoapBottle, -1.167, 0.933, -0.118, 0, 0, 0, 67 [SEP] 25, Bowl, 0.944, 0.914, 0.139, 0, 0, 0, 68 [SEP] 26, Bowl, 1.029, 0.914, -0.381, 0, 0, 0, 68 [SEP] 27, Lettuce, 0.966, 1.479, 1.158, 0, 270, 0, 90 [SEP] 28, Mug, 0.905, 0.858, 1.349, 0, 270, 0, 90 [SEP] 29, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 86 [SEP] 30, Apple, -0.960, 0.229, 0.543, 0, 180, 0, 87 [SEP] 31, Apple, -0.808, 0.830, -0.400, 0, 90, 0, 88 [SEP] 32, Apple, 0.905, 1.452, 1.444, 0, 270, 0, 90 [SEP] 33, Statue, -0.772, 0.936, -1.540, 0, 0, 0, 67 [SEP] 34, Glassbottle, 1.148, 1.667, -0.401, 0, 270, 0, 76 [SEP] 35, Bread, -0.779, 0.996, 0.209, 0, 258.641, 0, 67 [SEP] 36, CreditCard, 0.754, 0.492, -0.565, 0, 270, 0, 71 [SEP] 37, CellPhone, 0.859, 0.908, -0.555, 0, 0, 0, 68 [SEP] 38, Potato, -0.587, 0.811, -0.486, 0, 90, 0, 88 [SEP] 39, Knife, -0.772, 0.957, -0.143, 0, 0, 0, 67 [SEP] 40, Fork, 1.029, 0.911, -0.208, 0, 90, 0, 68 [SEP] 41, Pan, 1.148, 1.664, -2.166, 0, 180, 0, 66 [SEP] 42, Lettuce, 1.114, 0.988, 0.139, 0, 0, 0, 68 [SEP] 43, Plate, 1.126, 2.211, -1.082, 0, 270, 0, 74 [SEP] 44, Apple, -0.865, 0.229, 0.510, 0, 180, 0, 87 [SEP] 45, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 63 [SEP] 46, Spatula, 0.915, 0.717, -0.565, 0, 0, 0, 65 [SEP] 47, PaperTowelRoll, -0.818, 0.283, 0.608, 0, 270, 0, 87 [SEP] 48, Tomato, 0.688, 0.952, -1.965, 0, 0, 0, 73 [SEP] 49, Egg, -0.808, 0.818, -0.832, 0, 90, 0, 88 [SEP] 50, SaltShaker, 0.773, 0.907, -1.879, 0, 0, 0, 73 [SEP] 51, PepperShaker, -1.570, 0.550, 2.770, 0, 0, 0, 93 [SEP] 52, Vase, 1.199, 0.911, -0.208, 0, 0, 0, 68 [SEP] 53, ButterKnife, -0.698, 0.933, -1.154, 0, 0, 0, 67 [SEP] 54, SoapBottle, 0.862, 0.121, 0.349, 0, 270, 0, 62 [SEP] 55, Vase, 1.114, 0.912, -0.729, 0, 0, 0, 68 [SEP] 56, Bowl, 0.811, 0.111, -1.892, 0, 0, 0, 72 [SEP] 57, DishSponge, 1.126, 2.207, -1.517, 0, 270, 0, 74 [SEP] 58, Spoon, -1.041, 0.934, -0.380, 0, 90, 0, 67 [SEP] 59, Cup, -1.571, 0.879, 2.665, 0, 0, 0, 94 [SEP] 60, Mug, -0.753, 0.775, -0.659, 0, 90, 0, 88 [SEP] 61, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 62, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 63, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 64, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 65, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 66, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 67, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 68, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 69, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 70, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 71, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 72, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 73, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 74, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 75, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 76, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 77, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 78, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 79, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 80, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 81, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 82, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 83, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 84, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 85, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 86, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 87, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 88, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 89, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 90, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 91, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 92, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 93, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 94, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 95, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 96, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 97, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 98, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 99, NorthWall, , , , , , , [SEP] 100, EastWall, , , , , , , [SEP] 101, SouthWall, , , , , , , [SEP] 102, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and walk to the sink that is on your right | STEP 2: Pick up the green apple out of the sink | STEP 3: Turn around and walk to the microwave that is above the stove | STEP 4: Open the microwave and place the apple inside to the left of the green cup | STEP 5: Close the door and turn the microwave on then open the microwave and pick up the apple | STEP 6: Turn around and place the apple in the sink between the two eggs closest to you | END"]} +{"id": "trial_T20190908_092900_630408-0", "input": "Put a spoon and pan into the sink at once. 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, Pan, 1.077, 0.950, -1.098, 0, 0, 0, 57 [SEP] 2, Pan, 0.905, 1.640, 1.444, 0, 0, 0, 78 [SEP] 3, Potato, -0.865, 0.209, 0.543, 0, 180, 0, 75 [SEP] 4, CreditCard, 0.834, 0.491, -0.731, 0, 270, 0, 59 [SEP] 5, CreditCard, 0.875, 0.491, -0.648, 0, 270, 0, 59 [SEP] 6, CellPhone, 1.199, 0.908, -1.879, 0, 0, 0, 61 [SEP] 7, CellPhone, -0.698, 0.930, -0.143, 0, 90, 0, 55 [SEP] 8, Spoon, -0.550, 0.934, 0.239, 0, 0, 0, 55 [SEP] 9, Egg, 0.783, 1.172, 1.444, 0, 270, 0, 78 [SEP] 10, Tomato, 0.844, 1.442, 1.158, 0, 270, 0, 78 [SEP] 11, Bowl, 0.844, 0.866, 0.967, 0, 270, 0, 78 [SEP] 12, Bowl, 1.087, 1.405, 1.540, 0, 270, 0, 78 [SEP] 13, SaltShaker, 0.794, 0.490, -0.565, 0, 270, 0, 59 [SEP] 14, SaltShaker, 1.199, 0.907, -0.034, 0, 0, 0, 56 [SEP] 15, PepperShaker, 1.055, 1.662, 0.344, 0, 270, 0, 63 [SEP] 16, Lettuce, -1.167, 1.010, 0.144, 0, 0, 0, 55 [SEP] 17, Bread, 0.966, 0.944, 1.158, 0, 270, 0, 78 [SEP] 18, Bread, 1.026, 0.944, 1.444, 0, 270, 0, 78 [SEP] 19, Mug, 1.194, 1.661, -0.273, 0, 270, 0, 64 [SEP] 20, Apple, -0.96, 0.227, 0.641, 0, 180, 0, 75 [SEP] 21, Statue, 0.859, 0.914, -0.208, 0, 0, 0, 56 [SEP] 22, Glassbottle, -1.571, 0.882, 2.692, 0, 0, 0, 82 [SEP] 23, Bread, -0.846, 1.014, -1.463, 0, 0, 0, 55 [SEP] 24, CreditCard, -0.772, 0.930, 0.162, 0, 0, 0, 55 [SEP] 25, CellPhone, 0.793, 0.150, -0.611, 0, 270, 0, 58 [SEP] 26, Potato, 0.783, 1.432, 1.349, 0, 270, 0, 78 [SEP] 27, Knife, 1.029, 0.934, -0.034, 0, 90, 0, 56 [SEP] 28, Fork, 0.874, 0.154, -0.531, 0, 0, 0, 58 [SEP] 29, Pan, 0.842, 0.950, -1.504, 0, 0, 0, 52 [SEP] 30, Lettuce, 1.114, 0.988, -0.381, 0, 0, 0, 56 [SEP] 31, Plate, 1.194, 1.669, -0.465, 0, 270, 0, 64 [SEP] 32, Apple, 1.093, 1.845, -1.339, 0, 270, 0, 77 [SEP] 33, Pot, -1.221, 0.92, -0.49, 0, 0, 0, 55 [SEP] 34, Spatula, 0.914, 0.168, -0.769, 0, 0, 0, 58 [SEP] 35, PaperTowelRoll, -1.007, 0.281, 0.543, 0, 180, 0, 75 [SEP] 36, Tomato, 0.844, 1.683, 0.967, 0, 270, 0, 78 [SEP] 37, Egg, -0.624, 0.971, 0.315, 0, 0, 0, 55 [SEP] 38, SaltShaker, 0.913, 0.117, 0.325, 0, 270, 0, 56 [SEP] 39, PepperShaker, 0.688, 0.907, -1.965, 0, 0, 0, 61 [SEP] 40, Vase, 1.055, 1.666, 0.153, 0, 270, 0, 63 [SEP] 41, ButterKnife, 1.029, 0.911, -0.208, 0, 0, 0, 56 [SEP] 42, SoapBottle, -0.920, 0.933, 0.086, 0, 0, 0, 55 [SEP] 43, Vase, -1.881, 0.555, 2.822, 0, 0, 0, 81 [SEP] 44, Bowl, 1.199, 0.914, -0.729, 0, 0, 0, 56 [SEP] 45, DishSponge, 0.773, 0.910, -0.729, 0, 0, 0, 56 [SEP] 46, Spoon, 0.773, 0.912, -1.965, 0, 0, 0, 61 [SEP] 47, Cup, -1.418, 0.930, -0.643, 0, 0, 0, 55 [SEP] 48, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 74 [SEP] 49, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 50, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 51, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 52, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 53, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 54, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 55, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 56, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 57, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 58, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 59, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 60, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 61, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 62, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 63, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 64, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 65, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 66, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 67, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 68, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 69, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 70, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 71, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 72, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 73, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 74, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 75, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 76, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 77, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 78, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 79, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 80, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 81, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 82, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 83, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 84, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 85, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 86, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 87, NorthWall, , , , , , , [SEP] 88, EastWall, , , , , , , [SEP] 89, SouthWall, , , , , , , [SEP] 90, WestWall, , , , , , , ", "output": ["STEP 1: Walk to the coffee maker on the end of the counter. | STEP 2: Grab the spoon from the counter. | STEP 3: Go to the stove and focus on the top left burner. | STEP 4: Place the spoon in the pan. | STEP 5: Grab the pan from the stove. | STEP 6: Turn around and go to the kitchen sink. | STEP 7: Place the pan and spoon in the sink. | END"]} +{"id": "trial_T20190908_092900_630408-1", "input": "Place a pan and 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, -0.75, 0.900, 1.0, 0, 90, 0, [SEP] 1, Pan, 1.077, 0.950, -1.098, 0, 0, 0, 57 [SEP] 2, Pan, 0.905, 1.640, 1.444, 0, 0, 0, 78 [SEP] 3, Potato, -0.865, 0.209, 0.543, 0, 180, 0, 75 [SEP] 4, CreditCard, 0.834, 0.491, -0.731, 0, 270, 0, 59 [SEP] 5, CreditCard, 0.875, 0.491, -0.648, 0, 270, 0, 59 [SEP] 6, CellPhone, 1.199, 0.908, -1.879, 0, 0, 0, 61 [SEP] 7, CellPhone, -0.698, 0.930, -0.143, 0, 90, 0, 55 [SEP] 8, Spoon, -0.550, 0.934, 0.239, 0, 0, 0, 55 [SEP] 9, Egg, 0.783, 1.172, 1.444, 0, 270, 0, 78 [SEP] 10, Tomato, 0.844, 1.442, 1.158, 0, 270, 0, 78 [SEP] 11, Bowl, 0.844, 0.866, 0.967, 0, 270, 0, 78 [SEP] 12, Bowl, 1.087, 1.405, 1.540, 0, 270, 0, 78 [SEP] 13, SaltShaker, 0.794, 0.490, -0.565, 0, 270, 0, 59 [SEP] 14, SaltShaker, 1.199, 0.907, -0.034, 0, 0, 0, 56 [SEP] 15, PepperShaker, 1.055, 1.662, 0.344, 0, 270, 0, 63 [SEP] 16, Lettuce, -1.167, 1.010, 0.144, 0, 0, 0, 55 [SEP] 17, Bread, 0.966, 0.944, 1.158, 0, 270, 0, 78 [SEP] 18, Bread, 1.026, 0.944, 1.444, 0, 270, 0, 78 [SEP] 19, Mug, 1.194, 1.661, -0.273, 0, 270, 0, 64 [SEP] 20, Apple, -0.96, 0.227, 0.641, 0, 180, 0, 75 [SEP] 21, Statue, 0.859, 0.914, -0.208, 0, 0, 0, 56 [SEP] 22, Glassbottle, -1.571, 0.882, 2.692, 0, 0, 0, 82 [SEP] 23, Bread, -0.846, 1.014, -1.463, 0, 0, 0, 55 [SEP] 24, CreditCard, -0.772, 0.930, 0.162, 0, 0, 0, 55 [SEP] 25, CellPhone, 0.793, 0.150, -0.611, 0, 270, 0, 58 [SEP] 26, Potato, 0.783, 1.432, 1.349, 0, 270, 0, 78 [SEP] 27, Knife, 1.029, 0.934, -0.034, 0, 90, 0, 56 [SEP] 28, Fork, 0.874, 0.154, -0.531, 0, 0, 0, 58 [SEP] 29, Pan, 0.842, 0.950, -1.504, 0, 0, 0, 52 [SEP] 30, Lettuce, 1.114, 0.988, -0.381, 0, 0, 0, 56 [SEP] 31, Plate, 1.194, 1.669, -0.465, 0, 270, 0, 64 [SEP] 32, Apple, 1.093, 1.845, -1.339, 0, 270, 0, 77 [SEP] 33, Pot, -1.221, 0.92, -0.49, 0, 0, 0, 55 [SEP] 34, Spatula, 0.914, 0.168, -0.769, 0, 0, 0, 58 [SEP] 35, PaperTowelRoll, -1.007, 0.281, 0.543, 0, 180, 0, 75 [SEP] 36, Tomato, 0.844, 1.683, 0.967, 0, 270, 0, 78 [SEP] 37, Egg, -0.624, 0.971, 0.315, 0, 0, 0, 55 [SEP] 38, SaltShaker, 0.913, 0.117, 0.325, 0, 270, 0, 56 [SEP] 39, PepperShaker, 0.688, 0.907, -1.965, 0, 0, 0, 61 [SEP] 40, Vase, 1.055, 1.666, 0.153, 0, 270, 0, 63 [SEP] 41, ButterKnife, 1.029, 0.911, -0.208, 0, 0, 0, 56 [SEP] 42, SoapBottle, -0.920, 0.933, 0.086, 0, 0, 0, 55 [SEP] 43, Vase, -1.881, 0.555, 2.822, 0, 0, 0, 81 [SEP] 44, Bowl, 1.199, 0.914, -0.729, 0, 0, 0, 56 [SEP] 45, DishSponge, 0.773, 0.910, -0.729, 0, 0, 0, 56 [SEP] 46, Spoon, 0.773, 0.912, -1.965, 0, 0, 0, 61 [SEP] 47, Cup, -1.418, 0.930, -0.643, 0, 0, 0, 55 [SEP] 48, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 74 [SEP] 49, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 50, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 51, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 52, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 53, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 54, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 55, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 56, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 57, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 58, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 59, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 60, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 61, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 62, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 63, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 64, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 65, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 66, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 67, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 68, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 69, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 70, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 71, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 72, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 73, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 74, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 75, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 76, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 77, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 78, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 79, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 80, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 81, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 82, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 83, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 84, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 85, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 86, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 87, NorthWall, , , , , , , [SEP] 88, EastWall, , , , , , , [SEP] 89, SouthWall, , , , , , , [SEP] 90, WestWall, , , , , , , ", "output": ["STEP 1: Go to the counter right of the stove | STEP 2: Pick up a spoon on the counter | STEP 3: Go to the stove | STEP 4: Place the spoon in a pan | STEP 5: Pick up the pan from the stove | STEP 6: Turn to the sink | STEP 7: Place the pan and spoon in the sink | END"]} +{"id": "trial_T20190908_092900_630408-2", "input": "Move spoon to pan on stove, move both to 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, 1.0, 0, 90, 0, [SEP] 1, Pan, 1.077, 0.950, -1.098, 0, 0, 0, 57 [SEP] 2, Pan, 0.905, 1.640, 1.444, 0, 0, 0, 78 [SEP] 3, Potato, -0.865, 0.209, 0.543, 0, 180, 0, 75 [SEP] 4, CreditCard, 0.834, 0.491, -0.731, 0, 270, 0, 59 [SEP] 5, CreditCard, 0.875, 0.491, -0.648, 0, 270, 0, 59 [SEP] 6, CellPhone, 1.199, 0.908, -1.879, 0, 0, 0, 61 [SEP] 7, CellPhone, -0.698, 0.930, -0.143, 0, 90, 0, 55 [SEP] 8, Spoon, -0.550, 0.934, 0.239, 0, 0, 0, 55 [SEP] 9, Egg, 0.783, 1.172, 1.444, 0, 270, 0, 78 [SEP] 10, Tomato, 0.844, 1.442, 1.158, 0, 270, 0, 78 [SEP] 11, Bowl, 0.844, 0.866, 0.967, 0, 270, 0, 78 [SEP] 12, Bowl, 1.087, 1.405, 1.540, 0, 270, 0, 78 [SEP] 13, SaltShaker, 0.794, 0.490, -0.565, 0, 270, 0, 59 [SEP] 14, SaltShaker, 1.199, 0.907, -0.034, 0, 0, 0, 56 [SEP] 15, PepperShaker, 1.055, 1.662, 0.344, 0, 270, 0, 63 [SEP] 16, Lettuce, -1.167, 1.010, 0.144, 0, 0, 0, 55 [SEP] 17, Bread, 0.966, 0.944, 1.158, 0, 270, 0, 78 [SEP] 18, Bread, 1.026, 0.944, 1.444, 0, 270, 0, 78 [SEP] 19, Mug, 1.194, 1.661, -0.273, 0, 270, 0, 64 [SEP] 20, Apple, -0.96, 0.227, 0.641, 0, 180, 0, 75 [SEP] 21, Statue, 0.859, 0.914, -0.208, 0, 0, 0, 56 [SEP] 22, Glassbottle, -1.571, 0.882, 2.692, 0, 0, 0, 82 [SEP] 23, Bread, -0.846, 1.014, -1.463, 0, 0, 0, 55 [SEP] 24, CreditCard, -0.772, 0.930, 0.162, 0, 0, 0, 55 [SEP] 25, CellPhone, 0.793, 0.150, -0.611, 0, 270, 0, 58 [SEP] 26, Potato, 0.783, 1.432, 1.349, 0, 270, 0, 78 [SEP] 27, Knife, 1.029, 0.934, -0.034, 0, 90, 0, 56 [SEP] 28, Fork, 0.874, 0.154, -0.531, 0, 0, 0, 58 [SEP] 29, Pan, 0.842, 0.950, -1.504, 0, 0, 0, 52 [SEP] 30, Lettuce, 1.114, 0.988, -0.381, 0, 0, 0, 56 [SEP] 31, Plate, 1.194, 1.669, -0.465, 0, 270, 0, 64 [SEP] 32, Apple, 1.093, 1.845, -1.339, 0, 270, 0, 77 [SEP] 33, Pot, -1.221, 0.92, -0.49, 0, 0, 0, 55 [SEP] 34, Spatula, 0.914, 0.168, -0.769, 0, 0, 0, 58 [SEP] 35, PaperTowelRoll, -1.007, 0.281, 0.543, 0, 180, 0, 75 [SEP] 36, Tomato, 0.844, 1.683, 0.967, 0, 270, 0, 78 [SEP] 37, Egg, -0.624, 0.971, 0.315, 0, 0, 0, 55 [SEP] 38, SaltShaker, 0.913, 0.117, 0.325, 0, 270, 0, 56 [SEP] 39, PepperShaker, 0.688, 0.907, -1.965, 0, 0, 0, 61 [SEP] 40, Vase, 1.055, 1.666, 0.153, 0, 270, 0, 63 [SEP] 41, ButterKnife, 1.029, 0.911, -0.208, 0, 0, 0, 56 [SEP] 42, SoapBottle, -0.920, 0.933, 0.086, 0, 0, 0, 55 [SEP] 43, Vase, -1.881, 0.555, 2.822, 0, 0, 0, 81 [SEP] 44, Bowl, 1.199, 0.914, -0.729, 0, 0, 0, 56 [SEP] 45, DishSponge, 0.773, 0.910, -0.729, 0, 0, 0, 56 [SEP] 46, Spoon, 0.773, 0.912, -1.965, 0, 0, 0, 61 [SEP] 47, Cup, -1.418, 0.930, -0.643, 0, 0, 0, 55 [SEP] 48, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 74 [SEP] 49, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 50, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 51, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 52, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 53, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 54, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 55, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 56, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 57, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 58, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 59, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 60, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 61, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 62, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 63, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 64, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 65, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 66, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 67, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 68, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 69, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 70, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 71, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 72, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 73, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 74, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 75, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 76, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 77, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 78, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 79, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 80, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 81, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 82, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 83, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 84, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 85, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 86, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 87, NorthWall, , , , , , , [SEP] 88, EastWall, , , , , , , [SEP] 89, SouthWall, , , , , , , [SEP] 90, WestWall, , , , , , , ", "output": ["STEP 1: Turn right, proceed to wall. Turn left to face counter with coffee maker on it. | STEP 2: Pick up spoon from counter, behind shaker. | STEP 3: Turn left, proceed to stove on right. Turn right to face stove. | STEP 4: Put spoon standing up in pan on right back burner of stove. | STEP 5: Pick up pan with spoon from right back burner of stove. | STEP 6: Turn around and go to sink. | STEP 7: Put pan with spoon in center of sink. | END"]} +{"id": "trial_T20190908_091835_825830-0", "input": "Put a cool loaf of bread 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, 1.5, 0, 90, 0, [SEP] 1, Statue, -0.550, 0.936, -1.540, 0, 0, 0, 62 [SEP] 2, Potato, -1.054, 0.209, 0.641, 0, 180, 0, 82 [SEP] 3, CreditCard, -1.674, 0.878, 2.692, 0, 0, 0, 89 [SEP] 4, CreditCard, -0.698, 0.930, 0.086, 0, 0, 0, 62 [SEP] 5, CellPhone, -1.985, 0.550, 2.822, 0, 0, 0, 88 [SEP] 6, CellPhone, -1.363, 0.550, 2.770, 0, 0, 0, 88 [SEP] 7, DishSponge, 1.055, 1.665, -2.029, 0, 270, 0, 61 [SEP] 8, Glassbottle, -0.846, 0.934, -1.540, 0, 0, 0, 62 [SEP] 9, Glassbottle, -1.571, 0.882, 2.692, 0, 0, 0, 89 [SEP] 10, Fork, -0.753, 0.780, -0.659, 0, 180, 0, 83 [SEP] 11, Fork, -0.697, 0.777, -0.832, 0, 90, 0, 83 [SEP] 12, Egg, -0.865, 0.216, 0.543, 0, 180, 0, 82 [SEP] 13, Egg, -1.041, 0.971, -0.118, 0, 0, 0, 62 [SEP] 14, Cup, -0.753, 0.777, -0.918, 0, 90, 0, 83 [SEP] 15, Plate, 1.148, 1.669, -2.234, 0, 270, 0, 61 [SEP] 16, Plate, 1.194, 1.669, -0.401, 0, 270, 0, 71 [SEP] 17, Tomato, -0.920, 0.974, -1.308, 0, 0, 0, 62 [SEP] 18, SoapBottle, 1.194, 1.666, -2.029, 0, 270, 0, 61 [SEP] 19, SoapBottle, 1.126, 2.208, -1.408, 0, 270, 0, 69 [SEP] 20, Bowl, -1.167, 0.936, -1.430, 0, 0, 0, 62 [SEP] 21, Bowl, -1.467, 0.557, 2.667, 0, 0, 0, 88 [SEP] 22, SaltShaker, 1.256, 2.204, -1.408, 0, 270, 0, 69 [SEP] 23, SaltShaker, 0.915, 0.491, -0.565, 0, 270, 0, 66 [SEP] 24, Lettuce, -0.753, 0.857, -0.745, 0, 90, 0, 83 [SEP] 25, Lettuce, -1.167, 1.010, 0.144, 0, 0, 0, 62 [SEP] 26, Apple, 1.126, 1.845, -1.132, 0, 270, 0, 84 [SEP] 27, Apple, -0.772, 0.983, -1.386, 0, 0, 0, 62 [SEP] 28, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 62 [SEP] 29, Glassbottle, -0.477, 0.934, -0.143, 0, 0, 0, 62 [SEP] 30, Bread, -0.779, 0.996, 0.209, 0, 258.641, 0, 62 [SEP] 31, CreditCard, -1.778, 0.551, 2.563, 0, 0, 0, 88 [SEP] 32, CellPhone, 0.833, 0.150, -0.690, 0, 270, 0, 65 [SEP] 33, Potato, -0.642, 0.807, -0.486, 0, 90, 0, 83 [SEP] 34, Knife, 0.868, 0.700, -0.600, 90, 315, 0, 60 [SEP] 35, Fork, -0.753, 0.780, -0.573, 0, 180, 0, 83 [SEP] 36, Pan, 0.842, 0.950, -1.098, 0, 0, 0, 56 [SEP] 37, Lettuce, 0.866, 1.688, 1.209, 9.746, 11.103, 0, 85 [SEP] 38, Plate, 1.147, 1.669, 0.216, 0, 270, 0, 70 [SEP] 39, Apple, -0.960, 0.229, 0.576, 0, 180, 0, 82 [SEP] 40, Pot, -1.221, 0.92, -0.49, 0, 0, 0, 62 [SEP] 41, Spatula, -0.753, 0.791, -0.400, 0, 180, 0, 83 [SEP] 42, PaperTowelRoll, -1.367, 0.986, 2.692, 0, 0, 0, 89 [SEP] 43, Tomato, -0.869, 0.962, -0.096, 0, 0, 0, 62 [SEP] 44, Egg, -0.587, 0.814, -0.745, 0, 90, 0, 83 [SEP] 45, SaltShaker, -0.550, 0.929, -1.154, 0, 0, 0, 62 [SEP] 46, PepperShaker, 0.834, 0.491, -0.731, 0, 270, 0, 66 [SEP] 47, Vase, 1.082, 2.207, -1.082, 0, 270, 0, 69 [SEP] 48, ButterKnife, -0.846, 0.933, -1.231, 0, 0, 0, 62 [SEP] 49, SoapBottle, 1.102, 1.666, -0.593, 0, 270, 0, 71 [SEP] 50, Vase, 1.082, 2.209, -1.626, 0, 270, 0, 69 [SEP] 51, Bowl, -0.624, 0.936, -1.308, 0, 0, 0, 62 [SEP] 52, DishSponge, 0.794, 0.493, -0.607, 0, 270, 0, 66 [SEP] 53, Spoon, -1.104, 0.934, -1.167, 0, 0, 0, 62 [SEP] 54, Cup, 1.009, 1.663, -1.893, 0, 270, 0, 61 [SEP] 55, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 81 [SEP] 56, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 57, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 58, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 59, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 60, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 61, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 62, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 63, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 64, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 65, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 66, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 67, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 68, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 69, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 70, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 71, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 72, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 73, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 74, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 75, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 76, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 77, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 78, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 79, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 80, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 81, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 82, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 83, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 84, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 85, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 86, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 87, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 88, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 89, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 90, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 91, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 92, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 93, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 94, NorthWall, , , , , , , [SEP] 95, EastWall, , , , , , , [SEP] 96, SouthWall, , , , , , , [SEP] 97, WestWall, , , , , , , ", "output": ["STEP 1: Move to the right and face the counter with the bread on it. | STEP 2: Pick up the bread from the counter. | STEP 3: Bring the bread with you and move to face the white fridge. | STEP 4: Put the bread in the fridge on the middle shelf and let it get cool, then take it out again. | STEP 5: Bring the bread with you and move back to the right, then turn left and face the counter to the left of the stove. | STEP 6: Put the bread down on the counter. | END"]} +{"id": "trial_T20190908_091835_825830-1", "input": "Put a chilled loaf of bread 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, 1.5, 0, 90, 0, [SEP] 1, Statue, -0.550, 0.936, -1.540, 0, 0, 0, 62 [SEP] 2, Potato, -1.054, 0.209, 0.641, 0, 180, 0, 82 [SEP] 3, CreditCard, -1.674, 0.878, 2.692, 0, 0, 0, 89 [SEP] 4, CreditCard, -0.698, 0.930, 0.086, 0, 0, 0, 62 [SEP] 5, CellPhone, -1.985, 0.550, 2.822, 0, 0, 0, 88 [SEP] 6, CellPhone, -1.363, 0.550, 2.770, 0, 0, 0, 88 [SEP] 7, DishSponge, 1.055, 1.665, -2.029, 0, 270, 0, 61 [SEP] 8, Glassbottle, -0.846, 0.934, -1.540, 0, 0, 0, 62 [SEP] 9, Glassbottle, -1.571, 0.882, 2.692, 0, 0, 0, 89 [SEP] 10, Fork, -0.753, 0.780, -0.659, 0, 180, 0, 83 [SEP] 11, Fork, -0.697, 0.777, -0.832, 0, 90, 0, 83 [SEP] 12, Egg, -0.865, 0.216, 0.543, 0, 180, 0, 82 [SEP] 13, Egg, -1.041, 0.971, -0.118, 0, 0, 0, 62 [SEP] 14, Cup, -0.753, 0.777, -0.918, 0, 90, 0, 83 [SEP] 15, Plate, 1.148, 1.669, -2.234, 0, 270, 0, 61 [SEP] 16, Plate, 1.194, 1.669, -0.401, 0, 270, 0, 71 [SEP] 17, Tomato, -0.920, 0.974, -1.308, 0, 0, 0, 62 [SEP] 18, SoapBottle, 1.194, 1.666, -2.029, 0, 270, 0, 61 [SEP] 19, SoapBottle, 1.126, 2.208, -1.408, 0, 270, 0, 69 [SEP] 20, Bowl, -1.167, 0.936, -1.430, 0, 0, 0, 62 [SEP] 21, Bowl, -1.467, 0.557, 2.667, 0, 0, 0, 88 [SEP] 22, SaltShaker, 1.256, 2.204, -1.408, 0, 270, 0, 69 [SEP] 23, SaltShaker, 0.915, 0.491, -0.565, 0, 270, 0, 66 [SEP] 24, Lettuce, -0.753, 0.857, -0.745, 0, 90, 0, 83 [SEP] 25, Lettuce, -1.167, 1.010, 0.144, 0, 0, 0, 62 [SEP] 26, Apple, 1.126, 1.845, -1.132, 0, 270, 0, 84 [SEP] 27, Apple, -0.772, 0.983, -1.386, 0, 0, 0, 62 [SEP] 28, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 62 [SEP] 29, Glassbottle, -0.477, 0.934, -0.143, 0, 0, 0, 62 [SEP] 30, Bread, -0.779, 0.996, 0.209, 0, 258.641, 0, 62 [SEP] 31, CreditCard, -1.778, 0.551, 2.563, 0, 0, 0, 88 [SEP] 32, CellPhone, 0.833, 0.150, -0.690, 0, 270, 0, 65 [SEP] 33, Potato, -0.642, 0.807, -0.486, 0, 90, 0, 83 [SEP] 34, Knife, 0.868, 0.700, -0.600, 90, 315, 0, 60 [SEP] 35, Fork, -0.753, 0.780, -0.573, 0, 180, 0, 83 [SEP] 36, Pan, 0.842, 0.950, -1.098, 0, 0, 0, 56 [SEP] 37, Lettuce, 0.866, 1.688, 1.209, 9.746, 11.103, 0, 85 [SEP] 38, Plate, 1.147, 1.669, 0.216, 0, 270, 0, 70 [SEP] 39, Apple, -0.960, 0.229, 0.576, 0, 180, 0, 82 [SEP] 40, Pot, -1.221, 0.92, -0.49, 0, 0, 0, 62 [SEP] 41, Spatula, -0.753, 0.791, -0.400, 0, 180, 0, 83 [SEP] 42, PaperTowelRoll, -1.367, 0.986, 2.692, 0, 0, 0, 89 [SEP] 43, Tomato, -0.869, 0.962, -0.096, 0, 0, 0, 62 [SEP] 44, Egg, -0.587, 0.814, -0.745, 0, 90, 0, 83 [SEP] 45, SaltShaker, -0.550, 0.929, -1.154, 0, 0, 0, 62 [SEP] 46, PepperShaker, 0.834, 0.491, -0.731, 0, 270, 0, 66 [SEP] 47, Vase, 1.082, 2.207, -1.082, 0, 270, 0, 69 [SEP] 48, ButterKnife, -0.846, 0.933, -1.231, 0, 0, 0, 62 [SEP] 49, SoapBottle, 1.102, 1.666, -0.593, 0, 270, 0, 71 [SEP] 50, Vase, 1.082, 2.209, -1.626, 0, 270, 0, 69 [SEP] 51, Bowl, -0.624, 0.936, -1.308, 0, 0, 0, 62 [SEP] 52, DishSponge, 0.794, 0.493, -0.607, 0, 270, 0, 66 [SEP] 53, Spoon, -1.104, 0.934, -1.167, 0, 0, 0, 62 [SEP] 54, Cup, 1.009, 1.663, -1.893, 0, 270, 0, 61 [SEP] 55, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 81 [SEP] 56, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 57, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 58, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 59, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 60, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 61, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 62, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 63, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 64, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 65, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 66, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 67, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 68, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 69, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 70, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 71, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 72, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 73, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 74, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 75, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 76, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 77, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 78, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 79, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 80, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 81, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 82, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 83, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 84, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 85, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 86, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 87, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 88, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 89, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 90, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 91, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 92, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 93, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 94, NorthWall, , , , , , , [SEP] 95, EastWall, , , , , , , [SEP] 96, SouthWall, , , , , , , [SEP] 97, WestWall, , , , , , , ", "output": ["STEP 1: Walk up to the fridge, then turn right and walk forward, turn right to face the kitchen island. | STEP 2: Pick up the loaf of bread off of the kitchen island. | STEP 3: Turn right and walk over to the fridge. | STEP 4: Put the loaf of bread in the fridge and let it get cold for a couple seconds, then open the fridge and take out the loaf of bread, after that close the fridge. | STEP 5: Turn right and begin walking across the room, then turn left to face the counter. | STEP 6: Put the chilled loaf of bread on the counter to the right of the toaster. | END"]} +{"id": "trial_T20190908_091835_825830-2", "input": "Place a loaf of bread 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, -0.25, 0.900, 1.5, 0, 90, 0, [SEP] 1, Statue, -0.550, 0.936, -1.540, 0, 0, 0, 62 [SEP] 2, Potato, -1.054, 0.209, 0.641, 0, 180, 0, 82 [SEP] 3, CreditCard, -1.674, 0.878, 2.692, 0, 0, 0, 89 [SEP] 4, CreditCard, -0.698, 0.930, 0.086, 0, 0, 0, 62 [SEP] 5, CellPhone, -1.985, 0.550, 2.822, 0, 0, 0, 88 [SEP] 6, CellPhone, -1.363, 0.550, 2.770, 0, 0, 0, 88 [SEP] 7, DishSponge, 1.055, 1.665, -2.029, 0, 270, 0, 61 [SEP] 8, Glassbottle, -0.846, 0.934, -1.540, 0, 0, 0, 62 [SEP] 9, Glassbottle, -1.571, 0.882, 2.692, 0, 0, 0, 89 [SEP] 10, Fork, -0.753, 0.780, -0.659, 0, 180, 0, 83 [SEP] 11, Fork, -0.697, 0.777, -0.832, 0, 90, 0, 83 [SEP] 12, Egg, -0.865, 0.216, 0.543, 0, 180, 0, 82 [SEP] 13, Egg, -1.041, 0.971, -0.118, 0, 0, 0, 62 [SEP] 14, Cup, -0.753, 0.777, -0.918, 0, 90, 0, 83 [SEP] 15, Plate, 1.148, 1.669, -2.234, 0, 270, 0, 61 [SEP] 16, Plate, 1.194, 1.669, -0.401, 0, 270, 0, 71 [SEP] 17, Tomato, -0.920, 0.974, -1.308, 0, 0, 0, 62 [SEP] 18, SoapBottle, 1.194, 1.666, -2.029, 0, 270, 0, 61 [SEP] 19, SoapBottle, 1.126, 2.208, -1.408, 0, 270, 0, 69 [SEP] 20, Bowl, -1.167, 0.936, -1.430, 0, 0, 0, 62 [SEP] 21, Bowl, -1.467, 0.557, 2.667, 0, 0, 0, 88 [SEP] 22, SaltShaker, 1.256, 2.204, -1.408, 0, 270, 0, 69 [SEP] 23, SaltShaker, 0.915, 0.491, -0.565, 0, 270, 0, 66 [SEP] 24, Lettuce, -0.753, 0.857, -0.745, 0, 90, 0, 83 [SEP] 25, Lettuce, -1.167, 1.010, 0.144, 0, 0, 0, 62 [SEP] 26, Apple, 1.126, 1.845, -1.132, 0, 270, 0, 84 [SEP] 27, Apple, -0.772, 0.983, -1.386, 0, 0, 0, 62 [SEP] 28, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 62 [SEP] 29, Glassbottle, -0.477, 0.934, -0.143, 0, 0, 0, 62 [SEP] 30, Bread, -0.779, 0.996, 0.209, 0, 258.641, 0, 62 [SEP] 31, CreditCard, -1.778, 0.551, 2.563, 0, 0, 0, 88 [SEP] 32, CellPhone, 0.833, 0.150, -0.690, 0, 270, 0, 65 [SEP] 33, Potato, -0.642, 0.807, -0.486, 0, 90, 0, 83 [SEP] 34, Knife, 0.868, 0.700, -0.600, 90, 315, 0, 60 [SEP] 35, Fork, -0.753, 0.780, -0.573, 0, 180, 0, 83 [SEP] 36, Pan, 0.842, 0.950, -1.098, 0, 0, 0, 56 [SEP] 37, Lettuce, 0.866, 1.688, 1.209, 9.746, 11.103, 0, 85 [SEP] 38, Plate, 1.147, 1.669, 0.216, 0, 270, 0, 70 [SEP] 39, Apple, -0.960, 0.229, 0.576, 0, 180, 0, 82 [SEP] 40, Pot, -1.221, 0.92, -0.49, 0, 0, 0, 62 [SEP] 41, Spatula, -0.753, 0.791, -0.400, 0, 180, 0, 83 [SEP] 42, PaperTowelRoll, -1.367, 0.986, 2.692, 0, 0, 0, 89 [SEP] 43, Tomato, -0.869, 0.962, -0.096, 0, 0, 0, 62 [SEP] 44, Egg, -0.587, 0.814, -0.745, 0, 90, 0, 83 [SEP] 45, SaltShaker, -0.550, 0.929, -1.154, 0, 0, 0, 62 [SEP] 46, PepperShaker, 0.834, 0.491, -0.731, 0, 270, 0, 66 [SEP] 47, Vase, 1.082, 2.207, -1.082, 0, 270, 0, 69 [SEP] 48, ButterKnife, -0.846, 0.933, -1.231, 0, 0, 0, 62 [SEP] 49, SoapBottle, 1.102, 1.666, -0.593, 0, 270, 0, 71 [SEP] 50, Vase, 1.082, 2.209, -1.626, 0, 270, 0, 69 [SEP] 51, Bowl, -0.624, 0.936, -1.308, 0, 0, 0, 62 [SEP] 52, DishSponge, 0.794, 0.493, -0.607, 0, 270, 0, 66 [SEP] 53, Spoon, -1.104, 0.934, -1.167, 0, 0, 0, 62 [SEP] 54, Cup, 1.009, 1.663, -1.893, 0, 270, 0, 61 [SEP] 55, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 81 [SEP] 56, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 57, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 58, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 59, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 60, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 61, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 62, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 63, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 64, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 65, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 66, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 67, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 68, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 69, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 70, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 71, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 72, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 73, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 74, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 75, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 76, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 77, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 78, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 79, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 80, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 81, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 82, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 83, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 84, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 85, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 86, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 87, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 88, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 89, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 90, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 91, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 92, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 93, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 94, NorthWall, , , , , , , [SEP] 95, EastWall, , , , , , , [SEP] 96, SouthWall, , , , , , , [SEP] 97, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and hang a left at the silver dishwasher to reach the counter. | STEP 2: Pick up the loaf of bread on the right side of the counter. | STEP 3: Turn right and walk to the white fridge on the right. | STEP 4: Put the loaf of bread inside the fridge on the second shelf, chill it for seven seconds, remove it and close the door. | STEP 5: Turn right and walk to the counter on the left with the silver dishwasher. | STEP 6: Put the loaf of bread on the counter to the right of the toaster. | END"]} +{"id": "trial_T20190906_214648_973919-0", "input": "Examine the bat with the light 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, 1.25, 0.900, -0.75, 0, 0, 0, [SEP] 1, Bowl, -1.834, 0.886, 0.366, 0, 0, 0, 47 [SEP] 2, Mug, -0.567, 0.855, -1.702, 0, 0, 0, 37 [SEP] 3, Mug, -1.834, 1.721, 0.366, 0, 0, 0, 41 [SEP] 4, CellPhone, -0.399, 0.858, -1.356, 0, 0, 0, 37 [SEP] 5, CellPhone, -2.155, 0.669, 0.683, 0, 0, 0, 48 [SEP] 6, Pen, -2.151, 1.729, 0.448, 0, 0, 0, 42 [SEP] 7, Pen, -2.155, 0.110, 0.683, 0, 0, 0, 50 [SEP] 8, Pencil, -1.286, 1.727, 0.407, 0, 0, 0, 41 [SEP] 9, Pencil, -0.549, 0.652, -0.932, 0, 0, 0, 35 [SEP] 10, Pillow, 1.612, 0.918, 2.234, 0, 0, 0, 28 [SEP] 11, Laptop, 0.800, 0.781, 1.366, 0, 0, 0, 28 [SEP] 12, AlarmClock, -1.179, 1.724, 0.448, 0, 0, 0, 41 [SEP] 13, AlarmClock, -0.483, 0.858, -1.529, 0, 0, 0, 37 [SEP] 14, Book, -0.671, 0.850, -1.348, 0, 119.999, 0, 37 [SEP] 15, AlarmClock, -0.514, 0.851, -0.619, 0, 56.206, 0, 37 [SEP] 16, BasketBall, 1.976, 0.120, 0.211, 0, 331.076, 0, [SEP] 17, Pen, -1.392, 1.729, 0.448, 0, 270, 0, 41 [SEP] 18, Laptop, -1.783, 0.871, 0.732, 0, 0, 0, 47 [SEP] 19, BaseballBat, 1.953, 0.659, -1.81, 346.388, 0, 0, [SEP] 20, Bowl, -0.735, 0.861, -0.663, 0, 0, 0, 37 [SEP] 21, Pillow, 1.612, 0.918, 1.366, 0, 0, 0, 28 [SEP] 22, KeyChain, -0.399, 0.857, -1.702, 0, 0, 0, 37 [SEP] 23, CreditCard, -0.586, 0.649, -0.772, 0, 0, 0, 35 [SEP] 24, CellPhone, -0.511, 0.084, -1.013, 0, 0, 0, 36 [SEP] 25, CD, -0.785, 0.202, -0.365, 0, 0, 0, 30 [SEP] 26, Pencil, -1.914, 0.671, 0.683, 0, 0, 0, 48 [SEP] 27, Mug, -0.399, 0.855, -1.010, 0, 0, 0, 37 [SEP] 28, Bed, 1.227, -0.002, 1.664, 0, 0, 0, [SEP] 29, LightSwitch, 2.151, 1.233, -0.518, 0, 270, 0, [SEP] 30, GarbageCan, -0.747, 0.014, -0.327, 0, 0, 0, [SEP] 31, Mirror, -1.358, 1.427, 2.855, 0, 0, 0, [SEP] 32, DeskLamp, -2.296, 0.858, 0.750, 0, 0, 0, [SEP] 33, Window, -0.421, 1.534, -1.947, 90, 0, 0, [SEP] 34, Window, 0.579, 1.534, -1.947, 90, 0, 0, [SEP] 35, Drawer, -0.491, 0.739, -0.855, 0, 90, 0, [SEP] 36, Drawer, -0.491, 0.204, -0.855, 0, 90, 0, [SEP] 37, Desk, -0.639, 0.009, -1.187, 0, 90, 0, [SEP] 38, Drawer, -0.491, 0.487, -0.855, 0, 90, 0, [SEP] 39, Shelf, -1.965, 1.514, 0.416, 0, 0, 0, [SEP] 40, Shelf, -1.965, 1.092, 0.416, 0, 0, 0, [SEP] 41, Shelf, -1.312, 1.888, 0.416, 0, 0, 0, [SEP] 42, Shelf, -1.965, 1.888, 0.416, 0, 0, 0, [SEP] 43, Shelf, -1.312, 1.092, 0.416, 0, 0, 0, [SEP] 44, Shelf, -1.312, 1.514, 0.416, 0, 0, 0, [SEP] 45, Blinds, 0.601, 2.161, -1.916, 0, 0, 0, [SEP] 46, Blinds, -0.402, 2.161, -1.916, 0, 0, 0, [SEP] 47, Desk, -1.726, 0.001, 0.575, 0, 0, 0, [SEP] 48, Drawer, -2.058, 0.733, 0.734, 0, 0, 0, [SEP] 49, Drawer, -2.058, 0.482, 0.734, 0, 0, 0, [SEP] 50, Drawer, -2.058, 0.198, 0.735, 0, 0, 0, [SEP] 51, Chair, -0.137, 0.000, -1.587, 0, 315, 0, [SEP] 52, Safe, -2.183, -7.748, 2.576, 0, 180, 0, [SEP] 53, Chair, -1.433, 0.009, 0.780, 357.672, 206.726, 0, [SEP] 54, LaundryHamper, 0.163, 0.003, 2.635, 0, 86.390, 0, [SEP] 55, NorthWall, , , , , , , [SEP] 56, EastWall, , , , , , , [SEP] 57, SouthWall, , , , , , , [SEP] 58, WestWall, , , , , , , ", "output": ["STEP 1: Turn around to face the bat on the ground. | STEP 2: Pick up the bat on the ground. | STEP 3: Bring the bat to the lamp on the desk. | STEP 4: Turn on the lamp on the desk. | END"]} +{"id": "trial_T20190906_214648_973919-1", "input": "turn a lamp on while holding a baseball bat 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, Bowl, -1.834, 0.886, 0.366, 0, 0, 0, 47 [SEP] 2, Mug, -0.567, 0.855, -1.702, 0, 0, 0, 37 [SEP] 3, Mug, -1.834, 1.721, 0.366, 0, 0, 0, 41 [SEP] 4, CellPhone, -0.399, 0.858, -1.356, 0, 0, 0, 37 [SEP] 5, CellPhone, -2.155, 0.669, 0.683, 0, 0, 0, 48 [SEP] 6, Pen, -2.151, 1.729, 0.448, 0, 0, 0, 42 [SEP] 7, Pen, -2.155, 0.110, 0.683, 0, 0, 0, 50 [SEP] 8, Pencil, -1.286, 1.727, 0.407, 0, 0, 0, 41 [SEP] 9, Pencil, -0.549, 0.652, -0.932, 0, 0, 0, 35 [SEP] 10, Pillow, 1.612, 0.918, 2.234, 0, 0, 0, 28 [SEP] 11, Laptop, 0.800, 0.781, 1.366, 0, 0, 0, 28 [SEP] 12, AlarmClock, -1.179, 1.724, 0.448, 0, 0, 0, 41 [SEP] 13, AlarmClock, -0.483, 0.858, -1.529, 0, 0, 0, 37 [SEP] 14, Book, -0.671, 0.850, -1.348, 0, 119.999, 0, 37 [SEP] 15, AlarmClock, -0.514, 0.851, -0.619, 0, 56.206, 0, 37 [SEP] 16, BasketBall, 1.976, 0.120, 0.211, 0, 331.076, 0, [SEP] 17, Pen, -1.392, 1.729, 0.448, 0, 270, 0, 41 [SEP] 18, Laptop, -1.783, 0.871, 0.732, 0, 0, 0, 47 [SEP] 19, BaseballBat, 1.953, 0.659, -1.81, 346.388, 0, 0, [SEP] 20, Bowl, -0.735, 0.861, -0.663, 0, 0, 0, 37 [SEP] 21, Pillow, 1.612, 0.918, 1.366, 0, 0, 0, 28 [SEP] 22, KeyChain, -0.399, 0.857, -1.702, 0, 0, 0, 37 [SEP] 23, CreditCard, -0.586, 0.649, -0.772, 0, 0, 0, 35 [SEP] 24, CellPhone, -0.511, 0.084, -1.013, 0, 0, 0, 36 [SEP] 25, CD, -0.785, 0.202, -0.365, 0, 0, 0, 30 [SEP] 26, Pencil, -1.914, 0.671, 0.683, 0, 0, 0, 48 [SEP] 27, Mug, -0.399, 0.855, -1.010, 0, 0, 0, 37 [SEP] 28, Bed, 1.227, -0.002, 1.664, 0, 0, 0, [SEP] 29, LightSwitch, 2.151, 1.233, -0.518, 0, 270, 0, [SEP] 30, GarbageCan, -0.747, 0.014, -0.327, 0, 0, 0, [SEP] 31, Mirror, -1.358, 1.427, 2.855, 0, 0, 0, [SEP] 32, DeskLamp, -2.296, 0.858, 0.750, 0, 0, 0, [SEP] 33, Window, -0.421, 1.534, -1.947, 90, 0, 0, [SEP] 34, Window, 0.579, 1.534, -1.947, 90, 0, 0, [SEP] 35, Drawer, -0.491, 0.739, -0.855, 0, 90, 0, [SEP] 36, Drawer, -0.491, 0.204, -0.855, 0, 90, 0, [SEP] 37, Desk, -0.639, 0.009, -1.187, 0, 90, 0, [SEP] 38, Drawer, -0.491, 0.487, -0.855, 0, 90, 0, [SEP] 39, Shelf, -1.965, 1.514, 0.416, 0, 0, 0, [SEP] 40, Shelf, -1.965, 1.092, 0.416, 0, 0, 0, [SEP] 41, Shelf, -1.312, 1.888, 0.416, 0, 0, 0, [SEP] 42, Shelf, -1.965, 1.888, 0.416, 0, 0, 0, [SEP] 43, Shelf, -1.312, 1.092, 0.416, 0, 0, 0, [SEP] 44, Shelf, -1.312, 1.514, 0.416, 0, 0, 0, [SEP] 45, Blinds, 0.601, 2.161, -1.916, 0, 0, 0, [SEP] 46, Blinds, -0.402, 2.161, -1.916, 0, 0, 0, [SEP] 47, Desk, -1.726, 0.001, 0.575, 0, 0, 0, [SEP] 48, Drawer, -2.058, 0.733, 0.734, 0, 0, 0, [SEP] 49, Drawer, -2.058, 0.482, 0.734, 0, 0, 0, [SEP] 50, Drawer, -2.058, 0.198, 0.735, 0, 0, 0, [SEP] 51, Chair, -0.137, 0.000, -1.587, 0, 315, 0, [SEP] 52, Safe, -2.183, -7.748, 2.576, 0, 180, 0, [SEP] 53, Chair, -1.433, 0.009, 0.780, 357.672, 206.726, 0, [SEP] 54, LaundryHamper, 0.163, 0.003, 2.635, 0, 86.390, 0, [SEP] 55, NorthWall, , , , , , , [SEP] 56, EastWall, , , , , , , [SEP] 57, SouthWall, , , , , , , [SEP] 58, WestWall, , , , , , , ", "output": ["STEP 1: turn around and face the wall with the bat on the floor | STEP 2: pick the baseball bat up off of the floor | STEP 3: turn around and maneuver of to the desk at the opposite corner of the room | STEP 4: turn the lamp on on the desk | END"]} +{"id": "trial_T20190906_214648_973919-2", "input": "Examine a bat 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, 1.25, 0.900, -0.75, 0, 0, 0, [SEP] 1, Bowl, -1.834, 0.886, 0.366, 0, 0, 0, 47 [SEP] 2, Mug, -0.567, 0.855, -1.702, 0, 0, 0, 37 [SEP] 3, Mug, -1.834, 1.721, 0.366, 0, 0, 0, 41 [SEP] 4, CellPhone, -0.399, 0.858, -1.356, 0, 0, 0, 37 [SEP] 5, CellPhone, -2.155, 0.669, 0.683, 0, 0, 0, 48 [SEP] 6, Pen, -2.151, 1.729, 0.448, 0, 0, 0, 42 [SEP] 7, Pen, -2.155, 0.110, 0.683, 0, 0, 0, 50 [SEP] 8, Pencil, -1.286, 1.727, 0.407, 0, 0, 0, 41 [SEP] 9, Pencil, -0.549, 0.652, -0.932, 0, 0, 0, 35 [SEP] 10, Pillow, 1.612, 0.918, 2.234, 0, 0, 0, 28 [SEP] 11, Laptop, 0.800, 0.781, 1.366, 0, 0, 0, 28 [SEP] 12, AlarmClock, -1.179, 1.724, 0.448, 0, 0, 0, 41 [SEP] 13, AlarmClock, -0.483, 0.858, -1.529, 0, 0, 0, 37 [SEP] 14, Book, -0.671, 0.850, -1.348, 0, 119.999, 0, 37 [SEP] 15, AlarmClock, -0.514, 0.851, -0.619, 0, 56.206, 0, 37 [SEP] 16, BasketBall, 1.976, 0.120, 0.211, 0, 331.076, 0, [SEP] 17, Pen, -1.392, 1.729, 0.448, 0, 270, 0, 41 [SEP] 18, Laptop, -1.783, 0.871, 0.732, 0, 0, 0, 47 [SEP] 19, BaseballBat, 1.953, 0.659, -1.81, 346.388, 0, 0, [SEP] 20, Bowl, -0.735, 0.861, -0.663, 0, 0, 0, 37 [SEP] 21, Pillow, 1.612, 0.918, 1.366, 0, 0, 0, 28 [SEP] 22, KeyChain, -0.399, 0.857, -1.702, 0, 0, 0, 37 [SEP] 23, CreditCard, -0.586, 0.649, -0.772, 0, 0, 0, 35 [SEP] 24, CellPhone, -0.511, 0.084, -1.013, 0, 0, 0, 36 [SEP] 25, CD, -0.785, 0.202, -0.365, 0, 0, 0, 30 [SEP] 26, Pencil, -1.914, 0.671, 0.683, 0, 0, 0, 48 [SEP] 27, Mug, -0.399, 0.855, -1.010, 0, 0, 0, 37 [SEP] 28, Bed, 1.227, -0.002, 1.664, 0, 0, 0, [SEP] 29, LightSwitch, 2.151, 1.233, -0.518, 0, 270, 0, [SEP] 30, GarbageCan, -0.747, 0.014, -0.327, 0, 0, 0, [SEP] 31, Mirror, -1.358, 1.427, 2.855, 0, 0, 0, [SEP] 32, DeskLamp, -2.296, 0.858, 0.750, 0, 0, 0, [SEP] 33, Window, -0.421, 1.534, -1.947, 90, 0, 0, [SEP] 34, Window, 0.579, 1.534, -1.947, 90, 0, 0, [SEP] 35, Drawer, -0.491, 0.739, -0.855, 0, 90, 0, [SEP] 36, Drawer, -0.491, 0.204, -0.855, 0, 90, 0, [SEP] 37, Desk, -0.639, 0.009, -1.187, 0, 90, 0, [SEP] 38, Drawer, -0.491, 0.487, -0.855, 0, 90, 0, [SEP] 39, Shelf, -1.965, 1.514, 0.416, 0, 0, 0, [SEP] 40, Shelf, -1.965, 1.092, 0.416, 0, 0, 0, [SEP] 41, Shelf, -1.312, 1.888, 0.416, 0, 0, 0, [SEP] 42, Shelf, -1.965, 1.888, 0.416, 0, 0, 0, [SEP] 43, Shelf, -1.312, 1.092, 0.416, 0, 0, 0, [SEP] 44, Shelf, -1.312, 1.514, 0.416, 0, 0, 0, [SEP] 45, Blinds, 0.601, 2.161, -1.916, 0, 0, 0, [SEP] 46, Blinds, -0.402, 2.161, -1.916, 0, 0, 0, [SEP] 47, Desk, -1.726, 0.001, 0.575, 0, 0, 0, [SEP] 48, Drawer, -2.058, 0.733, 0.734, 0, 0, 0, [SEP] 49, Drawer, -2.058, 0.482, 0.734, 0, 0, 0, [SEP] 50, Drawer, -2.058, 0.198, 0.735, 0, 0, 0, [SEP] 51, Chair, -0.137, 0.000, -1.587, 0, 315, 0, [SEP] 52, Safe, -2.183, -7.748, 2.576, 0, 180, 0, [SEP] 53, Chair, -1.433, 0.009, 0.780, 357.672, 206.726, 0, [SEP] 54, LaundryHamper, 0.163, 0.003, 2.635, 0, 86.390, 0, [SEP] 55, NorthWall, , , , , , , [SEP] 56, EastWall, , , , , , , [SEP] 57, SouthWall, , , , , , , [SEP] 58, WestWall, , , , , , , ", "output": ["STEP 1: Turn right, head towards the door, turn right and head towards the bat on the floor. | STEP 2: Pick up the bat from the floor. | STEP 3: Turn around, head towards the bed, turn left towards the edge of the bed, turn right towards the middle of the bed, turn left towards the wall, and turn left to face the lamp on the desk. | STEP 4: Turn on the lamp. | END"]} +{"id": "trial_T20190909_064309_357168-0", "input": "Throw both pieces of soap 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, -1.75, 0.901, 2.5, 0, 180, 0, [SEP] 1, Cloth, -0.179, 0.076, 2.698, 0, 270, 0, 23 [SEP] 2, Cloth, -0.330, 0.075, 3.011, 0, 0, 0, 22 [SEP] 3, SprayBottle, -0.202, 0.955, 2.913, 0, 0, 0, 26 [SEP] 4, Candle, -0.326, 0.954, 2.878, 0, 0, 0, 26 [SEP] 5, Candle, -0.141, 0.954, 2.772, 0, 0, 0, 26 [SEP] 6, SoapBar, -0.131, 0.953, 1.669, 0, 0, 0, 34 [SEP] 7, SoapBottle, -0.331, 0.077, 2.743, 0, 0, 0, 23 [SEP] 8, SoapBottle, -0.178, 0.076, 2.247, 0, 0, 0, 28 [SEP] 9, HandTowel, -0.038, 1.619, 3.799, 0, 90, 0, 33 [SEP] 10, Towel, -1.082, 1.326, 1.302, 0, 0, 0, 29 [SEP] 11, SoapBar, -0.104, 0.953, 1.544, 0, 0, 0, 34 [SEP] 12, ToiletPaper, -0.178, 0.072, 2.966, 0, 0, 0, 22 [SEP] 13, Plunger, -0.112, -0.000, 1.848, 0, 0, 0, [SEP] 14, Candle, -0.229, 0.075, 2.336, 0, 0, 0, 28 [SEP] 15, ToiletPaper, -0.280, 0.654, 1.985, 0, 180, 90, 31 [SEP] 16, SprayBottle, -0.279, 0.076, 2.157, 0, 0, 0, 28 [SEP] 17, Cloth, -0.230, 0.076, 3.507, 0, 0, 0, 27 [SEP] 18, ScrubBrush, -0.322, 3.109, 1.950, 0, 0, 0, [SEP] 19, SoapBottle, -0.326, 0.955, 2.948, 0, 0, 0, 26 [SEP] 20, Mirror, -0.030, 1.544, 2.864, 0, 0, 0, [SEP] 21, Sink, -0.302, 0.799, 3.263, 0, 270, 0, [SEP] 22, Cabinet, -0.491, 0.404, 2.863, 0, 0, 0, [SEP] 23, Cabinet, -0.495, 0.384, 2.842, 0, 0, 0, [SEP] 24, ShowerDoor, -1.647, 1.017, 1.180, 0, 0, 0, [SEP] 25, ShowerGlass, -0.909, 0.788, 0.485, 0, 0, 0, [SEP] 26, CounterTop, -0.261, 0.927, 2.843, 0, 0, 0, [SEP] 27, Cabinet, -0.495, 0.384, 3.650, 0, 0, 0, [SEP] 28, Cabinet, -0.491, 0.404, 2.055, 0, 0, 0, [SEP] 29, TowelHolder, -1.082, 1.312, 1.195, 0, 0, 0, [SEP] 30, LightSwitch, -2.424, 1.447, 3.338, 0, 90, 0, [SEP] 31, ToiletPaperHanger, -0.266, 0.786, 2.043, 0, 180, 0, [SEP] 32, HandTowelHolder, 0.000, 1.721, 1.887, 0, 180, 0, [SEP] 33, HandTowelHolder, 0.000, 1.721, 3.799, 0, 180, 0, [SEP] 34, Toilet, -0.542, 3.109, 1.493, 0, 270, 0, [SEP] 35, GarbageCan, -2.159, -0.000, 3.756, 0, 0, 0, [SEP] 36, SinkBasin, -0.308, 0.820, 3.266, 0, 0, 0, [SEP] 37, ShowerHead, -0.134, 1.888, 0.564, 0, 90, 0, [SEP] 38, Faucet, 0.0, 1.009, 3.265, 0, 0, 0, [SEP] 39, Faucet, 0.0, 1.009, 2.421, 0, 0, 0, [SEP] 40, SinkBasin, -0.308, 0.820, 2.422, 0, 0, 0, [SEP] 41, Sink, -0.302, 0.799, 2.419, 0, 270, 0, [SEP] 42, NorthWall, , , , , , , [SEP] 43, SouthWall, , , , , , , [SEP] 44, SouthWall, , , , , , , ", "output": ["STEP 1: move forward and then turn left and then move forwards to the sink | STEP 2: pick up the soap off of the toilet | STEP 3: turn around and move forward to the wall and then turn right and move forward towards the trash | STEP 4: throw the soap in to the trash can | STEP 5: turn around and move forward and then then turn left and move forward to the toilet again | STEP 6: pick up the soap on the toilet | STEP 7: turn around and move forward and then turn right and move forward to the trash can | STEP 8: throw the soap into the trash | END"]} +{"id": "trial_T20190909_064309_357168-1", "input": "Putting two bars of soap 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, 0.901, 2.5, 0, 180, 0, [SEP] 1, Cloth, -0.179, 0.076, 2.698, 0, 270, 0, 23 [SEP] 2, Cloth, -0.330, 0.075, 3.011, 0, 0, 0, 22 [SEP] 3, SprayBottle, -0.202, 0.955, 2.913, 0, 0, 0, 26 [SEP] 4, Candle, -0.326, 0.954, 2.878, 0, 0, 0, 26 [SEP] 5, Candle, -0.141, 0.954, 2.772, 0, 0, 0, 26 [SEP] 6, SoapBar, -0.131, 0.953, 1.669, 0, 0, 0, 34 [SEP] 7, SoapBottle, -0.331, 0.077, 2.743, 0, 0, 0, 23 [SEP] 8, SoapBottle, -0.178, 0.076, 2.247, 0, 0, 0, 28 [SEP] 9, HandTowel, -0.038, 1.619, 3.799, 0, 90, 0, 33 [SEP] 10, Towel, -1.082, 1.326, 1.302, 0, 0, 0, 29 [SEP] 11, SoapBar, -0.104, 0.953, 1.544, 0, 0, 0, 34 [SEP] 12, ToiletPaper, -0.178, 0.072, 2.966, 0, 0, 0, 22 [SEP] 13, Plunger, -0.112, -0.000, 1.848, 0, 0, 0, [SEP] 14, Candle, -0.229, 0.075, 2.336, 0, 0, 0, 28 [SEP] 15, ToiletPaper, -0.280, 0.654, 1.985, 0, 180, 90, 31 [SEP] 16, SprayBottle, -0.279, 0.076, 2.157, 0, 0, 0, 28 [SEP] 17, Cloth, -0.230, 0.076, 3.507, 0, 0, 0, 27 [SEP] 18, ScrubBrush, -0.322, 3.109, 1.950, 0, 0, 0, [SEP] 19, SoapBottle, -0.326, 0.955, 2.948, 0, 0, 0, 26 [SEP] 20, Mirror, -0.030, 1.544, 2.864, 0, 0, 0, [SEP] 21, Sink, -0.302, 0.799, 3.263, 0, 270, 0, [SEP] 22, Cabinet, -0.491, 0.404, 2.863, 0, 0, 0, [SEP] 23, Cabinet, -0.495, 0.384, 2.842, 0, 0, 0, [SEP] 24, ShowerDoor, -1.647, 1.017, 1.180, 0, 0, 0, [SEP] 25, ShowerGlass, -0.909, 0.788, 0.485, 0, 0, 0, [SEP] 26, CounterTop, -0.261, 0.927, 2.843, 0, 0, 0, [SEP] 27, Cabinet, -0.495, 0.384, 3.650, 0, 0, 0, [SEP] 28, Cabinet, -0.491, 0.404, 2.055, 0, 0, 0, [SEP] 29, TowelHolder, -1.082, 1.312, 1.195, 0, 0, 0, [SEP] 30, LightSwitch, -2.424, 1.447, 3.338, 0, 90, 0, [SEP] 31, ToiletPaperHanger, -0.266, 0.786, 2.043, 0, 180, 0, [SEP] 32, HandTowelHolder, 0.000, 1.721, 1.887, 0, 180, 0, [SEP] 33, HandTowelHolder, 0.000, 1.721, 3.799, 0, 180, 0, [SEP] 34, Toilet, -0.542, 3.109, 1.493, 0, 270, 0, [SEP] 35, GarbageCan, -2.159, -0.000, 3.756, 0, 0, 0, [SEP] 36, SinkBasin, -0.308, 0.820, 3.266, 0, 0, 0, [SEP] 37, ShowerHead, -0.134, 1.888, 0.564, 0, 90, 0, [SEP] 38, Faucet, 0.0, 1.009, 3.265, 0, 0, 0, [SEP] 39, Faucet, 0.0, 1.009, 2.421, 0, 0, 0, [SEP] 40, SinkBasin, -0.308, 0.820, 2.422, 0, 0, 0, [SEP] 41, Sink, -0.302, 0.799, 2.419, 0, 270, 0, [SEP] 42, NorthWall, , , , , , , [SEP] 43, SouthWall, , , , , , , [SEP] 44, SouthWall, , , , , , , ", "output": ["STEP 1: Go to the toilet | STEP 2: Grab a bar of soap that's on the toilet | STEP 3: Turn around and go to the trash can | STEP 4: Put the soap in the trash can | STEP 5: Turn around and go to the toilet | STEP 6: Grab a bar of soap off of the toilet | STEP 7: Turn around and go to the trash can | STEP 8: Put the soap in the trash can | END"]} +{"id": "trial_T20190909_064309_357168-2", "input": "To move two bars of soap from the back of the toilet 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, -1.75, 0.901, 2.5, 0, 180, 0, [SEP] 1, Cloth, -0.179, 0.076, 2.698, 0, 270, 0, 23 [SEP] 2, Cloth, -0.330, 0.075, 3.011, 0, 0, 0, 22 [SEP] 3, SprayBottle, -0.202, 0.955, 2.913, 0, 0, 0, 26 [SEP] 4, Candle, -0.326, 0.954, 2.878, 0, 0, 0, 26 [SEP] 5, Candle, -0.141, 0.954, 2.772, 0, 0, 0, 26 [SEP] 6, SoapBar, -0.131, 0.953, 1.669, 0, 0, 0, 34 [SEP] 7, SoapBottle, -0.331, 0.077, 2.743, 0, 0, 0, 23 [SEP] 8, SoapBottle, -0.178, 0.076, 2.247, 0, 0, 0, 28 [SEP] 9, HandTowel, -0.038, 1.619, 3.799, 0, 90, 0, 33 [SEP] 10, Towel, -1.082, 1.326, 1.302, 0, 0, 0, 29 [SEP] 11, SoapBar, -0.104, 0.953, 1.544, 0, 0, 0, 34 [SEP] 12, ToiletPaper, -0.178, 0.072, 2.966, 0, 0, 0, 22 [SEP] 13, Plunger, -0.112, -0.000, 1.848, 0, 0, 0, [SEP] 14, Candle, -0.229, 0.075, 2.336, 0, 0, 0, 28 [SEP] 15, ToiletPaper, -0.280, 0.654, 1.985, 0, 180, 90, 31 [SEP] 16, SprayBottle, -0.279, 0.076, 2.157, 0, 0, 0, 28 [SEP] 17, Cloth, -0.230, 0.076, 3.507, 0, 0, 0, 27 [SEP] 18, ScrubBrush, -0.322, 3.109, 1.950, 0, 0, 0, [SEP] 19, SoapBottle, -0.326, 0.955, 2.948, 0, 0, 0, 26 [SEP] 20, Mirror, -0.030, 1.544, 2.864, 0, 0, 0, [SEP] 21, Sink, -0.302, 0.799, 3.263, 0, 270, 0, [SEP] 22, Cabinet, -0.491, 0.404, 2.863, 0, 0, 0, [SEP] 23, Cabinet, -0.495, 0.384, 2.842, 0, 0, 0, [SEP] 24, ShowerDoor, -1.647, 1.017, 1.180, 0, 0, 0, [SEP] 25, ShowerGlass, -0.909, 0.788, 0.485, 0, 0, 0, [SEP] 26, CounterTop, -0.261, 0.927, 2.843, 0, 0, 0, [SEP] 27, Cabinet, -0.495, 0.384, 3.650, 0, 0, 0, [SEP] 28, Cabinet, -0.491, 0.404, 2.055, 0, 0, 0, [SEP] 29, TowelHolder, -1.082, 1.312, 1.195, 0, 0, 0, [SEP] 30, LightSwitch, -2.424, 1.447, 3.338, 0, 90, 0, [SEP] 31, ToiletPaperHanger, -0.266, 0.786, 2.043, 0, 180, 0, [SEP] 32, HandTowelHolder, 0.000, 1.721, 1.887, 0, 180, 0, [SEP] 33, HandTowelHolder, 0.000, 1.721, 3.799, 0, 180, 0, [SEP] 34, Toilet, -0.542, 3.109, 1.493, 0, 270, 0, [SEP] 35, GarbageCan, -2.159, -0.000, 3.756, 0, 0, 0, [SEP] 36, SinkBasin, -0.308, 0.820, 3.266, 0, 0, 0, [SEP] 37, ShowerHead, -0.134, 1.888, 0.564, 0, 90, 0, [SEP] 38, Faucet, 0.0, 1.009, 3.265, 0, 0, 0, [SEP] 39, Faucet, 0.0, 1.009, 2.421, 0, 0, 0, [SEP] 40, SinkBasin, -0.308, 0.820, 2.422, 0, 0, 0, [SEP] 41, Sink, -0.302, 0.799, 2.419, 0, 270, 0, [SEP] 42, NorthWall, , , , , , , [SEP] 43, SouthWall, , , , , , , [SEP] 44, SouthWall, , , , , , , ", "output": ["STEP 1: Turn left and face the back of the sink. | STEP 2: Pick up the bar of soap on the back of the toilet. | STEP 3: Turn around and cross the room to face the trash can in the corner of the room. | STEP 4: Place the soap in the trash can. | STEP 5: Turn around and cross the room to face the back of the toilet. | STEP 6: Pick up the bar of soap on the back of the toilet. | STEP 7: Turn around and cross the room to face the trash can in the corner of the room. | STEP 8: Place the soap in the trash can. | END"]} +{"id": "trial_T20190907_061009_396474-0", "input": "Put two apples on a counter the cut them into pieces. 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, -1.5, 0, 180, 0, [SEP] 1, Statue, -0.550, 0.936, 0.239, 0, 0, 0, 62 [SEP] 2, Statue, -1.355, 0.936, 0.144, 0, 0, 0, 62 [SEP] 3, Vase, -1.881, 0.555, 2.770, 0, 0, 0, 88 [SEP] 4, Potato, 0.859, 0.941, 0.139, 0, 0, 0, 63 [SEP] 5, CreditCard, -1.778, 0.551, 2.563, 0, 0, 0, 88 [SEP] 6, CreditCard, -1.571, 0.878, 2.692, 0, 0, 0, 89 [SEP] 7, CellPhone, 0.688, 0.908, -2.051, 0, 0, 0, 68 [SEP] 8, CellPhone, -0.846, 0.930, 0.239, 0, 0, 0, 62 [SEP] 9, DishSponge, 0.914, 0.153, -0.690, 0, 270, 0, 65 [SEP] 10, ButterKnife, 0.773, 0.911, -0.729, 0, 0, 0, 63 [SEP] 11, ButterKnife, 0.773, 0.911, 0.313, 0, 0, 0, 63 [SEP] 12, Fork, 0.794, 0.702, -0.772, 0, 180, 0, 60 [SEP] 13, Spoon, -0.642, 0.781, -0.745, 0, 90, 0, 83 [SEP] 14, Spatula, 0.915, 0.717, -0.648, 0, 0, 0, 60 [SEP] 15, Knife, -0.550, 0.957, 0.009, 0, 0, 0, 62 [SEP] 16, Egg, 0.905, 1.439, 1.349, 0, 270, 0, 85 [SEP] 17, Cup, 1.101, 1.663, -1.893, 0, 270, 0, 61 [SEP] 18, Cup, 1.026, 0.860, 1.158, 0, 270, 0, 85 [SEP] 19, Bowl, 0.905, 0.866, 1.540, 0, 270, 0, 85 [SEP] 20, Bowl, 0.966, 1.646, 1.158, 0, 270, 0, 85 [SEP] 21, SaltShaker, 0.688, 0.907, -2.222, 0, 0, 0, 68 [SEP] 22, Lettuce, 0.688, 0.988, -0.729, 0, 0, 0, 63 [SEP] 23, Bread, 1.114, 0.992, -0.208, 0, 0, 0, 63 [SEP] 24, Bread, 0.966, 1.482, 1.063, 0, 270, 0, 85 [SEP] 25, Mug, 1.148, 1.661, -2.234, 0, 270, 0, 61 [SEP] 26, Mug, -1.363, 0.549, 2.822, 0, 0, 0, 88 [SEP] 27, Apple, -0.808, 0.830, -0.659, 0, 90, 0, 83 [SEP] 28, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 62 [SEP] 29, Glassbottle, 1.029, 0.912, -0.729, 0, 0, 0, 63 [SEP] 30, Bread, 0.905, 1.216, 1.349, 0, 270, 0, 85 [SEP] 31, CreditCard, 1.199, 0.908, -1.965, 0, 0, 0, 68 [SEP] 32, CellPhone, -1.355, 0.930, -0.380, 0, 0, 0, 62 [SEP] 33, Potato, 1.148, 0.893, 0.967, 0, 270, 0, 85 [SEP] 34, Knife, 1.029, 0.934, -0.381, 0, 0, 0, 63 [SEP] 35, Fork, -1.229, 0.934, -0.118, 0, 0, 0, 62 [SEP] 36, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 56 [SEP] 37, Lettuce, 0.773, 0.988, -0.381, 0, 0, 0, 63 [SEP] 38, Plate, 1.193, 1.669, 0.280, 0, 270, 0, 70 [SEP] 39, Apple, -0.587, 0.830, -0.659, 0, 90, 0, 83 [SEP] 40, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 58 [SEP] 41, Spatula, 0.915, 0.509, -0.524, 0, 0, 0, 66 [SEP] 42, PaperTowelRoll, -0.960, 0.283, 0.608, 0, 180, 0, 82 [SEP] 43, Tomato, -0.869, 0.962, -0.096, 0, 0, 0, 62 [SEP] 44, Egg, -1.101, 0.214, 0.608, 0, 180, 0, 82 [SEP] 45, SaltShaker, -1.467, 0.550, 2.615, 0, 0, 0, 88 [SEP] 46, PepperShaker, 0.688, 0.907, 0.139, 0, 0, 0, 63 [SEP] 47, Vase, -1.292, 0.933, -1.167, 0, 0, 0, 62 [SEP] 48, ButterKnife, 0.773, 0.911, -0.208, 0, 0, 0, 63 [SEP] 49, SoapBottle, 1.055, 1.666, 0.025, 0, 270, 0, 70 [SEP] 50, Vase, 1.169, 2.209, -1.299, 0, 270, 0, 69 [SEP] 51, Bowl, -0.753, 0.779, -0.832, 0, 90, 0, 83 [SEP] 52, DishSponge, 0.834, 0.493, -0.690, 0, 270, 0, 66 [SEP] 53, Spoon, -0.642, 0.777, -0.573, 0, 0, 0, 83 [SEP] 54, Cup, 0.688, 0.908, 0.313, 0, 0, 0, 63 [SEP] 55, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 81 [SEP] 56, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 57, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 58, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 59, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 60, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 61, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 62, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 63, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 64, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 65, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 66, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 67, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 68, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 69, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 70, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 71, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 72, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 73, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 74, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 75, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 76, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 77, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 78, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 79, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 80, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 81, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 82, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 83, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 84, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 85, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 86, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 87, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 88, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 89, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 90, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 91, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 92, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 93, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 94, NorthWall, , , , , , , [SEP] 95, EastWall, , , , , , , [SEP] 96, SouthWall, , , , , , , [SEP] 97, WestWall, , , , , , , ", "output": ["STEP 1: Go forward to the window, turn left, go forward to the counter, turn right, go forward, turn left at the sink, go to the sink. | STEP 2: Take the apple closer to you from the sink. | STEP 3: Turn left, go forward to the window, turn left, go forward to the counter. | STEP 4: Put the apple on the counter to the left of the phone. | STEP 5: Turn left, go forward, turn left at the sink, go to the sink. | STEP 6: Take the apple from the sink. | STEP 7: Turn left, go forward to the window, turn left, go forward to the counter. | STEP 8: Put the apple on the counter to the right of the salt. | STEP 9: Turn left, go forward, turn right at the counter to the right of the stove top. | STEP 10: Take the small knife from under the lettuce. | STEP 11: Turn right, go forward, turn left at the counter with the apples. | STEP 12: Cut both apples into pieces on the counter. | END"]} +{"id": "trial_T20190907_061009_396474-1", "input": "To cut apples on the counter with a knife. 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, -1.5, 0, 180, 0, [SEP] 1, Statue, -0.550, 0.936, 0.239, 0, 0, 0, 62 [SEP] 2, Statue, -1.355, 0.936, 0.144, 0, 0, 0, 62 [SEP] 3, Vase, -1.881, 0.555, 2.770, 0, 0, 0, 88 [SEP] 4, Potato, 0.859, 0.941, 0.139, 0, 0, 0, 63 [SEP] 5, CreditCard, -1.778, 0.551, 2.563, 0, 0, 0, 88 [SEP] 6, CreditCard, -1.571, 0.878, 2.692, 0, 0, 0, 89 [SEP] 7, CellPhone, 0.688, 0.908, -2.051, 0, 0, 0, 68 [SEP] 8, CellPhone, -0.846, 0.930, 0.239, 0, 0, 0, 62 [SEP] 9, DishSponge, 0.914, 0.153, -0.690, 0, 270, 0, 65 [SEP] 10, ButterKnife, 0.773, 0.911, -0.729, 0, 0, 0, 63 [SEP] 11, ButterKnife, 0.773, 0.911, 0.313, 0, 0, 0, 63 [SEP] 12, Fork, 0.794, 0.702, -0.772, 0, 180, 0, 60 [SEP] 13, Spoon, -0.642, 0.781, -0.745, 0, 90, 0, 83 [SEP] 14, Spatula, 0.915, 0.717, -0.648, 0, 0, 0, 60 [SEP] 15, Knife, -0.550, 0.957, 0.009, 0, 0, 0, 62 [SEP] 16, Egg, 0.905, 1.439, 1.349, 0, 270, 0, 85 [SEP] 17, Cup, 1.101, 1.663, -1.893, 0, 270, 0, 61 [SEP] 18, Cup, 1.026, 0.860, 1.158, 0, 270, 0, 85 [SEP] 19, Bowl, 0.905, 0.866, 1.540, 0, 270, 0, 85 [SEP] 20, Bowl, 0.966, 1.646, 1.158, 0, 270, 0, 85 [SEP] 21, SaltShaker, 0.688, 0.907, -2.222, 0, 0, 0, 68 [SEP] 22, Lettuce, 0.688, 0.988, -0.729, 0, 0, 0, 63 [SEP] 23, Bread, 1.114, 0.992, -0.208, 0, 0, 0, 63 [SEP] 24, Bread, 0.966, 1.482, 1.063, 0, 270, 0, 85 [SEP] 25, Mug, 1.148, 1.661, -2.234, 0, 270, 0, 61 [SEP] 26, Mug, -1.363, 0.549, 2.822, 0, 0, 0, 88 [SEP] 27, Apple, -0.808, 0.830, -0.659, 0, 90, 0, 83 [SEP] 28, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 62 [SEP] 29, Glassbottle, 1.029, 0.912, -0.729, 0, 0, 0, 63 [SEP] 30, Bread, 0.905, 1.216, 1.349, 0, 270, 0, 85 [SEP] 31, CreditCard, 1.199, 0.908, -1.965, 0, 0, 0, 68 [SEP] 32, CellPhone, -1.355, 0.930, -0.380, 0, 0, 0, 62 [SEP] 33, Potato, 1.148, 0.893, 0.967, 0, 270, 0, 85 [SEP] 34, Knife, 1.029, 0.934, -0.381, 0, 0, 0, 63 [SEP] 35, Fork, -1.229, 0.934, -0.118, 0, 0, 0, 62 [SEP] 36, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 56 [SEP] 37, Lettuce, 0.773, 0.988, -0.381, 0, 0, 0, 63 [SEP] 38, Plate, 1.193, 1.669, 0.280, 0, 270, 0, 70 [SEP] 39, Apple, -0.587, 0.830, -0.659, 0, 90, 0, 83 [SEP] 40, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 58 [SEP] 41, Spatula, 0.915, 0.509, -0.524, 0, 0, 0, 66 [SEP] 42, PaperTowelRoll, -0.960, 0.283, 0.608, 0, 180, 0, 82 [SEP] 43, Tomato, -0.869, 0.962, -0.096, 0, 0, 0, 62 [SEP] 44, Egg, -1.101, 0.214, 0.608, 0, 180, 0, 82 [SEP] 45, SaltShaker, -1.467, 0.550, 2.615, 0, 0, 0, 88 [SEP] 46, PepperShaker, 0.688, 0.907, 0.139, 0, 0, 0, 63 [SEP] 47, Vase, -1.292, 0.933, -1.167, 0, 0, 0, 62 [SEP] 48, ButterKnife, 0.773, 0.911, -0.208, 0, 0, 0, 63 [SEP] 49, SoapBottle, 1.055, 1.666, 0.025, 0, 270, 0, 70 [SEP] 50, Vase, 1.169, 2.209, -1.299, 0, 270, 0, 69 [SEP] 51, Bowl, -0.753, 0.779, -0.832, 0, 90, 0, 83 [SEP] 52, DishSponge, 0.834, 0.493, -0.690, 0, 270, 0, 66 [SEP] 53, Spoon, -0.642, 0.777, -0.573, 0, 0, 0, 83 [SEP] 54, Cup, 0.688, 0.908, 0.313, 0, 0, 0, 63 [SEP] 55, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 81 [SEP] 56, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 57, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 58, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 59, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 60, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 61, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 62, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 63, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 64, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 65, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 66, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 67, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 68, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 69, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 70, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 71, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 72, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 73, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 74, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 75, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 76, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 77, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 78, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 79, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 80, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 81, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 82, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 83, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 84, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 85, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 86, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 87, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 88, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 89, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 90, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 91, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 92, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 93, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 94, NorthWall, , , , , , , [SEP] 95, EastWall, , , , , , , [SEP] 96, SouthWall, , , , , , , [SEP] 97, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and walk to the kitchen sink on the left. | STEP 2: Pick up the green apple closest to you. | STEP 3: Turn around and move to the counter with the coffee maker. | STEP 4: Put the apple down to the left of the cell phone. | STEP 5: Turn around and walk back to the sink. | STEP 6: Pick up the remaining apple in the sink. | STEP 7: Turn around and walk back to the counter with the first apple on it. | STEP 8: Put the apple down to the right of the salt shaker. | STEP 9: Move to the counter that's to the left of the stove. | STEP 10: Pick up the knife that's underneath the head of lettuce on the right. | STEP 11: Move back to the counter with coffee maker on it. | STEP 12: Cut both apples with the knife. | END"]} +{"id": "trial_T20190907_061009_396474-2", "input": "Place two apples on the counter, section both. 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, -1.5, 0, 180, 0, [SEP] 1, Statue, -0.550, 0.936, 0.239, 0, 0, 0, 62 [SEP] 2, Statue, -1.355, 0.936, 0.144, 0, 0, 0, 62 [SEP] 3, Vase, -1.881, 0.555, 2.770, 0, 0, 0, 88 [SEP] 4, Potato, 0.859, 0.941, 0.139, 0, 0, 0, 63 [SEP] 5, CreditCard, -1.778, 0.551, 2.563, 0, 0, 0, 88 [SEP] 6, CreditCard, -1.571, 0.878, 2.692, 0, 0, 0, 89 [SEP] 7, CellPhone, 0.688, 0.908, -2.051, 0, 0, 0, 68 [SEP] 8, CellPhone, -0.846, 0.930, 0.239, 0, 0, 0, 62 [SEP] 9, DishSponge, 0.914, 0.153, -0.690, 0, 270, 0, 65 [SEP] 10, ButterKnife, 0.773, 0.911, -0.729, 0, 0, 0, 63 [SEP] 11, ButterKnife, 0.773, 0.911, 0.313, 0, 0, 0, 63 [SEP] 12, Fork, 0.794, 0.702, -0.772, 0, 180, 0, 60 [SEP] 13, Spoon, -0.642, 0.781, -0.745, 0, 90, 0, 83 [SEP] 14, Spatula, 0.915, 0.717, -0.648, 0, 0, 0, 60 [SEP] 15, Knife, -0.550, 0.957, 0.009, 0, 0, 0, 62 [SEP] 16, Egg, 0.905, 1.439, 1.349, 0, 270, 0, 85 [SEP] 17, Cup, 1.101, 1.663, -1.893, 0, 270, 0, 61 [SEP] 18, Cup, 1.026, 0.860, 1.158, 0, 270, 0, 85 [SEP] 19, Bowl, 0.905, 0.866, 1.540, 0, 270, 0, 85 [SEP] 20, Bowl, 0.966, 1.646, 1.158, 0, 270, 0, 85 [SEP] 21, SaltShaker, 0.688, 0.907, -2.222, 0, 0, 0, 68 [SEP] 22, Lettuce, 0.688, 0.988, -0.729, 0, 0, 0, 63 [SEP] 23, Bread, 1.114, 0.992, -0.208, 0, 0, 0, 63 [SEP] 24, Bread, 0.966, 1.482, 1.063, 0, 270, 0, 85 [SEP] 25, Mug, 1.148, 1.661, -2.234, 0, 270, 0, 61 [SEP] 26, Mug, -1.363, 0.549, 2.822, 0, 0, 0, 88 [SEP] 27, Apple, -0.808, 0.830, -0.659, 0, 90, 0, 83 [SEP] 28, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 62 [SEP] 29, Glassbottle, 1.029, 0.912, -0.729, 0, 0, 0, 63 [SEP] 30, Bread, 0.905, 1.216, 1.349, 0, 270, 0, 85 [SEP] 31, CreditCard, 1.199, 0.908, -1.965, 0, 0, 0, 68 [SEP] 32, CellPhone, -1.355, 0.930, -0.380, 0, 0, 0, 62 [SEP] 33, Potato, 1.148, 0.893, 0.967, 0, 270, 0, 85 [SEP] 34, Knife, 1.029, 0.934, -0.381, 0, 0, 0, 63 [SEP] 35, Fork, -1.229, 0.934, -0.118, 0, 0, 0, 62 [SEP] 36, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 56 [SEP] 37, Lettuce, 0.773, 0.988, -0.381, 0, 0, 0, 63 [SEP] 38, Plate, 1.193, 1.669, 0.280, 0, 270, 0, 70 [SEP] 39, Apple, -0.587, 0.830, -0.659, 0, 90, 0, 83 [SEP] 40, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 58 [SEP] 41, Spatula, 0.915, 0.509, -0.524, 0, 0, 0, 66 [SEP] 42, PaperTowelRoll, -0.960, 0.283, 0.608, 0, 180, 0, 82 [SEP] 43, Tomato, -0.869, 0.962, -0.096, 0, 0, 0, 62 [SEP] 44, Egg, -1.101, 0.214, 0.608, 0, 180, 0, 82 [SEP] 45, SaltShaker, -1.467, 0.550, 2.615, 0, 0, 0, 88 [SEP] 46, PepperShaker, 0.688, 0.907, 0.139, 0, 0, 0, 63 [SEP] 47, Vase, -1.292, 0.933, -1.167, 0, 0, 0, 62 [SEP] 48, ButterKnife, 0.773, 0.911, -0.208, 0, 0, 0, 63 [SEP] 49, SoapBottle, 1.055, 1.666, 0.025, 0, 270, 0, 70 [SEP] 50, Vase, 1.169, 2.209, -1.299, 0, 270, 0, 69 [SEP] 51, Bowl, -0.753, 0.779, -0.832, 0, 90, 0, 83 [SEP] 52, DishSponge, 0.834, 0.493, -0.690, 0, 270, 0, 66 [SEP] 53, Spoon, -0.642, 0.777, -0.573, 0, 0, 0, 83 [SEP] 54, Cup, 0.688, 0.908, 0.313, 0, 0, 0, 63 [SEP] 55, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 81 [SEP] 56, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 57, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 58, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 59, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 60, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 61, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 62, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 63, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 64, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 65, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 66, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 67, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 68, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 69, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 70, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 71, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 72, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 73, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 74, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 75, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 76, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 77, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 78, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 79, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 80, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 81, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 82, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 83, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 84, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 85, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 86, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 87, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 88, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 89, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 90, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 91, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 92, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 93, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 94, NorthWall, , , , , , , [SEP] 95, EastWall, , , , , , , [SEP] 96, SouthWall, , , , , , , [SEP] 97, WestWall, , , , , , , ", "output": ["STEP 1: Turn left, move to the counter in front of the sink. | STEP 2: Pick up the apple, that is closest to the edge, from the sink. | STEP 3: Turn left, move to the counter near the coffee maker. | STEP 4: Place the apple to the left of the cell phone. | STEP 5: Turn left, move to the counter in front of the sink. | STEP 6: Pick up the apple from the sink. | STEP 7: Turn left, move to the counter near the coffee maker. | STEP 8: Place the apple to the right of the salt shaker. | STEP 9: Turn left , move to the counter left of the stove. | STEP 10: Pick up the knife that is under the right piece of lettuce. | STEP 11: Turn right, move to the counter near the coffee maker. | STEP 12: Slice the left and right apple into sections. | END"]} +{"id": "trial_T20190907_061009_396474-3", "input": "Cut two apples that are 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, -2.25, 0.900, -1.5, 0, 180, 0, [SEP] 1, Statue, -0.550, 0.936, 0.239, 0, 0, 0, 62 [SEP] 2, Statue, -1.355, 0.936, 0.144, 0, 0, 0, 62 [SEP] 3, Vase, -1.881, 0.555, 2.770, 0, 0, 0, 88 [SEP] 4, Potato, 0.859, 0.941, 0.139, 0, 0, 0, 63 [SEP] 5, CreditCard, -1.778, 0.551, 2.563, 0, 0, 0, 88 [SEP] 6, CreditCard, -1.571, 0.878, 2.692, 0, 0, 0, 89 [SEP] 7, CellPhone, 0.688, 0.908, -2.051, 0, 0, 0, 68 [SEP] 8, CellPhone, -0.846, 0.930, 0.239, 0, 0, 0, 62 [SEP] 9, DishSponge, 0.914, 0.153, -0.690, 0, 270, 0, 65 [SEP] 10, ButterKnife, 0.773, 0.911, -0.729, 0, 0, 0, 63 [SEP] 11, ButterKnife, 0.773, 0.911, 0.313, 0, 0, 0, 63 [SEP] 12, Fork, 0.794, 0.702, -0.772, 0, 180, 0, 60 [SEP] 13, Spoon, -0.642, 0.781, -0.745, 0, 90, 0, 83 [SEP] 14, Spatula, 0.915, 0.717, -0.648, 0, 0, 0, 60 [SEP] 15, Knife, -0.550, 0.957, 0.009, 0, 0, 0, 62 [SEP] 16, Egg, 0.905, 1.439, 1.349, 0, 270, 0, 85 [SEP] 17, Cup, 1.101, 1.663, -1.893, 0, 270, 0, 61 [SEP] 18, Cup, 1.026, 0.860, 1.158, 0, 270, 0, 85 [SEP] 19, Bowl, 0.905, 0.866, 1.540, 0, 270, 0, 85 [SEP] 20, Bowl, 0.966, 1.646, 1.158, 0, 270, 0, 85 [SEP] 21, SaltShaker, 0.688, 0.907, -2.222, 0, 0, 0, 68 [SEP] 22, Lettuce, 0.688, 0.988, -0.729, 0, 0, 0, 63 [SEP] 23, Bread, 1.114, 0.992, -0.208, 0, 0, 0, 63 [SEP] 24, Bread, 0.966, 1.482, 1.063, 0, 270, 0, 85 [SEP] 25, Mug, 1.148, 1.661, -2.234, 0, 270, 0, 61 [SEP] 26, Mug, -1.363, 0.549, 2.822, 0, 0, 0, 88 [SEP] 27, Apple, -0.808, 0.830, -0.659, 0, 90, 0, 83 [SEP] 28, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 62 [SEP] 29, Glassbottle, 1.029, 0.912, -0.729, 0, 0, 0, 63 [SEP] 30, Bread, 0.905, 1.216, 1.349, 0, 270, 0, 85 [SEP] 31, CreditCard, 1.199, 0.908, -1.965, 0, 0, 0, 68 [SEP] 32, CellPhone, -1.355, 0.930, -0.380, 0, 0, 0, 62 [SEP] 33, Potato, 1.148, 0.893, 0.967, 0, 270, 0, 85 [SEP] 34, Knife, 1.029, 0.934, -0.381, 0, 0, 0, 63 [SEP] 35, Fork, -1.229, 0.934, -0.118, 0, 0, 0, 62 [SEP] 36, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 56 [SEP] 37, Lettuce, 0.773, 0.988, -0.381, 0, 0, 0, 63 [SEP] 38, Plate, 1.193, 1.669, 0.280, 0, 270, 0, 70 [SEP] 39, Apple, -0.587, 0.830, -0.659, 0, 90, 0, 83 [SEP] 40, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 58 [SEP] 41, Spatula, 0.915, 0.509, -0.524, 0, 0, 0, 66 [SEP] 42, PaperTowelRoll, -0.960, 0.283, 0.608, 0, 180, 0, 82 [SEP] 43, Tomato, -0.869, 0.962, -0.096, 0, 0, 0, 62 [SEP] 44, Egg, -1.101, 0.214, 0.608, 0, 180, 0, 82 [SEP] 45, SaltShaker, -1.467, 0.550, 2.615, 0, 0, 0, 88 [SEP] 46, PepperShaker, 0.688, 0.907, 0.139, 0, 0, 0, 63 [SEP] 47, Vase, -1.292, 0.933, -1.167, 0, 0, 0, 62 [SEP] 48, ButterKnife, 0.773, 0.911, -0.208, 0, 0, 0, 63 [SEP] 49, SoapBottle, 1.055, 1.666, 0.025, 0, 270, 0, 70 [SEP] 50, Vase, 1.169, 2.209, -1.299, 0, 270, 0, 69 [SEP] 51, Bowl, -0.753, 0.779, -0.832, 0, 90, 0, 83 [SEP] 52, DishSponge, 0.834, 0.493, -0.690, 0, 270, 0, 66 [SEP] 53, Spoon, -0.642, 0.777, -0.573, 0, 0, 0, 83 [SEP] 54, Cup, 0.688, 0.908, 0.313, 0, 0, 0, 63 [SEP] 55, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 81 [SEP] 56, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 57, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 58, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 59, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 60, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 61, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 62, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 63, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 64, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 65, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 66, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 67, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 68, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 69, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 70, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 71, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 72, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 73, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 74, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 75, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 76, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 77, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 78, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 79, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 80, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 81, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 82, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 83, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 84, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 85, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 86, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 87, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 88, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 89, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 90, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 91, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 92, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 93, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 94, NorthWall, , , , , , , [SEP] 95, EastWall, , , , , , , [SEP] 96, SouthWall, , , , , , , [SEP] 97, WestWall, , , , , , , ", "output": ["STEP 1: Turn to the left, go to the counter, hang a left, go forward to the sink that is on the left. | STEP 2: Pick up the apple in the sink that is furthest from the faucet. | STEP 3: Turn to the left, go to the wall, turn to the counter on the left where the coffee maker is. | STEP 4: Put the apple on the counter to the left of the phone. | STEP 5: Turn to the left, go forward to the sink that is on the left. | STEP 6: Pick up the apple that is in the sink. | STEP 7: Turn to the left, go to the wall, turn to the counter on the left where the coffee maker is. | STEP 8: Put the apple on the counter to the left of the salt shaker. | STEP 9: Turn to the left, go forward to the counter on the right where the lettuce is. | STEP 10: Pick up the butter knife that is underneath the leftmost head of lettuce. | STEP 11: Turn to the right, go to the wall, turn to the counter on the left where the apples are. | STEP 12: Use the knife to cut the leftmost apple, then use the knife to cut the rightmost apple. | END"]} +{"id": "trial_T20190907_061009_396474-4", "input": "Place two cut up green apples 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, -2.25, 0.900, -1.5, 0, 180, 0, [SEP] 1, Statue, -0.550, 0.936, 0.239, 0, 0, 0, 62 [SEP] 2, Statue, -1.355, 0.936, 0.144, 0, 0, 0, 62 [SEP] 3, Vase, -1.881, 0.555, 2.770, 0, 0, 0, 88 [SEP] 4, Potato, 0.859, 0.941, 0.139, 0, 0, 0, 63 [SEP] 5, CreditCard, -1.778, 0.551, 2.563, 0, 0, 0, 88 [SEP] 6, CreditCard, -1.571, 0.878, 2.692, 0, 0, 0, 89 [SEP] 7, CellPhone, 0.688, 0.908, -2.051, 0, 0, 0, 68 [SEP] 8, CellPhone, -0.846, 0.930, 0.239, 0, 0, 0, 62 [SEP] 9, DishSponge, 0.914, 0.153, -0.690, 0, 270, 0, 65 [SEP] 10, ButterKnife, 0.773, 0.911, -0.729, 0, 0, 0, 63 [SEP] 11, ButterKnife, 0.773, 0.911, 0.313, 0, 0, 0, 63 [SEP] 12, Fork, 0.794, 0.702, -0.772, 0, 180, 0, 60 [SEP] 13, Spoon, -0.642, 0.781, -0.745, 0, 90, 0, 83 [SEP] 14, Spatula, 0.915, 0.717, -0.648, 0, 0, 0, 60 [SEP] 15, Knife, -0.550, 0.957, 0.009, 0, 0, 0, 62 [SEP] 16, Egg, 0.905, 1.439, 1.349, 0, 270, 0, 85 [SEP] 17, Cup, 1.101, 1.663, -1.893, 0, 270, 0, 61 [SEP] 18, Cup, 1.026, 0.860, 1.158, 0, 270, 0, 85 [SEP] 19, Bowl, 0.905, 0.866, 1.540, 0, 270, 0, 85 [SEP] 20, Bowl, 0.966, 1.646, 1.158, 0, 270, 0, 85 [SEP] 21, SaltShaker, 0.688, 0.907, -2.222, 0, 0, 0, 68 [SEP] 22, Lettuce, 0.688, 0.988, -0.729, 0, 0, 0, 63 [SEP] 23, Bread, 1.114, 0.992, -0.208, 0, 0, 0, 63 [SEP] 24, Bread, 0.966, 1.482, 1.063, 0, 270, 0, 85 [SEP] 25, Mug, 1.148, 1.661, -2.234, 0, 270, 0, 61 [SEP] 26, Mug, -1.363, 0.549, 2.822, 0, 0, 0, 88 [SEP] 27, Apple, -0.808, 0.830, -0.659, 0, 90, 0, 83 [SEP] 28, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 62 [SEP] 29, Glassbottle, 1.029, 0.912, -0.729, 0, 0, 0, 63 [SEP] 30, Bread, 0.905, 1.216, 1.349, 0, 270, 0, 85 [SEP] 31, CreditCard, 1.199, 0.908, -1.965, 0, 0, 0, 68 [SEP] 32, CellPhone, -1.355, 0.930, -0.380, 0, 0, 0, 62 [SEP] 33, Potato, 1.148, 0.893, 0.967, 0, 270, 0, 85 [SEP] 34, Knife, 1.029, 0.934, -0.381, 0, 0, 0, 63 [SEP] 35, Fork, -1.229, 0.934, -0.118, 0, 0, 0, 62 [SEP] 36, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 56 [SEP] 37, Lettuce, 0.773, 0.988, -0.381, 0, 0, 0, 63 [SEP] 38, Plate, 1.193, 1.669, 0.280, 0, 270, 0, 70 [SEP] 39, Apple, -0.587, 0.830, -0.659, 0, 90, 0, 83 [SEP] 40, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 58 [SEP] 41, Spatula, 0.915, 0.509, -0.524, 0, 0, 0, 66 [SEP] 42, PaperTowelRoll, -0.960, 0.283, 0.608, 0, 180, 0, 82 [SEP] 43, Tomato, -0.869, 0.962, -0.096, 0, 0, 0, 62 [SEP] 44, Egg, -1.101, 0.214, 0.608, 0, 180, 0, 82 [SEP] 45, SaltShaker, -1.467, 0.550, 2.615, 0, 0, 0, 88 [SEP] 46, PepperShaker, 0.688, 0.907, 0.139, 0, 0, 0, 63 [SEP] 47, Vase, -1.292, 0.933, -1.167, 0, 0, 0, 62 [SEP] 48, ButterKnife, 0.773, 0.911, -0.208, 0, 0, 0, 63 [SEP] 49, SoapBottle, 1.055, 1.666, 0.025, 0, 270, 0, 70 [SEP] 50, Vase, 1.169, 2.209, -1.299, 0, 270, 0, 69 [SEP] 51, Bowl, -0.753, 0.779, -0.832, 0, 90, 0, 83 [SEP] 52, DishSponge, 0.834, 0.493, -0.690, 0, 270, 0, 66 [SEP] 53, Spoon, -0.642, 0.777, -0.573, 0, 0, 0, 83 [SEP] 54, Cup, 0.688, 0.908, 0.313, 0, 0, 0, 63 [SEP] 55, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 81 [SEP] 56, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 57, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 58, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 59, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 60, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 61, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 62, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 63, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 64, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 65, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 66, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 67, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 68, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 69, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 70, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 71, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 72, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 73, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 74, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 75, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 76, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 77, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 78, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 79, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 80, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 81, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 82, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 83, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 84, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 85, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 86, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 87, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 88, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 89, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 90, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 91, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 92, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 93, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 94, NorthWall, , , , , , , [SEP] 95, EastWall, , , , , , , [SEP] 96, SouthWall, , , , , , , [SEP] 97, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and walk to the sink. | STEP 2: Pick up the green apple closest to you. | STEP 3: Turn left and walk to the coffee machine. | STEP 4: Place the green apple to the left of the phone on the counter. | STEP 5: Turn left and walk to the sink. | STEP 6: Pick up the green apple from the sink. | STEP 7: Turn left and walk to the coffee machine. | STEP 8: Place the apple to the right of the salt on the counter. | STEP 9: Turn left and walk to the knife closest to the stove. | STEP 10: Pick up the knife closest to the stove. | STEP 11: Turn right and walk to the coffee machine. | STEP 12: Cut up both apples on the counter. | END"]} +{"id": "trial_T20190907_061009_396474-5", "input": "Bring two apples in the sink to the counter to slice. 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, -1.5, 0, 180, 0, [SEP] 1, Statue, -0.550, 0.936, 0.239, 0, 0, 0, 62 [SEP] 2, Statue, -1.355, 0.936, 0.144, 0, 0, 0, 62 [SEP] 3, Vase, -1.881, 0.555, 2.770, 0, 0, 0, 88 [SEP] 4, Potato, 0.859, 0.941, 0.139, 0, 0, 0, 63 [SEP] 5, CreditCard, -1.778, 0.551, 2.563, 0, 0, 0, 88 [SEP] 6, CreditCard, -1.571, 0.878, 2.692, 0, 0, 0, 89 [SEP] 7, CellPhone, 0.688, 0.908, -2.051, 0, 0, 0, 68 [SEP] 8, CellPhone, -0.846, 0.930, 0.239, 0, 0, 0, 62 [SEP] 9, DishSponge, 0.914, 0.153, -0.690, 0, 270, 0, 65 [SEP] 10, ButterKnife, 0.773, 0.911, -0.729, 0, 0, 0, 63 [SEP] 11, ButterKnife, 0.773, 0.911, 0.313, 0, 0, 0, 63 [SEP] 12, Fork, 0.794, 0.702, -0.772, 0, 180, 0, 60 [SEP] 13, Spoon, -0.642, 0.781, -0.745, 0, 90, 0, 83 [SEP] 14, Spatula, 0.915, 0.717, -0.648, 0, 0, 0, 60 [SEP] 15, Knife, -0.550, 0.957, 0.009, 0, 0, 0, 62 [SEP] 16, Egg, 0.905, 1.439, 1.349, 0, 270, 0, 85 [SEP] 17, Cup, 1.101, 1.663, -1.893, 0, 270, 0, 61 [SEP] 18, Cup, 1.026, 0.860, 1.158, 0, 270, 0, 85 [SEP] 19, Bowl, 0.905, 0.866, 1.540, 0, 270, 0, 85 [SEP] 20, Bowl, 0.966, 1.646, 1.158, 0, 270, 0, 85 [SEP] 21, SaltShaker, 0.688, 0.907, -2.222, 0, 0, 0, 68 [SEP] 22, Lettuce, 0.688, 0.988, -0.729, 0, 0, 0, 63 [SEP] 23, Bread, 1.114, 0.992, -0.208, 0, 0, 0, 63 [SEP] 24, Bread, 0.966, 1.482, 1.063, 0, 270, 0, 85 [SEP] 25, Mug, 1.148, 1.661, -2.234, 0, 270, 0, 61 [SEP] 26, Mug, -1.363, 0.549, 2.822, 0, 0, 0, 88 [SEP] 27, Apple, -0.808, 0.830, -0.659, 0, 90, 0, 83 [SEP] 28, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 62 [SEP] 29, Glassbottle, 1.029, 0.912, -0.729, 0, 0, 0, 63 [SEP] 30, Bread, 0.905, 1.216, 1.349, 0, 270, 0, 85 [SEP] 31, CreditCard, 1.199, 0.908, -1.965, 0, 0, 0, 68 [SEP] 32, CellPhone, -1.355, 0.930, -0.380, 0, 0, 0, 62 [SEP] 33, Potato, 1.148, 0.893, 0.967, 0, 270, 0, 85 [SEP] 34, Knife, 1.029, 0.934, -0.381, 0, 0, 0, 63 [SEP] 35, Fork, -1.229, 0.934, -0.118, 0, 0, 0, 62 [SEP] 36, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 56 [SEP] 37, Lettuce, 0.773, 0.988, -0.381, 0, 0, 0, 63 [SEP] 38, Plate, 1.193, 1.669, 0.280, 0, 270, 0, 70 [SEP] 39, Apple, -0.587, 0.830, -0.659, 0, 90, 0, 83 [SEP] 40, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 58 [SEP] 41, Spatula, 0.915, 0.509, -0.524, 0, 0, 0, 66 [SEP] 42, PaperTowelRoll, -0.960, 0.283, 0.608, 0, 180, 0, 82 [SEP] 43, Tomato, -0.869, 0.962, -0.096, 0, 0, 0, 62 [SEP] 44, Egg, -1.101, 0.214, 0.608, 0, 180, 0, 82 [SEP] 45, SaltShaker, -1.467, 0.550, 2.615, 0, 0, 0, 88 [SEP] 46, PepperShaker, 0.688, 0.907, 0.139, 0, 0, 0, 63 [SEP] 47, Vase, -1.292, 0.933, -1.167, 0, 0, 0, 62 [SEP] 48, ButterKnife, 0.773, 0.911, -0.208, 0, 0, 0, 63 [SEP] 49, SoapBottle, 1.055, 1.666, 0.025, 0, 270, 0, 70 [SEP] 50, Vase, 1.169, 2.209, -1.299, 0, 270, 0, 69 [SEP] 51, Bowl, -0.753, 0.779, -0.832, 0, 90, 0, 83 [SEP] 52, DishSponge, 0.834, 0.493, -0.690, 0, 270, 0, 66 [SEP] 53, Spoon, -0.642, 0.777, -0.573, 0, 0, 0, 83 [SEP] 54, Cup, 0.688, 0.908, 0.313, 0, 0, 0, 63 [SEP] 55, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 81 [SEP] 56, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 57, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 58, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 59, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 60, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 61, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 62, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 63, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 64, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 65, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 66, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 67, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 68, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 69, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 70, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 71, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 72, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 73, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 74, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 75, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 76, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 77, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 78, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 79, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 80, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 81, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 82, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 83, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 84, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 85, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 86, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 87, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 88, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 89, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 90, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 91, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 92, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 93, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 94, NorthWall, , , , , , , [SEP] 95, EastWall, , , , , , , [SEP] 96, SouthWall, , , , , , , [SEP] 97, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and move around the kitchen island to face the sink. | STEP 2: Pick up the apple closest to you in the sink. | STEP 3: Turn left and face the coffee maker on the counter. | STEP 4: Place the apple on the counter to the left of the coffee maker. | STEP 5: Turn left and move to the sink again. | STEP 6: Pick up the remaining apple in the sink. | STEP 7: Turn left and face the coffee maker on the counter. | STEP 8: Place the apple on the counter to the right of the coffee maker. | STEP 9: Turn left and head to the counter to the left of the oven. | STEP 10: Pick up the knife underneath the lettuce on the counter. | STEP 11: turn right and go to the coffee maker. | STEP 12: Slice the two apples on the counter with the knife. | END"]} +{"id": "trial_T20190909_110347_624008-0", "input": "put a knife in the sink before standing 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, -3.0, 0.900, -0.25, 0, 90, 0, [SEP] 1, Pan, 1.126, 2.205, -1.299, 0, 0, 0, 65 [SEP] 2, Pan, 1.026, 1.132, 1.349, 0, 90, 0, 81 [SEP] 3, Statue, -0.772, 0.936, -1.540, 0, 0, 0, 58 [SEP] 4, Potato, -0.865, 0.207, 0.575, 0, 180, 0, 78 [SEP] 5, Potato, 0.944, 0.941, -0.555, 0, 0, 0, 59 [SEP] 6, CellPhone, 0.688, 0.908, -0.208, 0, 0, 0, 59 [SEP] 7, CellPhone, -0.920, 0.930, 0.009, 0, 0, 0, 58 [SEP] 8, DishSponge, 0.754, 0.493, -0.607, 0, 270, 0, 62 [SEP] 9, ButterKnife, -0.846, 0.933, -1.308, 0, 0, 0, 58 [SEP] 10, ButterKnife, -0.772, 0.933, -0.067, 0, 90, 0, 58 [SEP] 11, Fork, 1.029, 0.911, -0.208, 0, 0, 0, 59 [SEP] 12, Spoon, -1.229, 0.934, -0.905, 0, 0, 0, 58 [SEP] 13, Spoon, -0.642, 0.781, -0.659, 0, 90, 0, 79 [SEP] 14, Cup, 1.009, 1.663, 0.280, 0, 270, 0, 66 [SEP] 15, Cup, -1.167, 0.930, -1.430, 0, 0, 0, 58 [SEP] 16, Tomato, -1.054, 0.219, 0.576, 0, 180, 0, 78 [SEP] 17, SoapBottle, -0.477, 0.933, -1.308, 0, 0, 0, 58 [SEP] 18, Bowl, -1.167, 0.936, -0.118, 0, 0, 0, 58 [SEP] 19, PepperShaker, 1.147, 1.662, 0.216, 0, 270, 0, 66 [SEP] 20, PepperShaker, 0.773, 0.907, -1.793, 0, 0, 0, 64 [SEP] 21, Lettuce, 0.966, 0.940, 1.254, 0, 270, 0, 81 [SEP] 22, Lettuce, 0.944, 0.988, -0.381, 0, 0, 0, 59 [SEP] 23, Mug, 0.910, 0.103, -1.972, 0, 0, 0, 63 [SEP] 24, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 58 [SEP] 25, Glassbottle, -0.624, 0.934, -1.154, 0, 0, 0, 58 [SEP] 26, Bread, 0.966, 1.482, 1.254, 0, 270, 0, 81 [SEP] 27, CreditCard, -1.355, 0.930, -1.167, 0, 0, 0, 58 [SEP] 28, CellPhone, 0.875, 0.491, -0.607, 0, 270, 0, 62 [SEP] 29, Potato, -0.642, 0.807, -0.486, 0, 90, 0, 79 [SEP] 30, Knife, 1.029, 0.934, -0.555, 0, 90, 0, 59 [SEP] 31, Fork, 0.793, 0.154, -0.611, 0, 180, 0, 61 [SEP] 32, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 52 [SEP] 33, Lettuce, 1.114, 0.988, -0.034, 0, 0, 0, 59 [SEP] 34, Plate, -1.363, 0.557, 2.718, 0, 0, 0, 84 [SEP] 35, Apple, 0.844, 1.693, 1.349, 0, 270, 0, 81 [SEP] 36, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 54 [SEP] 37, Spatula, 0.688, 0.926, -2.051, 0, 270, 0, 64 [SEP] 38, PaperTowelRoll, 0.688, 1.015, -1.879, 0, 0, 0, 64 [SEP] 39, Tomato, 0.773, 0.952, -0.034, 0, 0, 0, 59 [SEP] 40, Egg, -0.587, 0.814, -0.659, 0, 90, 0, 79 [SEP] 41, SaltShaker, -1.881, 0.550, 2.770, 0, 0, 0, 84 [SEP] 42, PepperShaker, 1.010, 0.104, -1.892, 0, 0, 0, 63 [SEP] 43, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 84 [SEP] 44, ButterKnife, -0.624, 0.933, -0.143, 0, 0, 0, 58 [SEP] 45, SoapBottle, 1.055, 1.666, -2.234, 0, 270, 0, 57 [SEP] 46, Vase, 0.859, 0.912, -0.729, 0, 0, 0, 59 [SEP] 47, Bowl, -0.642, 0.779, -0.832, 0, 90, 0, 79 [SEP] 48, DishSponge, 0.859, 0.910, -0.555, 0, 0, 0, 59 [SEP] 49, Spoon, -0.698, 0.934, -1.386, 0, 0, 0, 58 [SEP] 50, Cup, 0.861, 0.105, -2.292, 0, 0, 0, 63 [SEP] 51, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 77 [SEP] 52, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 53, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 54, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 55, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 56, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 57, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 58, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 59, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 60, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 61, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 62, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 63, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 64, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 65, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 66, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 67, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 68, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 69, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 70, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 71, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 72, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 73, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 74, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 75, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 76, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 77, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 78, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 79, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 80, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 81, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 82, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 83, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 84, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 85, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 86, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 87, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 88, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 89, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 90, NorthWall, , , , , , , [SEP] 91, EastWall, , , , , , , [SEP] 92, SouthWall, , , , , , , [SEP] 93, WestWall, , , , , , , ", "output": ["STEP 1: go to the counter to the left of the stove | STEP 2: pick up the knife from the counter | STEP 3: take the knife to the sink | STEP 4: put the knife in the sink then take back out | STEP 5: take the knife back to the counter | STEP 6: stand the knife on the counter to the left of the phone | END"]} +{"id": "trial_T20190909_110347_624008-1", "input": "Put a large clean knife 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, -3.0, 0.900, -0.25, 0, 90, 0, [SEP] 1, Pan, 1.126, 2.205, -1.299, 0, 0, 0, 65 [SEP] 2, Pan, 1.026, 1.132, 1.349, 0, 90, 0, 81 [SEP] 3, Statue, -0.772, 0.936, -1.540, 0, 0, 0, 58 [SEP] 4, Potato, -0.865, 0.207, 0.575, 0, 180, 0, 78 [SEP] 5, Potato, 0.944, 0.941, -0.555, 0, 0, 0, 59 [SEP] 6, CellPhone, 0.688, 0.908, -0.208, 0, 0, 0, 59 [SEP] 7, CellPhone, -0.920, 0.930, 0.009, 0, 0, 0, 58 [SEP] 8, DishSponge, 0.754, 0.493, -0.607, 0, 270, 0, 62 [SEP] 9, ButterKnife, -0.846, 0.933, -1.308, 0, 0, 0, 58 [SEP] 10, ButterKnife, -0.772, 0.933, -0.067, 0, 90, 0, 58 [SEP] 11, Fork, 1.029, 0.911, -0.208, 0, 0, 0, 59 [SEP] 12, Spoon, -1.229, 0.934, -0.905, 0, 0, 0, 58 [SEP] 13, Spoon, -0.642, 0.781, -0.659, 0, 90, 0, 79 [SEP] 14, Cup, 1.009, 1.663, 0.280, 0, 270, 0, 66 [SEP] 15, Cup, -1.167, 0.930, -1.430, 0, 0, 0, 58 [SEP] 16, Tomato, -1.054, 0.219, 0.576, 0, 180, 0, 78 [SEP] 17, SoapBottle, -0.477, 0.933, -1.308, 0, 0, 0, 58 [SEP] 18, Bowl, -1.167, 0.936, -0.118, 0, 0, 0, 58 [SEP] 19, PepperShaker, 1.147, 1.662, 0.216, 0, 270, 0, 66 [SEP] 20, PepperShaker, 0.773, 0.907, -1.793, 0, 0, 0, 64 [SEP] 21, Lettuce, 0.966, 0.940, 1.254, 0, 270, 0, 81 [SEP] 22, Lettuce, 0.944, 0.988, -0.381, 0, 0, 0, 59 [SEP] 23, Mug, 0.910, 0.103, -1.972, 0, 0, 0, 63 [SEP] 24, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 58 [SEP] 25, Glassbottle, -0.624, 0.934, -1.154, 0, 0, 0, 58 [SEP] 26, Bread, 0.966, 1.482, 1.254, 0, 270, 0, 81 [SEP] 27, CreditCard, -1.355, 0.930, -1.167, 0, 0, 0, 58 [SEP] 28, CellPhone, 0.875, 0.491, -0.607, 0, 270, 0, 62 [SEP] 29, Potato, -0.642, 0.807, -0.486, 0, 90, 0, 79 [SEP] 30, Knife, 1.029, 0.934, -0.555, 0, 90, 0, 59 [SEP] 31, Fork, 0.793, 0.154, -0.611, 0, 180, 0, 61 [SEP] 32, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 52 [SEP] 33, Lettuce, 1.114, 0.988, -0.034, 0, 0, 0, 59 [SEP] 34, Plate, -1.363, 0.557, 2.718, 0, 0, 0, 84 [SEP] 35, Apple, 0.844, 1.693, 1.349, 0, 270, 0, 81 [SEP] 36, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 54 [SEP] 37, Spatula, 0.688, 0.926, -2.051, 0, 270, 0, 64 [SEP] 38, PaperTowelRoll, 0.688, 1.015, -1.879, 0, 0, 0, 64 [SEP] 39, Tomato, 0.773, 0.952, -0.034, 0, 0, 0, 59 [SEP] 40, Egg, -0.587, 0.814, -0.659, 0, 90, 0, 79 [SEP] 41, SaltShaker, -1.881, 0.550, 2.770, 0, 0, 0, 84 [SEP] 42, PepperShaker, 1.010, 0.104, -1.892, 0, 0, 0, 63 [SEP] 43, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 84 [SEP] 44, ButterKnife, -0.624, 0.933, -0.143, 0, 0, 0, 58 [SEP] 45, SoapBottle, 1.055, 1.666, -2.234, 0, 270, 0, 57 [SEP] 46, Vase, 0.859, 0.912, -0.729, 0, 0, 0, 59 [SEP] 47, Bowl, -0.642, 0.779, -0.832, 0, 90, 0, 79 [SEP] 48, DishSponge, 0.859, 0.910, -0.555, 0, 0, 0, 59 [SEP] 49, Spoon, -0.698, 0.934, -1.386, 0, 0, 0, 58 [SEP] 50, Cup, 0.861, 0.105, -2.292, 0, 0, 0, 63 [SEP] 51, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 77 [SEP] 52, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 53, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 54, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 55, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 56, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 57, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 58, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 59, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 60, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 61, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 62, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 63, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 64, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 65, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 66, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 67, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 68, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 69, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 70, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 71, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 72, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 73, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 74, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 75, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 76, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 77, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 78, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 79, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 80, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 81, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 82, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 83, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 84, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 85, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 86, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 87, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 88, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 89, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 90, NorthWall, , , , , , , [SEP] 91, EastWall, , , , , , , [SEP] 92, SouthWall, , , , , , , [SEP] 93, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and walk towards the door, then turn right and walk up to the fridge and turn right, then walk over to the section of counter to the left of the stove. | STEP 2: Pick up the large metal knife off of the counter. | STEP 3: Walk over to the sink behind you. | STEP 4: Wash the large metal knife in the sink and then pick it back up. | STEP 5: Turn right and walk forward, then turn right and walk up to the counter. | STEP 6: Put the large clean knife on the counter in front of the tomato. | END"]} +{"id": "trial_T20190909_110347_624008-2", "input": "wash the knife and place it by the tomato 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, -0.25, 0, 90, 0, [SEP] 1, Pan, 1.126, 2.205, -1.299, 0, 0, 0, 65 [SEP] 2, Pan, 1.026, 1.132, 1.349, 0, 90, 0, 81 [SEP] 3, Statue, -0.772, 0.936, -1.540, 0, 0, 0, 58 [SEP] 4, Potato, -0.865, 0.207, 0.575, 0, 180, 0, 78 [SEP] 5, Potato, 0.944, 0.941, -0.555, 0, 0, 0, 59 [SEP] 6, CellPhone, 0.688, 0.908, -0.208, 0, 0, 0, 59 [SEP] 7, CellPhone, -0.920, 0.930, 0.009, 0, 0, 0, 58 [SEP] 8, DishSponge, 0.754, 0.493, -0.607, 0, 270, 0, 62 [SEP] 9, ButterKnife, -0.846, 0.933, -1.308, 0, 0, 0, 58 [SEP] 10, ButterKnife, -0.772, 0.933, -0.067, 0, 90, 0, 58 [SEP] 11, Fork, 1.029, 0.911, -0.208, 0, 0, 0, 59 [SEP] 12, Spoon, -1.229, 0.934, -0.905, 0, 0, 0, 58 [SEP] 13, Spoon, -0.642, 0.781, -0.659, 0, 90, 0, 79 [SEP] 14, Cup, 1.009, 1.663, 0.280, 0, 270, 0, 66 [SEP] 15, Cup, -1.167, 0.930, -1.430, 0, 0, 0, 58 [SEP] 16, Tomato, -1.054, 0.219, 0.576, 0, 180, 0, 78 [SEP] 17, SoapBottle, -0.477, 0.933, -1.308, 0, 0, 0, 58 [SEP] 18, Bowl, -1.167, 0.936, -0.118, 0, 0, 0, 58 [SEP] 19, PepperShaker, 1.147, 1.662, 0.216, 0, 270, 0, 66 [SEP] 20, PepperShaker, 0.773, 0.907, -1.793, 0, 0, 0, 64 [SEP] 21, Lettuce, 0.966, 0.940, 1.254, 0, 270, 0, 81 [SEP] 22, Lettuce, 0.944, 0.988, -0.381, 0, 0, 0, 59 [SEP] 23, Mug, 0.910, 0.103, -1.972, 0, 0, 0, 63 [SEP] 24, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 58 [SEP] 25, Glassbottle, -0.624, 0.934, -1.154, 0, 0, 0, 58 [SEP] 26, Bread, 0.966, 1.482, 1.254, 0, 270, 0, 81 [SEP] 27, CreditCard, -1.355, 0.930, -1.167, 0, 0, 0, 58 [SEP] 28, CellPhone, 0.875, 0.491, -0.607, 0, 270, 0, 62 [SEP] 29, Potato, -0.642, 0.807, -0.486, 0, 90, 0, 79 [SEP] 30, Knife, 1.029, 0.934, -0.555, 0, 90, 0, 59 [SEP] 31, Fork, 0.793, 0.154, -0.611, 0, 180, 0, 61 [SEP] 32, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 52 [SEP] 33, Lettuce, 1.114, 0.988, -0.034, 0, 0, 0, 59 [SEP] 34, Plate, -1.363, 0.557, 2.718, 0, 0, 0, 84 [SEP] 35, Apple, 0.844, 1.693, 1.349, 0, 270, 0, 81 [SEP] 36, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 54 [SEP] 37, Spatula, 0.688, 0.926, -2.051, 0, 270, 0, 64 [SEP] 38, PaperTowelRoll, 0.688, 1.015, -1.879, 0, 0, 0, 64 [SEP] 39, Tomato, 0.773, 0.952, -0.034, 0, 0, 0, 59 [SEP] 40, Egg, -0.587, 0.814, -0.659, 0, 90, 0, 79 [SEP] 41, SaltShaker, -1.881, 0.550, 2.770, 0, 0, 0, 84 [SEP] 42, PepperShaker, 1.010, 0.104, -1.892, 0, 0, 0, 63 [SEP] 43, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 84 [SEP] 44, ButterKnife, -0.624, 0.933, -0.143, 0, 0, 0, 58 [SEP] 45, SoapBottle, 1.055, 1.666, -2.234, 0, 270, 0, 57 [SEP] 46, Vase, 0.859, 0.912, -0.729, 0, 0, 0, 59 [SEP] 47, Bowl, -0.642, 0.779, -0.832, 0, 90, 0, 79 [SEP] 48, DishSponge, 0.859, 0.910, -0.555, 0, 0, 0, 59 [SEP] 49, Spoon, -0.698, 0.934, -1.386, 0, 0, 0, 58 [SEP] 50, Cup, 0.861, 0.105, -2.292, 0, 0, 0, 63 [SEP] 51, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 77 [SEP] 52, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 53, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 54, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 55, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 56, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 57, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 58, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 59, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 60, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 61, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 62, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 63, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 64, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 65, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 66, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 67, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 68, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 69, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 70, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 71, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 72, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 73, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 74, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 75, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 76, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 77, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 78, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 79, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 80, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 81, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 82, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 83, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 84, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 85, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 86, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 87, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 88, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 89, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 90, NorthWall, , , , , , , [SEP] 91, EastWall, , , , , , , [SEP] 92, SouthWall, , , , , , , [SEP] 93, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and cross the kitchen to the counter beside the stove | STEP 2: pick up the knife sitting on the counter behind the potato and turn left | STEP 3: turn around and go to the sink | STEP 4: place the knife in the sink and turn on the water to wash it then pick it back up | STEP 5: turn around and go back to the counter with the tomato | STEP 6: place the knife by the tomato | END"]} +{"id": "trial_T20190912_221016_460197-0", "input": "Place two salt shakers 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, -1.25, 0, 270, 0, [SEP] 1, Pan, 1.026, 1.399, 1.349, 0, 90, 0, 81 [SEP] 2, Pan, 1.114, 0.909, -0.729, 0, 90, 0, 59 [SEP] 3, Vase, -1.167, 0.934, -0.643, 0, 0, 0, 58 [SEP] 4, Potato, 0.844, 0.893, 1.444, 0, 270, 0, 81 [SEP] 5, CreditCard, 0.915, 0.492, -0.565, 0, 270, 0, 62 [SEP] 6, CreditCard, 0.688, 0.908, -1.879, 0, 0, 0, 64 [SEP] 7, DishSponge, -0.920, 0.933, 0.162, 0, 0, 0, 58 [SEP] 8, DishSponge, 0.793, 0.153, -0.690, 0, 270, 0, 61 [SEP] 9, ButterKnife, 1.114, 0.911, -0.555, 0, 0, 0, 59 [SEP] 10, Glassbottle, 1.101, 1.667, 0.025, 0, 270, 0, 66 [SEP] 11, Spoon, 0.794, 0.496, -0.690, 0, 270, 0, 62 [SEP] 12, Spatula, 0.773, 0.926, -0.381, 0, 90, 0, 59 [SEP] 13, Spatula, -0.642, 0.791, -0.573, 0, 0, 0, 79 [SEP] 14, Knife, -0.624, 0.957, 0.009, 0, 90, 0, 58 [SEP] 15, Cup, 0.688, 0.908, -0.381, 0, 0, 0, 59 [SEP] 16, Cup, 0.844, 1.640, 1.540, 0, 270, 0, 81 [SEP] 17, Plate, 1.194, 1.669, -0.337, 0, 270, 0, 67 [SEP] 18, Tomato, 0.688, 0.952, -2.051, 0, 0, 0, 64 [SEP] 19, Bowl, 0.844, 1.138, 0.967, 0, 270, 0, 81 [SEP] 20, PepperShaker, 0.944, 0.907, -0.381, 0, 0, 0, 59 [SEP] 21, Bread, 1.114, 0.992, -0.034, 0, 0, 0, 59 [SEP] 22, Apple, 1.060, 1.845, -1.132, 0, 270, 0, 80 [SEP] 23, Apple, 1.087, 1.185, 1.540, 0, 270, 0, 81 [SEP] 24, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 58 [SEP] 25, Glassbottle, 0.964, 0.121, 0.349, 0, 270, 0, 53 [SEP] 26, Bread, 0.905, 1.216, 1.444, 0, 270, 0, 81 [SEP] 27, CreditCard, -1.104, 0.930, -0.380, 0, 0, 0, 58 [SEP] 28, CellPhone, 0.773, 0.908, -0.729, 0, 0, 0, 59 [SEP] 29, Potato, -0.587, 0.807, -0.486, 0, 90, 0, 79 [SEP] 30, Knife, 1.029, 0.934, -0.381, 0, 0, 0, 59 [SEP] 31, Fork, 0.833, 0.154, -0.611, 0, 0, 0, 61 [SEP] 32, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 52 [SEP] 33, Lettuce, -1.104, 1.010, -1.167, 0, 0, 0, 58 [SEP] 34, Plate, 1.082, 2.211, -1.408, 0, 270, 0, 65 [SEP] 35, Apple, 1.199, 0.961, -1.879, 0, 0, 0, 64 [SEP] 36, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 54 [SEP] 37, Spatula, -0.624, 0.948, 0.315, 0, 0, 0, 58 [SEP] 38, PaperTowelRoll, 0.859, 1.015, -0.208, 0, 0, 0, 59 [SEP] 39, Tomato, -0.865, 0.219, 0.543, 0, 180, 0, 78 [SEP] 40, Egg, 0.773, 0.949, -1.879, 0, 0, 0, 64 [SEP] 41, SaltShaker, 1.199, 0.907, 0.139, 0, 0, 0, 59 [SEP] 42, PepperShaker, -0.477, 0.929, 0.239, 0, 0, 0, 58 [SEP] 43, Vase, -1.229, 0.933, -0.118, 0, 0, 0, 58 [SEP] 44, ButterKnife, -0.846, 0.933, 0.009, 0, 0, 0, 58 [SEP] 45, SoapBottle, 1.055, 1.666, -2.166, 0, 270, 0, 57 [SEP] 46, Vase, -0.550, 0.934, -1.540, 0, 0, 0, 58 [SEP] 47, Bowl, 0.966, 0.866, 0.967, 0, 270, 0, 81 [SEP] 48, DishSponge, 0.862, 0.120, 0.374, 0, 270, 0, 53 [SEP] 49, Spoon, 0.834, 0.703, -0.648, 0, 270, 0, 56 [SEP] 50, Cup, 1.087, 0.860, 1.063, 0, 270, 0, 81 [SEP] 51, Mug, -0.753, 0.775, -0.659, 0, 270, 0, 79 [SEP] 52, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 53, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 54, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 55, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 56, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 57, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 58, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 59, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 60, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 61, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 62, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 63, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 64, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 65, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 66, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 67, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 68, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 69, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 70, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 71, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 72, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 73, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 74, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 75, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 76, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 77, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 78, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 79, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 80, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 81, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 82, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 83, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 84, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 85, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 86, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 87, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 88, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 89, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 90, NorthWall, , , , , , , [SEP] 91, EastWall, , , , , , , [SEP] 92, SouthWall, , , , , , , [SEP] 93, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and walk ahead and veer right around the counter to face the counter to the right of the sink. | STEP 2: Pick up the salt shaker on the counter. | STEP 3: Turn left and walk to the left side of the stove. | STEP 4: Place the shaker in the top drawer to the left of the stove, in the front left corner. | STEP 5: Take a step left. | STEP 6: Pick up the salt shaker on the counter. | STEP 7: Take a step right. | STEP 8: Put the salt shaker in the top drawer behind the first one. | END"]} +{"id": "trial_T20190912_221016_460197-1", "input": "Place two salt shakers in a 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, -1.25, 0, 270, 0, [SEP] 1, Pan, 1.026, 1.399, 1.349, 0, 90, 0, 81 [SEP] 2, Pan, 1.114, 0.909, -0.729, 0, 90, 0, 59 [SEP] 3, Vase, -1.167, 0.934, -0.643, 0, 0, 0, 58 [SEP] 4, Potato, 0.844, 0.893, 1.444, 0, 270, 0, 81 [SEP] 5, CreditCard, 0.915, 0.492, -0.565, 0, 270, 0, 62 [SEP] 6, CreditCard, 0.688, 0.908, -1.879, 0, 0, 0, 64 [SEP] 7, DishSponge, -0.920, 0.933, 0.162, 0, 0, 0, 58 [SEP] 8, DishSponge, 0.793, 0.153, -0.690, 0, 270, 0, 61 [SEP] 9, ButterKnife, 1.114, 0.911, -0.555, 0, 0, 0, 59 [SEP] 10, Glassbottle, 1.101, 1.667, 0.025, 0, 270, 0, 66 [SEP] 11, Spoon, 0.794, 0.496, -0.690, 0, 270, 0, 62 [SEP] 12, Spatula, 0.773, 0.926, -0.381, 0, 90, 0, 59 [SEP] 13, Spatula, -0.642, 0.791, -0.573, 0, 0, 0, 79 [SEP] 14, Knife, -0.624, 0.957, 0.009, 0, 90, 0, 58 [SEP] 15, Cup, 0.688, 0.908, -0.381, 0, 0, 0, 59 [SEP] 16, Cup, 0.844, 1.640, 1.540, 0, 270, 0, 81 [SEP] 17, Plate, 1.194, 1.669, -0.337, 0, 270, 0, 67 [SEP] 18, Tomato, 0.688, 0.952, -2.051, 0, 0, 0, 64 [SEP] 19, Bowl, 0.844, 1.138, 0.967, 0, 270, 0, 81 [SEP] 20, PepperShaker, 0.944, 0.907, -0.381, 0, 0, 0, 59 [SEP] 21, Bread, 1.114, 0.992, -0.034, 0, 0, 0, 59 [SEP] 22, Apple, 1.060, 1.845, -1.132, 0, 270, 0, 80 [SEP] 23, Apple, 1.087, 1.185, 1.540, 0, 270, 0, 81 [SEP] 24, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 58 [SEP] 25, Glassbottle, 0.964, 0.121, 0.349, 0, 270, 0, 53 [SEP] 26, Bread, 0.905, 1.216, 1.444, 0, 270, 0, 81 [SEP] 27, CreditCard, -1.104, 0.930, -0.380, 0, 0, 0, 58 [SEP] 28, CellPhone, 0.773, 0.908, -0.729, 0, 0, 0, 59 [SEP] 29, Potato, -0.587, 0.807, -0.486, 0, 90, 0, 79 [SEP] 30, Knife, 1.029, 0.934, -0.381, 0, 0, 0, 59 [SEP] 31, Fork, 0.833, 0.154, -0.611, 0, 0, 0, 61 [SEP] 32, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 52 [SEP] 33, Lettuce, -1.104, 1.010, -1.167, 0, 0, 0, 58 [SEP] 34, Plate, 1.082, 2.211, -1.408, 0, 270, 0, 65 [SEP] 35, Apple, 1.199, 0.961, -1.879, 0, 0, 0, 64 [SEP] 36, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 54 [SEP] 37, Spatula, -0.624, 0.948, 0.315, 0, 0, 0, 58 [SEP] 38, PaperTowelRoll, 0.859, 1.015, -0.208, 0, 0, 0, 59 [SEP] 39, Tomato, -0.865, 0.219, 0.543, 0, 180, 0, 78 [SEP] 40, Egg, 0.773, 0.949, -1.879, 0, 0, 0, 64 [SEP] 41, SaltShaker, 1.199, 0.907, 0.139, 0, 0, 0, 59 [SEP] 42, PepperShaker, -0.477, 0.929, 0.239, 0, 0, 0, 58 [SEP] 43, Vase, -1.229, 0.933, -0.118, 0, 0, 0, 58 [SEP] 44, ButterKnife, -0.846, 0.933, 0.009, 0, 0, 0, 58 [SEP] 45, SoapBottle, 1.055, 1.666, -2.166, 0, 270, 0, 57 [SEP] 46, Vase, -0.550, 0.934, -1.540, 0, 0, 0, 58 [SEP] 47, Bowl, 0.966, 0.866, 0.967, 0, 270, 0, 81 [SEP] 48, DishSponge, 0.862, 0.120, 0.374, 0, 270, 0, 53 [SEP] 49, Spoon, 0.834, 0.703, -0.648, 0, 270, 0, 56 [SEP] 50, Cup, 1.087, 0.860, 1.063, 0, 270, 0, 81 [SEP] 51, Mug, -0.753, 0.775, -0.659, 0, 270, 0, 79 [SEP] 52, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 53, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 54, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 55, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 56, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 57, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 58, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 59, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 60, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 61, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 62, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 63, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 64, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 65, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 66, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 67, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 68, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 69, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 70, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 71, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 72, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 73, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 74, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 75, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 76, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 77, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 78, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 79, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 80, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 81, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 82, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 83, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 84, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 85, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 86, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 87, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 88, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 89, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 90, NorthWall, , , , , , , [SEP] 91, EastWall, , , , , , , [SEP] 92, SouthWall, , , , , , , [SEP] 93, WestWall, , , , , , , ", "output": ["STEP 1: Turn to the right and move to the brown door, then turn right and move to the refrigerator, then turn right and move to the counter of the kitchen island between the sink and the black garbage bin. | STEP 2: Pick up the salt shaker between the knife and the spatula from the counter of the kitchen island. | STEP 3: Turn left and move to the front of the range. | STEP 4: Open the top drawer to the left of the range, place the salt shaker in the drawer, then close the drawer. | STEP 5: Turn left and move to the front of the dishwasher. | STEP 6: Pick up the salt shaker to the rear of the spatula and to the right of the knife with the gold handle. | STEP 7: Move to the right and face the range. | STEP 8: Open the top drawer to the left of the range, place the salt shaker in the drawer to the rear of the salt shaker already there, then close the drawer. | END"]} +{"id": "trial_T20190912_221016_460197-2", "input": "Put salt and pepper in the 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, -1.25, 0, 270, 0, [SEP] 1, Pan, 1.026, 1.399, 1.349, 0, 90, 0, 81 [SEP] 2, Pan, 1.114, 0.909, -0.729, 0, 90, 0, 59 [SEP] 3, Vase, -1.167, 0.934, -0.643, 0, 0, 0, 58 [SEP] 4, Potato, 0.844, 0.893, 1.444, 0, 270, 0, 81 [SEP] 5, CreditCard, 0.915, 0.492, -0.565, 0, 270, 0, 62 [SEP] 6, CreditCard, 0.688, 0.908, -1.879, 0, 0, 0, 64 [SEP] 7, DishSponge, -0.920, 0.933, 0.162, 0, 0, 0, 58 [SEP] 8, DishSponge, 0.793, 0.153, -0.690, 0, 270, 0, 61 [SEP] 9, ButterKnife, 1.114, 0.911, -0.555, 0, 0, 0, 59 [SEP] 10, Glassbottle, 1.101, 1.667, 0.025, 0, 270, 0, 66 [SEP] 11, Spoon, 0.794, 0.496, -0.690, 0, 270, 0, 62 [SEP] 12, Spatula, 0.773, 0.926, -0.381, 0, 90, 0, 59 [SEP] 13, Spatula, -0.642, 0.791, -0.573, 0, 0, 0, 79 [SEP] 14, Knife, -0.624, 0.957, 0.009, 0, 90, 0, 58 [SEP] 15, Cup, 0.688, 0.908, -0.381, 0, 0, 0, 59 [SEP] 16, Cup, 0.844, 1.640, 1.540, 0, 270, 0, 81 [SEP] 17, Plate, 1.194, 1.669, -0.337, 0, 270, 0, 67 [SEP] 18, Tomato, 0.688, 0.952, -2.051, 0, 0, 0, 64 [SEP] 19, Bowl, 0.844, 1.138, 0.967, 0, 270, 0, 81 [SEP] 20, PepperShaker, 0.944, 0.907, -0.381, 0, 0, 0, 59 [SEP] 21, Bread, 1.114, 0.992, -0.034, 0, 0, 0, 59 [SEP] 22, Apple, 1.060, 1.845, -1.132, 0, 270, 0, 80 [SEP] 23, Apple, 1.087, 1.185, 1.540, 0, 270, 0, 81 [SEP] 24, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 58 [SEP] 25, Glassbottle, 0.964, 0.121, 0.349, 0, 270, 0, 53 [SEP] 26, Bread, 0.905, 1.216, 1.444, 0, 270, 0, 81 [SEP] 27, CreditCard, -1.104, 0.930, -0.380, 0, 0, 0, 58 [SEP] 28, CellPhone, 0.773, 0.908, -0.729, 0, 0, 0, 59 [SEP] 29, Potato, -0.587, 0.807, -0.486, 0, 90, 0, 79 [SEP] 30, Knife, 1.029, 0.934, -0.381, 0, 0, 0, 59 [SEP] 31, Fork, 0.833, 0.154, -0.611, 0, 0, 0, 61 [SEP] 32, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 52 [SEP] 33, Lettuce, -1.104, 1.010, -1.167, 0, 0, 0, 58 [SEP] 34, Plate, 1.082, 2.211, -1.408, 0, 270, 0, 65 [SEP] 35, Apple, 1.199, 0.961, -1.879, 0, 0, 0, 64 [SEP] 36, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 54 [SEP] 37, Spatula, -0.624, 0.948, 0.315, 0, 0, 0, 58 [SEP] 38, PaperTowelRoll, 0.859, 1.015, -0.208, 0, 0, 0, 59 [SEP] 39, Tomato, -0.865, 0.219, 0.543, 0, 180, 0, 78 [SEP] 40, Egg, 0.773, 0.949, -1.879, 0, 0, 0, 64 [SEP] 41, SaltShaker, 1.199, 0.907, 0.139, 0, 0, 0, 59 [SEP] 42, PepperShaker, -0.477, 0.929, 0.239, 0, 0, 0, 58 [SEP] 43, Vase, -1.229, 0.933, -0.118, 0, 0, 0, 58 [SEP] 44, ButterKnife, -0.846, 0.933, 0.009, 0, 0, 0, 58 [SEP] 45, SoapBottle, 1.055, 1.666, -2.166, 0, 270, 0, 57 [SEP] 46, Vase, -0.550, 0.934, -1.540, 0, 0, 0, 58 [SEP] 47, Bowl, 0.966, 0.866, 0.967, 0, 270, 0, 81 [SEP] 48, DishSponge, 0.862, 0.120, 0.374, 0, 270, 0, 53 [SEP] 49, Spoon, 0.834, 0.703, -0.648, 0, 270, 0, 56 [SEP] 50, Cup, 1.087, 0.860, 1.063, 0, 270, 0, 81 [SEP] 51, Mug, -0.753, 0.775, -0.659, 0, 270, 0, 79 [SEP] 52, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 53, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 54, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 55, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 56, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 57, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 58, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 59, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 60, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 61, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 62, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 63, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 64, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 65, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 66, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 67, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 68, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 69, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 70, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 71, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 72, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 73, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 74, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 75, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 76, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 77, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 78, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 79, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 80, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 81, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 82, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 83, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 84, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 85, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 86, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 87, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 88, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 89, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 90, NorthWall, , , , , , , [SEP] 91, EastWall, , , , , , , [SEP] 92, SouthWall, , , , , , , [SEP] 93, WestWall, , , , , , , ", "output": ["STEP 1: Turn to your right four times until you are facing the kitchen counter | STEP 2: Pick up a salt shaker from off of the counter | STEP 3: Turn to your left twice so you are facing the oven | STEP 4: Open the drawer and put the salt in it | STEP 5: Move a step to your left | STEP 6: Pick up the pepper shaker off of the counter | STEP 7: Move a step to your right | STEP 8: Open the drawer and put the pepper in it | END"]} +{"id": "trial_T20190908_044123_416784-0", "input": "Examine a phone 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, -3.5, 0.901, 0.75, 0, 270, 0, [SEP] 1, Newspaper, -0.362, 0.079, 1.194, 0, 270, 0, 37 [SEP] 2, Vase, -4.291, 0.203, 4.466, 0, 90, 0, 49 [SEP] 3, Watch, -2.297, 0.034, 0.265, 0, 90, 0, 35 [SEP] 4, CreditCard, -1.584, 0.589, 4.557, 0, 0, 0, 46 [SEP] 5, Box, -1.584, 0.811, 4.470, 0, 0, 0, 46 [SEP] 6, Box, -0.787, 0.830, 3.545, 0, 0, 0, 56 [SEP] 7, Laptop, -4.184, 1.105, 4.588, 0, 90, 0, 52 [SEP] 8, Box, -2.914, 0.421, 4.589, 0, 0, 0, 51 [SEP] 9, Watch, -4.682, 0.997, 4.290, 0, 90, 0, 53 [SEP] 10, Pillow, -2.031, 0.668, 4.421, 0, 0, 0, 46 [SEP] 11, TissueBox, -1.368, 0.594, 0.185, 0, 0, 0, 42 [SEP] 12, Newspaper, -0.221, 0.598, 0.827, 0, 270, 0, 36 [SEP] 13, CreditCard, -0.295, 0.592, 1.010, 0, 270, 0, 36 [SEP] 14, KeyChain, -4.505, 1.112, 4.588, 0, 90, 0, 52 [SEP] 15, CellPhone, -5.534, 1.039, 0.173, 0, 0, 0, 34 [SEP] 16, Statue, -3.863, 1.117, 4.391, 0, 90, 0, 52 [SEP] 17, Laptop, -3.393, 1.104, 4.492, 0, 191.867, 0, 52 [SEP] 18, RemoteControl, -1.584, 0.592, 4.297, 0, 0, 0, 46 [SEP] 19, Vase, -4.016, 0.203, 4.342, 0, 90, 0, 50 [SEP] 20, DeskLamp, -4.649, 1.051, 0.268, 0, 0, 0, [SEP] 21, DeskLamp, -2.992, 1.107, 4.522, 0, 0, 0, [SEP] 22, FloorLamp, -0.650, 0.007, 4.431, 0, 0, 0, [SEP] 23, FloorLamp, -5.607, 0.007, 4.641, 0, 0, 0, [SEP] 24, Shelf, -5.237, 1.776, 0.070, 0, 0, 0, [SEP] 25, Shelf, -5.238, 1.968, 0.085, 0, 0, 0, [SEP] 26, Shelf, -5.242, 1.391, 0.086, 0, 0, 0, [SEP] 27, Shelf, -5.241, 1.582, 0.065, 0, 0, 0, [SEP] 28, LightSwitch, -6.002, 1.353, 3.404, 0, 90, 0, [SEP] 29, GarbageCan, -5.794, -0.033, 4.073, 0, 90, 0, [SEP] 30, Painting, -6.017, 1.802, 4.177, 90, 270, 0, [SEP] 31, HousePlant, -3.966, 1.625, 0.135, 0, 315, 0, [SEP] 32, Television, -3.355, 0.833, 0.027, 0, 0, 0, [SEP] 33, Drawer, -5.024, 0.903, 0.370, 0, 0, 0, [SEP] 34, SideTable, -5.024, 0.008, 0.267, 0, 0, 0, [SEP] 35, Safe, -2.298, 5.778, 0.268, 0, 90, 0, [SEP] 36, Shelf, -0.253, 0.781, 1.058, 0, 270, 0, [SEP] 37, Shelf, -0.283, 0.274, 1.066, 0, 270, 0, [SEP] 38, Shelf, -1.224, 1.288, 0.270, 0, 0, 0, [SEP] 39, Shelf, -1.218, 1.810, 0.275, 0, 0, 0, [SEP] 40, Shelf, -0.280, 1.810, 1.057, 0, 270, 0, [SEP] 41, Shelf, -1.218, 0.274, 0.262, 0, 0, 0, [SEP] 42, Shelf, -1.223, 0.782, 0.237, 0, 0, 0, [SEP] 43, Shelf, -0.280, 1.288, 1.055, 0, 270, 0, [SEP] 44, ShelvingUnit, -0.268, 0.004, 1.067, 0, 270, 0, [SEP] 45, ShelvingUnit, -1.218, 0.004, 0.244, 0, 0, 0, [SEP] 46, ArmChair, -2.027, 0.001, 4.422, 0, 178.692, 0, [SEP] 47, Drawer, -4.329, 1.014, 4.311, 0, 180, 0, [SEP] 48, Drawer, -3.750, 1.014, 4.311, 0, 180, 0, [SEP] 49, Cabinet, -4.049, 0.561, 4.212, 0, 180, 0, [SEP] 50, Cabinet, -4.032, 0.561, 4.212, 0, 180, 0, [SEP] 51, Cabinet, -2.884, 0.561, 4.212, 0, 180, 0, [SEP] 52, Dresser, -4.041, -0.000, 4.589, 0, 180, 0, [SEP] 53, Drawer, -4.916, 1.014, 4.311, 0, 180, 0, [SEP] 54, Drawer, -3.166, 1.014, 4.311, 0, 180, 0, [SEP] 55, Cabinet, -5.196, 0.561, 4.212, 0, 180, 0, [SEP] 56, Sofa, -0.705, -0.002, 2.753, 0, 270, 0, [SEP] 57, NorthWall, , , , , , , [SEP] 58, SouthWall, , , , , , , [SEP] 59, SouthWall, , , , , , , ", "output": ["STEP 1: Head to the long black table on the left in the corner. | STEP 2: Pick up the phone on the table. | STEP 3: Turn around, bring the phone to the lamp in the corner. | STEP 4: Turn on the lamp in the corner. | END"]} +{"id": "trial_T20190908_044123_416784-1", "input": "Inspect a phone with 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, 0.901, 0.75, 0, 270, 0, [SEP] 1, Newspaper, -0.362, 0.079, 1.194, 0, 270, 0, 37 [SEP] 2, Vase, -4.291, 0.203, 4.466, 0, 90, 0, 49 [SEP] 3, Watch, -2.297, 0.034, 0.265, 0, 90, 0, 35 [SEP] 4, CreditCard, -1.584, 0.589, 4.557, 0, 0, 0, 46 [SEP] 5, Box, -1.584, 0.811, 4.470, 0, 0, 0, 46 [SEP] 6, Box, -0.787, 0.830, 3.545, 0, 0, 0, 56 [SEP] 7, Laptop, -4.184, 1.105, 4.588, 0, 90, 0, 52 [SEP] 8, Box, -2.914, 0.421, 4.589, 0, 0, 0, 51 [SEP] 9, Watch, -4.682, 0.997, 4.290, 0, 90, 0, 53 [SEP] 10, Pillow, -2.031, 0.668, 4.421, 0, 0, 0, 46 [SEP] 11, TissueBox, -1.368, 0.594, 0.185, 0, 0, 0, 42 [SEP] 12, Newspaper, -0.221, 0.598, 0.827, 0, 270, 0, 36 [SEP] 13, CreditCard, -0.295, 0.592, 1.010, 0, 270, 0, 36 [SEP] 14, KeyChain, -4.505, 1.112, 4.588, 0, 90, 0, 52 [SEP] 15, CellPhone, -5.534, 1.039, 0.173, 0, 0, 0, 34 [SEP] 16, Statue, -3.863, 1.117, 4.391, 0, 90, 0, 52 [SEP] 17, Laptop, -3.393, 1.104, 4.492, 0, 191.867, 0, 52 [SEP] 18, RemoteControl, -1.584, 0.592, 4.297, 0, 0, 0, 46 [SEP] 19, Vase, -4.016, 0.203, 4.342, 0, 90, 0, 50 [SEP] 20, DeskLamp, -4.649, 1.051, 0.268, 0, 0, 0, [SEP] 21, DeskLamp, -2.992, 1.107, 4.522, 0, 0, 0, [SEP] 22, FloorLamp, -0.650, 0.007, 4.431, 0, 0, 0, [SEP] 23, FloorLamp, -5.607, 0.007, 4.641, 0, 0, 0, [SEP] 24, Shelf, -5.237, 1.776, 0.070, 0, 0, 0, [SEP] 25, Shelf, -5.238, 1.968, 0.085, 0, 0, 0, [SEP] 26, Shelf, -5.242, 1.391, 0.086, 0, 0, 0, [SEP] 27, Shelf, -5.241, 1.582, 0.065, 0, 0, 0, [SEP] 28, LightSwitch, -6.002, 1.353, 3.404, 0, 90, 0, [SEP] 29, GarbageCan, -5.794, -0.033, 4.073, 0, 90, 0, [SEP] 30, Painting, -6.017, 1.802, 4.177, 90, 270, 0, [SEP] 31, HousePlant, -3.966, 1.625, 0.135, 0, 315, 0, [SEP] 32, Television, -3.355, 0.833, 0.027, 0, 0, 0, [SEP] 33, Drawer, -5.024, 0.903, 0.370, 0, 0, 0, [SEP] 34, SideTable, -5.024, 0.008, 0.267, 0, 0, 0, [SEP] 35, Safe, -2.298, 5.778, 0.268, 0, 90, 0, [SEP] 36, Shelf, -0.253, 0.781, 1.058, 0, 270, 0, [SEP] 37, Shelf, -0.283, 0.274, 1.066, 0, 270, 0, [SEP] 38, Shelf, -1.224, 1.288, 0.270, 0, 0, 0, [SEP] 39, Shelf, -1.218, 1.810, 0.275, 0, 0, 0, [SEP] 40, Shelf, -0.280, 1.810, 1.057, 0, 270, 0, [SEP] 41, Shelf, -1.218, 0.274, 0.262, 0, 0, 0, [SEP] 42, Shelf, -1.223, 0.782, 0.237, 0, 0, 0, [SEP] 43, Shelf, -0.280, 1.288, 1.055, 0, 270, 0, [SEP] 44, ShelvingUnit, -0.268, 0.004, 1.067, 0, 270, 0, [SEP] 45, ShelvingUnit, -1.218, 0.004, 0.244, 0, 0, 0, [SEP] 46, ArmChair, -2.027, 0.001, 4.422, 0, 178.692, 0, [SEP] 47, Drawer, -4.329, 1.014, 4.311, 0, 180, 0, [SEP] 48, Drawer, -3.750, 1.014, 4.311, 0, 180, 0, [SEP] 49, Cabinet, -4.049, 0.561, 4.212, 0, 180, 0, [SEP] 50, Cabinet, -4.032, 0.561, 4.212, 0, 180, 0, [SEP] 51, Cabinet, -2.884, 0.561, 4.212, 0, 180, 0, [SEP] 52, Dresser, -4.041, -0.000, 4.589, 0, 180, 0, [SEP] 53, Drawer, -4.916, 1.014, 4.311, 0, 180, 0, [SEP] 54, Drawer, -3.166, 1.014, 4.311, 0, 180, 0, [SEP] 55, Cabinet, -5.196, 0.561, 4.212, 0, 180, 0, [SEP] 56, Sofa, -0.705, -0.002, 2.753, 0, 270, 0, [SEP] 57, NorthWall, , , , , , , [SEP] 58, SouthWall, , , , , , , [SEP] 59, SouthWall, , , , , , , ", "output": ["STEP 1: move to the end table ahead of you | STEP 2: pick up a phone from the table | STEP 3: move to a lamp behind you | STEP 4: turn on the lamp | END"]} +{"id": "trial_T20190908_044123_416784-2", "input": "Pick up a phone 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, -3.5, 0.901, 0.75, 0, 270, 0, [SEP] 1, Newspaper, -0.362, 0.079, 1.194, 0, 270, 0, 37 [SEP] 2, Vase, -4.291, 0.203, 4.466, 0, 90, 0, 49 [SEP] 3, Watch, -2.297, 0.034, 0.265, 0, 90, 0, 35 [SEP] 4, CreditCard, -1.584, 0.589, 4.557, 0, 0, 0, 46 [SEP] 5, Box, -1.584, 0.811, 4.470, 0, 0, 0, 46 [SEP] 6, Box, -0.787, 0.830, 3.545, 0, 0, 0, 56 [SEP] 7, Laptop, -4.184, 1.105, 4.588, 0, 90, 0, 52 [SEP] 8, Box, -2.914, 0.421, 4.589, 0, 0, 0, 51 [SEP] 9, Watch, -4.682, 0.997, 4.290, 0, 90, 0, 53 [SEP] 10, Pillow, -2.031, 0.668, 4.421, 0, 0, 0, 46 [SEP] 11, TissueBox, -1.368, 0.594, 0.185, 0, 0, 0, 42 [SEP] 12, Newspaper, -0.221, 0.598, 0.827, 0, 270, 0, 36 [SEP] 13, CreditCard, -0.295, 0.592, 1.010, 0, 270, 0, 36 [SEP] 14, KeyChain, -4.505, 1.112, 4.588, 0, 90, 0, 52 [SEP] 15, CellPhone, -5.534, 1.039, 0.173, 0, 0, 0, 34 [SEP] 16, Statue, -3.863, 1.117, 4.391, 0, 90, 0, 52 [SEP] 17, Laptop, -3.393, 1.104, 4.492, 0, 191.867, 0, 52 [SEP] 18, RemoteControl, -1.584, 0.592, 4.297, 0, 0, 0, 46 [SEP] 19, Vase, -4.016, 0.203, 4.342, 0, 90, 0, 50 [SEP] 20, DeskLamp, -4.649, 1.051, 0.268, 0, 0, 0, [SEP] 21, DeskLamp, -2.992, 1.107, 4.522, 0, 0, 0, [SEP] 22, FloorLamp, -0.650, 0.007, 4.431, 0, 0, 0, [SEP] 23, FloorLamp, -5.607, 0.007, 4.641, 0, 0, 0, [SEP] 24, Shelf, -5.237, 1.776, 0.070, 0, 0, 0, [SEP] 25, Shelf, -5.238, 1.968, 0.085, 0, 0, 0, [SEP] 26, Shelf, -5.242, 1.391, 0.086, 0, 0, 0, [SEP] 27, Shelf, -5.241, 1.582, 0.065, 0, 0, 0, [SEP] 28, LightSwitch, -6.002, 1.353, 3.404, 0, 90, 0, [SEP] 29, GarbageCan, -5.794, -0.033, 4.073, 0, 90, 0, [SEP] 30, Painting, -6.017, 1.802, 4.177, 90, 270, 0, [SEP] 31, HousePlant, -3.966, 1.625, 0.135, 0, 315, 0, [SEP] 32, Television, -3.355, 0.833, 0.027, 0, 0, 0, [SEP] 33, Drawer, -5.024, 0.903, 0.370, 0, 0, 0, [SEP] 34, SideTable, -5.024, 0.008, 0.267, 0, 0, 0, [SEP] 35, Safe, -2.298, 5.778, 0.268, 0, 90, 0, [SEP] 36, Shelf, -0.253, 0.781, 1.058, 0, 270, 0, [SEP] 37, Shelf, -0.283, 0.274, 1.066, 0, 270, 0, [SEP] 38, Shelf, -1.224, 1.288, 0.270, 0, 0, 0, [SEP] 39, Shelf, -1.218, 1.810, 0.275, 0, 0, 0, [SEP] 40, Shelf, -0.280, 1.810, 1.057, 0, 270, 0, [SEP] 41, Shelf, -1.218, 0.274, 0.262, 0, 0, 0, [SEP] 42, Shelf, -1.223, 0.782, 0.237, 0, 0, 0, [SEP] 43, Shelf, -0.280, 1.288, 1.055, 0, 270, 0, [SEP] 44, ShelvingUnit, -0.268, 0.004, 1.067, 0, 270, 0, [SEP] 45, ShelvingUnit, -1.218, 0.004, 0.244, 0, 0, 0, [SEP] 46, ArmChair, -2.027, 0.001, 4.422, 0, 178.692, 0, [SEP] 47, Drawer, -4.329, 1.014, 4.311, 0, 180, 0, [SEP] 48, Drawer, -3.750, 1.014, 4.311, 0, 180, 0, [SEP] 49, Cabinet, -4.049, 0.561, 4.212, 0, 180, 0, [SEP] 50, Cabinet, -4.032, 0.561, 4.212, 0, 180, 0, [SEP] 51, Cabinet, -2.884, 0.561, 4.212, 0, 180, 0, [SEP] 52, Dresser, -4.041, -0.000, 4.589, 0, 180, 0, [SEP] 53, Drawer, -4.916, 1.014, 4.311, 0, 180, 0, [SEP] 54, Drawer, -3.166, 1.014, 4.311, 0, 180, 0, [SEP] 55, Cabinet, -5.196, 0.561, 4.212, 0, 180, 0, [SEP] 56, Sofa, -0.705, -0.002, 2.753, 0, 270, 0, [SEP] 57, NorthWall, , , , , , , [SEP] 58, SouthWall, , , , , , , [SEP] 59, SouthWall, , , , , , , ", "output": ["STEP 1: Move to the front of the desk and turn to face the right side. | STEP 2: Pick the phone up from the desk. | STEP 3: Turn around and cross the room to stand in front of the lamp. | STEP 4: Turn the lamp on. | END"]} +{"id": "trial_T20190908_032543_712058-0", "input": "Put a cleaned pan on 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, -0.75, 0.900, 2.25, 0, 270, 0, [SEP] 1, Potato, 0.966, 1.673, 1.158, 0, 270, 0, 79 [SEP] 2, Potato, 1.087, 1.432, 1.254, 0, 270, 0, 79 [SEP] 3, CreditCard, 0.874, 0.150, -0.729, 0, 270, 0, 59 [SEP] 4, DishSponge, 1.169, 2.207, -0.973, 0, 270, 0, 63 [SEP] 5, ButterKnife, -0.772, 0.933, -0.143, 0, 0, 0, 56 [SEP] 6, Fork, 0.794, 0.702, -0.607, 0, 180, 0, 54 [SEP] 7, Spoon, -0.698, 0.934, -1.308, 0, 0, 0, 56 [SEP] 8, Knife, -0.772, 0.957, -0.143, 0, 0, 0, 56 [SEP] 9, Knife, -0.698, 0.957, -1.618, 0, 0, 0, 56 [SEP] 10, Egg, -0.912, 0.216, 0.576, 0, 180, 0, 76 [SEP] 11, Cup, 1.148, 1.663, -2.234, 0, 270, 0, 55 [SEP] 12, Cup, -1.467, 0.551, 2.563, 0, 0, 0, 82 [SEP] 13, Tomato, -0.477, 0.974, 0.315, 0, 0, 0, 56 [SEP] 14, SoapBottle, 0.811, 0.108, -2.052, 0, 0, 0, 61 [SEP] 15, SaltShaker, 0.834, 0.490, -0.690, 0, 270, 0, 60 [SEP] 16, PepperShaker, -1.985, 0.550, 2.874, 0, 0, 0, 82 [SEP] 17, PepperShaker, 0.811, 0.117, 0.398, 0, 270, 0, 57 [SEP] 18, Lettuce, -0.550, 1.010, -1.231, 0, 0, 0, 56 [SEP] 19, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 75 [SEP] 20, Apple, 0.844, 1.185, 1.254, 0, 270, 0, 79 [SEP] 21, Apple, 0.966, 1.693, 0.967, 0, 270, 0, 79 [SEP] 22, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 56 [SEP] 23, Glassbottle, 1.148, 1.667, -0.273, 0, 270, 0, 65 [SEP] 24, Bread, -0.779, 0.996, 0.21, 0, 258.641, 0, 56 [SEP] 25, CreditCard, 0.915, 0.492, -0.607, 0, 270, 0, 60 [SEP] 26, CellPhone, -0.846, 0.930, -0.067, 0, 0, 0, 56 [SEP] 27, Potato, 0.905, 0.893, 1.158, 0, 270, 0, 79 [SEP] 28, Knife, -0.846, 0.957, -1.463, 0, 90, 0, 56 [SEP] 29, Fork, -0.624, 0.934, 0.009, 0, 180, 0, 56 [SEP] 30, Pan, 0.842, 0.950, -1.504, 0, 0, 0, 53 [SEP] 31, Lettuce, -1.229, 1.010, -0.118, 0, 0, 0, 56 [SEP] 32, Plate, 1.101, 1.669, 0.025, 0, 270, 0, 64 [SEP] 33, Apple, 1.087, 1.185, 0.967, 0, 270, 0, 79 [SEP] 34, Pot, -1.221, 0.92, -0.49, 0, 0, 0, 56 [SEP] 35, Spatula, 0.754, 0.717, -0.690, 0, 180, 0, 54 [SEP] 36, PaperTowelRoll, -1.570, 0.658, 2.822, 0, 0, 0, 82 [SEP] 37, Tomato, -1.167, 0.974, -0.905, 0, 0, 0, 56 [SEP] 38, Egg, -0.920, 0.971, -1.540, 0, 0, 0, 56 [SEP] 39, SaltShaker, 0.910, 0.104, -2.292, 0, 0, 0, 61 [SEP] 40, PepperShaker, 0.833, 0.150, -0.611, 0, 270, 0, 59 [SEP] 41, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 82 [SEP] 42, ButterKnife, -1.325, 0.919, -0.884, 0, 10.678, 0, 56 [SEP] 43, SoapBottle, -1.054, 0.177, 0.543, 0, 180, 0, 76 [SEP] 44, Vase, -1.881, 0.555, 2.718, 0, 0, 0, 82 [SEP] 45, Bowl, 1.194, 1.669, -1.961, 0, 270, 0, 55 [SEP] 46, DishSponge, -1.355, 0.933, -1.167, 0, 0, 0, 56 [SEP] 47, Spoon, 0.875, 0.495, -0.607, 0, 270, 0, 60 [SEP] 48, Cup, 1.093, 1.780, -1.236, 0, 270, 0, 78 [SEP] 49, Mug, 0.966, 1.129, 1.349, 0, 270, 0, 79 [SEP] 50, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 51, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 52, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 53, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 54, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 55, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 56, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 57, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 58, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 59, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 60, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 61, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 62, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 63, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 64, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 65, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 66, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 67, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 68, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 69, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 70, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 71, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 72, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 73, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 74, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 75, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 76, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 77, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 78, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 79, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 80, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 81, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 82, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 83, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 84, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 85, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 86, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 87, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 88, NorthWall, , , , , , , [SEP] 89, EastWall, , , , , , , [SEP] 90, SouthWall, , , , , , , [SEP] 91, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and walk to the stove top on the left side of the room. | STEP 2: Pick up the pan from the stove top. | STEP 3: Turn around and walk to the sink. | STEP 4: Put the pan in the sink, rinse it off, and take it back out of the sink. | STEP 5: Turn around and walk to the counter top by the toaster. | STEP 6: Put the pan on the counter top, in front of and to the right of the toaster. | END"]} +{"id": "trial_T20190908_032543_712058-1", "input": "Place a washed pan 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, -0.75, 0.900, 2.25, 0, 270, 0, [SEP] 1, Potato, 0.966, 1.673, 1.158, 0, 270, 0, 79 [SEP] 2, Potato, 1.087, 1.432, 1.254, 0, 270, 0, 79 [SEP] 3, CreditCard, 0.874, 0.150, -0.729, 0, 270, 0, 59 [SEP] 4, DishSponge, 1.169, 2.207, -0.973, 0, 270, 0, 63 [SEP] 5, ButterKnife, -0.772, 0.933, -0.143, 0, 0, 0, 56 [SEP] 6, Fork, 0.794, 0.702, -0.607, 0, 180, 0, 54 [SEP] 7, Spoon, -0.698, 0.934, -1.308, 0, 0, 0, 56 [SEP] 8, Knife, -0.772, 0.957, -0.143, 0, 0, 0, 56 [SEP] 9, Knife, -0.698, 0.957, -1.618, 0, 0, 0, 56 [SEP] 10, Egg, -0.912, 0.216, 0.576, 0, 180, 0, 76 [SEP] 11, Cup, 1.148, 1.663, -2.234, 0, 270, 0, 55 [SEP] 12, Cup, -1.467, 0.551, 2.563, 0, 0, 0, 82 [SEP] 13, Tomato, -0.477, 0.974, 0.315, 0, 0, 0, 56 [SEP] 14, SoapBottle, 0.811, 0.108, -2.052, 0, 0, 0, 61 [SEP] 15, SaltShaker, 0.834, 0.490, -0.690, 0, 270, 0, 60 [SEP] 16, PepperShaker, -1.985, 0.550, 2.874, 0, 0, 0, 82 [SEP] 17, PepperShaker, 0.811, 0.117, 0.398, 0, 270, 0, 57 [SEP] 18, Lettuce, -0.550, 1.010, -1.231, 0, 0, 0, 56 [SEP] 19, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 75 [SEP] 20, Apple, 0.844, 1.185, 1.254, 0, 270, 0, 79 [SEP] 21, Apple, 0.966, 1.693, 0.967, 0, 270, 0, 79 [SEP] 22, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 56 [SEP] 23, Glassbottle, 1.148, 1.667, -0.273, 0, 270, 0, 65 [SEP] 24, Bread, -0.779, 0.996, 0.21, 0, 258.641, 0, 56 [SEP] 25, CreditCard, 0.915, 0.492, -0.607, 0, 270, 0, 60 [SEP] 26, CellPhone, -0.846, 0.930, -0.067, 0, 0, 0, 56 [SEP] 27, Potato, 0.905, 0.893, 1.158, 0, 270, 0, 79 [SEP] 28, Knife, -0.846, 0.957, -1.463, 0, 90, 0, 56 [SEP] 29, Fork, -0.624, 0.934, 0.009, 0, 180, 0, 56 [SEP] 30, Pan, 0.842, 0.950, -1.504, 0, 0, 0, 53 [SEP] 31, Lettuce, -1.229, 1.010, -0.118, 0, 0, 0, 56 [SEP] 32, Plate, 1.101, 1.669, 0.025, 0, 270, 0, 64 [SEP] 33, Apple, 1.087, 1.185, 0.967, 0, 270, 0, 79 [SEP] 34, Pot, -1.221, 0.92, -0.49, 0, 0, 0, 56 [SEP] 35, Spatula, 0.754, 0.717, -0.690, 0, 180, 0, 54 [SEP] 36, PaperTowelRoll, -1.570, 0.658, 2.822, 0, 0, 0, 82 [SEP] 37, Tomato, -1.167, 0.974, -0.905, 0, 0, 0, 56 [SEP] 38, Egg, -0.920, 0.971, -1.540, 0, 0, 0, 56 [SEP] 39, SaltShaker, 0.910, 0.104, -2.292, 0, 0, 0, 61 [SEP] 40, PepperShaker, 0.833, 0.150, -0.611, 0, 270, 0, 59 [SEP] 41, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 82 [SEP] 42, ButterKnife, -1.325, 0.919, -0.884, 0, 10.678, 0, 56 [SEP] 43, SoapBottle, -1.054, 0.177, 0.543, 0, 180, 0, 76 [SEP] 44, Vase, -1.881, 0.555, 2.718, 0, 0, 0, 82 [SEP] 45, Bowl, 1.194, 1.669, -1.961, 0, 270, 0, 55 [SEP] 46, DishSponge, -1.355, 0.933, -1.167, 0, 0, 0, 56 [SEP] 47, Spoon, 0.875, 0.495, -0.607, 0, 270, 0, 60 [SEP] 48, Cup, 1.093, 1.780, -1.236, 0, 270, 0, 78 [SEP] 49, Mug, 0.966, 1.129, 1.349, 0, 270, 0, 79 [SEP] 50, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 51, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 52, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 53, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 54, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 55, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 56, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 57, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 58, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 59, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 60, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 61, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 62, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 63, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 64, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 65, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 66, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 67, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 68, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 69, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 70, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 71, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 72, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 73, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 74, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 75, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 76, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 77, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 78, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 79, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 80, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 81, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 82, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 83, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 84, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 85, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 86, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 87, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 88, NorthWall, , , , , , , [SEP] 89, EastWall, , , , , , , [SEP] 90, SouthWall, , , , , , , [SEP] 91, WestWall, , , , , , , ", "output": ["STEP 1: Turn around, walk, turn right to enter the kitchen, and walk to the stove. | STEP 2: Pick up the pan from the front right burner of the stove. | STEP 3: Turn around and walk to the sink. | STEP 4: Wash the pan in the sink and pick it up again. | STEP 5: Turn around and walk to the counter to the left of the sink. | STEP 6: Place the pan on the counter to the right of the toaster. | END"]} +{"id": "trial_T20190908_032543_712058-2", "input": "Put a clean skillet on a counter to the right of a toaster. 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, 270, 0, [SEP] 1, Potato, 0.966, 1.673, 1.158, 0, 270, 0, 79 [SEP] 2, Potato, 1.087, 1.432, 1.254, 0, 270, 0, 79 [SEP] 3, CreditCard, 0.874, 0.150, -0.729, 0, 270, 0, 59 [SEP] 4, DishSponge, 1.169, 2.207, -0.973, 0, 270, 0, 63 [SEP] 5, ButterKnife, -0.772, 0.933, -0.143, 0, 0, 0, 56 [SEP] 6, Fork, 0.794, 0.702, -0.607, 0, 180, 0, 54 [SEP] 7, Spoon, -0.698, 0.934, -1.308, 0, 0, 0, 56 [SEP] 8, Knife, -0.772, 0.957, -0.143, 0, 0, 0, 56 [SEP] 9, Knife, -0.698, 0.957, -1.618, 0, 0, 0, 56 [SEP] 10, Egg, -0.912, 0.216, 0.576, 0, 180, 0, 76 [SEP] 11, Cup, 1.148, 1.663, -2.234, 0, 270, 0, 55 [SEP] 12, Cup, -1.467, 0.551, 2.563, 0, 0, 0, 82 [SEP] 13, Tomato, -0.477, 0.974, 0.315, 0, 0, 0, 56 [SEP] 14, SoapBottle, 0.811, 0.108, -2.052, 0, 0, 0, 61 [SEP] 15, SaltShaker, 0.834, 0.490, -0.690, 0, 270, 0, 60 [SEP] 16, PepperShaker, -1.985, 0.550, 2.874, 0, 0, 0, 82 [SEP] 17, PepperShaker, 0.811, 0.117, 0.398, 0, 270, 0, 57 [SEP] 18, Lettuce, -0.550, 1.010, -1.231, 0, 0, 0, 56 [SEP] 19, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 75 [SEP] 20, Apple, 0.844, 1.185, 1.254, 0, 270, 0, 79 [SEP] 21, Apple, 0.966, 1.693, 0.967, 0, 270, 0, 79 [SEP] 22, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 56 [SEP] 23, Glassbottle, 1.148, 1.667, -0.273, 0, 270, 0, 65 [SEP] 24, Bread, -0.779, 0.996, 0.21, 0, 258.641, 0, 56 [SEP] 25, CreditCard, 0.915, 0.492, -0.607, 0, 270, 0, 60 [SEP] 26, CellPhone, -0.846, 0.930, -0.067, 0, 0, 0, 56 [SEP] 27, Potato, 0.905, 0.893, 1.158, 0, 270, 0, 79 [SEP] 28, Knife, -0.846, 0.957, -1.463, 0, 90, 0, 56 [SEP] 29, Fork, -0.624, 0.934, 0.009, 0, 180, 0, 56 [SEP] 30, Pan, 0.842, 0.950, -1.504, 0, 0, 0, 53 [SEP] 31, Lettuce, -1.229, 1.010, -0.118, 0, 0, 0, 56 [SEP] 32, Plate, 1.101, 1.669, 0.025, 0, 270, 0, 64 [SEP] 33, Apple, 1.087, 1.185, 0.967, 0, 270, 0, 79 [SEP] 34, Pot, -1.221, 0.92, -0.49, 0, 0, 0, 56 [SEP] 35, Spatula, 0.754, 0.717, -0.690, 0, 180, 0, 54 [SEP] 36, PaperTowelRoll, -1.570, 0.658, 2.822, 0, 0, 0, 82 [SEP] 37, Tomato, -1.167, 0.974, -0.905, 0, 0, 0, 56 [SEP] 38, Egg, -0.920, 0.971, -1.540, 0, 0, 0, 56 [SEP] 39, SaltShaker, 0.910, 0.104, -2.292, 0, 0, 0, 61 [SEP] 40, PepperShaker, 0.833, 0.150, -0.611, 0, 270, 0, 59 [SEP] 41, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 82 [SEP] 42, ButterKnife, -1.325, 0.919, -0.884, 0, 10.678, 0, 56 [SEP] 43, SoapBottle, -1.054, 0.177, 0.543, 0, 180, 0, 76 [SEP] 44, Vase, -1.881, 0.555, 2.718, 0, 0, 0, 82 [SEP] 45, Bowl, 1.194, 1.669, -1.961, 0, 270, 0, 55 [SEP] 46, DishSponge, -1.355, 0.933, -1.167, 0, 0, 0, 56 [SEP] 47, Spoon, 0.875, 0.495, -0.607, 0, 270, 0, 60 [SEP] 48, Cup, 1.093, 1.780, -1.236, 0, 270, 0, 78 [SEP] 49, Mug, 0.966, 1.129, 1.349, 0, 270, 0, 79 [SEP] 50, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 51, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 52, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 53, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 54, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 55, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 56, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 57, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 58, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 59, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 60, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 61, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 62, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 63, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 64, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 65, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 66, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 67, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 68, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 69, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 70, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 71, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 72, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 73, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 74, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 75, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 76, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 77, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 78, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 79, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 80, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 81, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 82, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 83, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 84, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 85, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 86, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 87, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 88, NorthWall, , , , , , , [SEP] 89, EastWall, , , , , , , [SEP] 90, SouthWall, , , , , , , [SEP] 91, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and go to the left of the kitchen island, moving forward until you reach the stove on the left, then turn to face the stove. | STEP 2: Pick up the dirty skillet from the stove. | STEP 3: Turn around to your left and go to the sink. | STEP 4: Wash the skillet in the sink. | STEP 5: Face the opposite direction and go the the opposite counter. | STEP 6: Put the skillet on the counter above the dishwasher, to the right of the toaster. | END"]} +{"id": "trial_T20190907_033306_962974-0", "input": "put a cooled potato inside the microwave SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.25, 0.900, 1.5, 0, 270, 0, [SEP] 1, Potato, -1.054, 0.209, 0.641, 0, 180, 0, 78 [SEP] 2, Potato, 0.688, 0.941, 0.139, 0, 90, 0, 59 [SEP] 3, Potato, 1.029, 0.941, -0.555, 0, 0, 0, 59 [SEP] 4, CreditCard, -1.469, 0.878, 2.665, 0, 0, 0, 85 [SEP] 5, CellPhone, 0.793, 0.150, -0.611, 0, 270, 0, 61 [SEP] 6, CellPhone, 0.944, 0.908, -0.729, 0, 0, 0, 59 [SEP] 7, ButterKnife, -0.772, 0.933, -1.308, 0, 0, 0, 58 [SEP] 8, Glassbottle, -0.846, 0.934, -1.154, 0, 0, 0, 58 [SEP] 9, Fork, 0.773, 0.911, -1.965, 0, 0, 0, 64 [SEP] 10, Spatula, 0.754, 0.717, -0.524, 0, 180, 0, 56 [SEP] 11, Spatula, 0.915, 0.510, -0.524, 0, 0, 0, 62 [SEP] 12, Knife, -0.550, 0.957, 0.009, 0, 0, 0, 58 [SEP] 13, Knife, -0.624, 0.957, 0.086, 0, 90, 0, 58 [SEP] 14, Egg, 0.844, 0.900, 1.540, 0, 270, 0, 81 [SEP] 15, Egg, -0.960, 0.216, 0.543, 0, 180, 0, 78 [SEP] 16, SoapBottle, -1.054, 0.177, 0.543, 0, 180, 0, 78 [SEP] 17, SoapBottle, 1.114, 0.911, -0.034, 0, 0, 0, 59 [SEP] 18, Bowl, 1.087, 1.138, 0.967, 0, 270, 0, 81 [SEP] 19, Bowl, 1.026, 1.646, 1.349, 0, 270, 0, 81 [SEP] 20, PepperShaker, 0.773, 0.907, 0.139, 0, 0, 0, 59 [SEP] 21, Mug, 1.199, 0.906, 0.139, 0, 0, 0, 59 [SEP] 22, Mug, 0.811, 0.115, 0.374, 0, 270, 0, 53 [SEP] 23, Apple, 1.026, 1.452, 1.349, 0, 270, 0, 81 [SEP] 24, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 58 [SEP] 25, Glassbottle, -1.571, 0.882, 2.692, 0, 0, 0, 85 [SEP] 26, Bread, -1.355, 1.014, -0.118, 0, 0, 0, 58 [SEP] 27, CreditCard, 0.794, 0.491, -0.731, 0, 270, 0, 62 [SEP] 28, CellPhone, -1.467, 0.550, 2.822, 0, 0, 0, 84 [SEP] 29, Potato, -0.642, 0.810, -0.745, 0, 90, 0, 79 [SEP] 30, Knife, -0.624, 0.957, -1.463, 0, 0, 0, 58 [SEP] 31, Fork, 0.875, 0.702, -0.648, 0, 0, 0, 56 [SEP] 32, Pan, -1.229, 0.931, -0.380, 0, 0, 0, 58 [SEP] 33, Lettuce, 0.866, 1.688, 1.209, 9.746, 11.109, 0, 81 [SEP] 34, Plate, -0.642, 0.783, -0.573, 0, 90, 0, 79 [SEP] 35, Apple, 0.844, 1.452, 0.967, 0, 270, 0, 81 [SEP] 36, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 54 [SEP] 37, Spatula, -0.587, 0.791, -0.832, 0, 0, 0, 79 [SEP] 38, PaperTowelRoll, -0.818, 0.281, 0.575, 0, 270, 0, 78 [SEP] 39, Tomato, 1.087, 1.442, 0.967, 0, 270, 0, 81 [SEP] 40, Egg, 1.093, 1.833, -1.339, 0, 270, 0, 80 [SEP] 41, SaltShaker, 0.956, 0.491, -0.607, 0, 270, 0, 62 [SEP] 42, PepperShaker, 0.713, 0.490, -0.772, 0, 270, 0, 62 [SEP] 43, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 84 [SEP] 44, ButterKnife, 0.859, 0.911, -0.034, 0, 0, 0, 59 [SEP] 45, SoapBottle, -0.920, 0.933, 0.315, 0, 0, 0, 58 [SEP] 46, Vase, 0.773, 0.912, -0.208, 0, 0, 0, 59 [SEP] 47, Bowl, 1.212, 2.211, -1.299, 0, 270, 0, 65 [SEP] 48, DishSponge, -1.041, 0.933, -1.430, 0, 0, 0, 58 [SEP] 49, Spoon, 1.029, 0.912, -0.381, 0, 0, 0, 59 [SEP] 50, Cup, -0.808, 0.777, -0.745, 0, 90, 0, 79 [SEP] 51, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 77 [SEP] 52, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 53, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 54, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 55, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 56, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 57, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 58, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 59, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 60, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 61, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 62, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 63, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 64, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 65, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 66, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 67, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 68, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 69, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 70, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 71, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 72, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 73, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 74, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 75, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 76, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 77, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 78, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 79, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 80, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 81, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 82, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 83, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 84, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 85, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 86, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 87, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 88, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 89, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 90, NorthWall, , , , , , , [SEP] 91, EastWall, , , , , , , [SEP] 92, SouthWall, , , , , , , [SEP] 93, WestWall, , , , , , , ", "output": ["STEP 1: walk over to the kitchen sink | STEP 2: grab a potato out of the sink | STEP 3: walk over to the refrigerator | STEP 4: place the potato inside the fridge, and then take it back out | STEP 5: walk the potato over to the kitchen stove | STEP 6: put the potato in the microwave above the kitchen stove and close the door | END"]} +{"id": "trial_T20190907_033306_962974-1", "input": "Put a chilled potato 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, -3.25, 0.900, 1.5, 0, 270, 0, [SEP] 1, Potato, -1.054, 0.209, 0.641, 0, 180, 0, 78 [SEP] 2, Potato, 0.688, 0.941, 0.139, 0, 90, 0, 59 [SEP] 3, Potato, 1.029, 0.941, -0.555, 0, 0, 0, 59 [SEP] 4, CreditCard, -1.469, 0.878, 2.665, 0, 0, 0, 85 [SEP] 5, CellPhone, 0.793, 0.150, -0.611, 0, 270, 0, 61 [SEP] 6, CellPhone, 0.944, 0.908, -0.729, 0, 0, 0, 59 [SEP] 7, ButterKnife, -0.772, 0.933, -1.308, 0, 0, 0, 58 [SEP] 8, Glassbottle, -0.846, 0.934, -1.154, 0, 0, 0, 58 [SEP] 9, Fork, 0.773, 0.911, -1.965, 0, 0, 0, 64 [SEP] 10, Spatula, 0.754, 0.717, -0.524, 0, 180, 0, 56 [SEP] 11, Spatula, 0.915, 0.510, -0.524, 0, 0, 0, 62 [SEP] 12, Knife, -0.550, 0.957, 0.009, 0, 0, 0, 58 [SEP] 13, Knife, -0.624, 0.957, 0.086, 0, 90, 0, 58 [SEP] 14, Egg, 0.844, 0.900, 1.540, 0, 270, 0, 81 [SEP] 15, Egg, -0.960, 0.216, 0.543, 0, 180, 0, 78 [SEP] 16, SoapBottle, -1.054, 0.177, 0.543, 0, 180, 0, 78 [SEP] 17, SoapBottle, 1.114, 0.911, -0.034, 0, 0, 0, 59 [SEP] 18, Bowl, 1.087, 1.138, 0.967, 0, 270, 0, 81 [SEP] 19, Bowl, 1.026, 1.646, 1.349, 0, 270, 0, 81 [SEP] 20, PepperShaker, 0.773, 0.907, 0.139, 0, 0, 0, 59 [SEP] 21, Mug, 1.199, 0.906, 0.139, 0, 0, 0, 59 [SEP] 22, Mug, 0.811, 0.115, 0.374, 0, 270, 0, 53 [SEP] 23, Apple, 1.026, 1.452, 1.349, 0, 270, 0, 81 [SEP] 24, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 58 [SEP] 25, Glassbottle, -1.571, 0.882, 2.692, 0, 0, 0, 85 [SEP] 26, Bread, -1.355, 1.014, -0.118, 0, 0, 0, 58 [SEP] 27, CreditCard, 0.794, 0.491, -0.731, 0, 270, 0, 62 [SEP] 28, CellPhone, -1.467, 0.550, 2.822, 0, 0, 0, 84 [SEP] 29, Potato, -0.642, 0.810, -0.745, 0, 90, 0, 79 [SEP] 30, Knife, -0.624, 0.957, -1.463, 0, 0, 0, 58 [SEP] 31, Fork, 0.875, 0.702, -0.648, 0, 0, 0, 56 [SEP] 32, Pan, -1.229, 0.931, -0.380, 0, 0, 0, 58 [SEP] 33, Lettuce, 0.866, 1.688, 1.209, 9.746, 11.109, 0, 81 [SEP] 34, Plate, -0.642, 0.783, -0.573, 0, 90, 0, 79 [SEP] 35, Apple, 0.844, 1.452, 0.967, 0, 270, 0, 81 [SEP] 36, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 54 [SEP] 37, Spatula, -0.587, 0.791, -0.832, 0, 0, 0, 79 [SEP] 38, PaperTowelRoll, -0.818, 0.281, 0.575, 0, 270, 0, 78 [SEP] 39, Tomato, 1.087, 1.442, 0.967, 0, 270, 0, 81 [SEP] 40, Egg, 1.093, 1.833, -1.339, 0, 270, 0, 80 [SEP] 41, SaltShaker, 0.956, 0.491, -0.607, 0, 270, 0, 62 [SEP] 42, PepperShaker, 0.713, 0.490, -0.772, 0, 270, 0, 62 [SEP] 43, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 84 [SEP] 44, ButterKnife, 0.859, 0.911, -0.034, 0, 0, 0, 59 [SEP] 45, SoapBottle, -0.920, 0.933, 0.315, 0, 0, 0, 58 [SEP] 46, Vase, 0.773, 0.912, -0.208, 0, 0, 0, 59 [SEP] 47, Bowl, 1.212, 2.211, -1.299, 0, 270, 0, 65 [SEP] 48, DishSponge, -1.041, 0.933, -1.430, 0, 0, 0, 58 [SEP] 49, Spoon, 1.029, 0.912, -0.381, 0, 0, 0, 59 [SEP] 50, Cup, -0.808, 0.777, -0.745, 0, 90, 0, 79 [SEP] 51, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 77 [SEP] 52, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 53, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 54, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 55, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 56, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 57, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 58, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 59, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 60, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 61, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 62, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 63, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 64, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 65, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 66, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 67, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 68, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 69, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 70, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 71, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 72, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 73, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 74, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 75, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 76, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 77, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 78, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 79, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 80, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 81, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 82, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 83, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 84, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 85, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 86, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 87, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 88, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 89, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 90, NorthWall, , , , , , , [SEP] 91, EastWall, , , , , , , [SEP] 92, SouthWall, , , , , , , [SEP] 93, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and go to the fridge, then go to the sink on your right and face it. | STEP 2: Pick up the potato from the sink. | STEP 3: Turn right and carry the potato to the fridge. | STEP 4: Put the potato on the center front of the top fridge shelf and close the fridge door, then open the fridge and take it out again and re-close the door. | STEP 5: Turn right and go to the stove on your left, then turn to face the stove. | STEP 6: Put the potato into the microwave above the stove, then close the microwave door. | END"]} +{"id": "trial_T20190907_033306_962974-2", "input": "Put the 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, -3.25, 0.900, 1.5, 0, 270, 0, [SEP] 1, Potato, -1.054, 0.209, 0.641, 0, 180, 0, 78 [SEP] 2, Potato, 0.688, 0.941, 0.139, 0, 90, 0, 59 [SEP] 3, Potato, 1.029, 0.941, -0.555, 0, 0, 0, 59 [SEP] 4, CreditCard, -1.469, 0.878, 2.665, 0, 0, 0, 85 [SEP] 5, CellPhone, 0.793, 0.150, -0.611, 0, 270, 0, 61 [SEP] 6, CellPhone, 0.944, 0.908, -0.729, 0, 0, 0, 59 [SEP] 7, ButterKnife, -0.772, 0.933, -1.308, 0, 0, 0, 58 [SEP] 8, Glassbottle, -0.846, 0.934, -1.154, 0, 0, 0, 58 [SEP] 9, Fork, 0.773, 0.911, -1.965, 0, 0, 0, 64 [SEP] 10, Spatula, 0.754, 0.717, -0.524, 0, 180, 0, 56 [SEP] 11, Spatula, 0.915, 0.510, -0.524, 0, 0, 0, 62 [SEP] 12, Knife, -0.550, 0.957, 0.009, 0, 0, 0, 58 [SEP] 13, Knife, -0.624, 0.957, 0.086, 0, 90, 0, 58 [SEP] 14, Egg, 0.844, 0.900, 1.540, 0, 270, 0, 81 [SEP] 15, Egg, -0.960, 0.216, 0.543, 0, 180, 0, 78 [SEP] 16, SoapBottle, -1.054, 0.177, 0.543, 0, 180, 0, 78 [SEP] 17, SoapBottle, 1.114, 0.911, -0.034, 0, 0, 0, 59 [SEP] 18, Bowl, 1.087, 1.138, 0.967, 0, 270, 0, 81 [SEP] 19, Bowl, 1.026, 1.646, 1.349, 0, 270, 0, 81 [SEP] 20, PepperShaker, 0.773, 0.907, 0.139, 0, 0, 0, 59 [SEP] 21, Mug, 1.199, 0.906, 0.139, 0, 0, 0, 59 [SEP] 22, Mug, 0.811, 0.115, 0.374, 0, 270, 0, 53 [SEP] 23, Apple, 1.026, 1.452, 1.349, 0, 270, 0, 81 [SEP] 24, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 58 [SEP] 25, Glassbottle, -1.571, 0.882, 2.692, 0, 0, 0, 85 [SEP] 26, Bread, -1.355, 1.014, -0.118, 0, 0, 0, 58 [SEP] 27, CreditCard, 0.794, 0.491, -0.731, 0, 270, 0, 62 [SEP] 28, CellPhone, -1.467, 0.550, 2.822, 0, 0, 0, 84 [SEP] 29, Potato, -0.642, 0.810, -0.745, 0, 90, 0, 79 [SEP] 30, Knife, -0.624, 0.957, -1.463, 0, 0, 0, 58 [SEP] 31, Fork, 0.875, 0.702, -0.648, 0, 0, 0, 56 [SEP] 32, Pan, -1.229, 0.931, -0.380, 0, 0, 0, 58 [SEP] 33, Lettuce, 0.866, 1.688, 1.209, 9.746, 11.109, 0, 81 [SEP] 34, Plate, -0.642, 0.783, -0.573, 0, 90, 0, 79 [SEP] 35, Apple, 0.844, 1.452, 0.967, 0, 270, 0, 81 [SEP] 36, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 54 [SEP] 37, Spatula, -0.587, 0.791, -0.832, 0, 0, 0, 79 [SEP] 38, PaperTowelRoll, -0.818, 0.281, 0.575, 0, 270, 0, 78 [SEP] 39, Tomato, 1.087, 1.442, 0.967, 0, 270, 0, 81 [SEP] 40, Egg, 1.093, 1.833, -1.339, 0, 270, 0, 80 [SEP] 41, SaltShaker, 0.956, 0.491, -0.607, 0, 270, 0, 62 [SEP] 42, PepperShaker, 0.713, 0.490, -0.772, 0, 270, 0, 62 [SEP] 43, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 84 [SEP] 44, ButterKnife, 0.859, 0.911, -0.034, 0, 0, 0, 59 [SEP] 45, SoapBottle, -0.920, 0.933, 0.315, 0, 0, 0, 58 [SEP] 46, Vase, 0.773, 0.912, -0.208, 0, 0, 0, 59 [SEP] 47, Bowl, 1.212, 2.211, -1.299, 0, 270, 0, 65 [SEP] 48, DishSponge, -1.041, 0.933, -1.430, 0, 0, 0, 58 [SEP] 49, Spoon, 1.029, 0.912, -0.381, 0, 0, 0, 59 [SEP] 50, Cup, -0.808, 0.777, -0.745, 0, 90, 0, 79 [SEP] 51, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 77 [SEP] 52, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 53, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 54, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 55, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 56, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 57, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 58, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 59, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 60, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 61, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 62, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 63, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 64, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 65, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 66, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 67, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 68, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 69, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 70, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 71, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 72, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 73, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 74, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 75, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 76, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 77, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 78, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 79, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 80, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 81, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 82, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 83, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 84, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 85, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 86, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 87, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 88, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 89, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 90, NorthWall, , , , , , , [SEP] 91, EastWall, , , , , , , [SEP] 92, SouthWall, , , , , , , [SEP] 93, WestWall, , , , , , , ", "output": ["STEP 1: Move over to the sink. | STEP 2: Pick up the potato in the sink. | STEP 3: Bring the potato to the fridge. | STEP 4: Chill the potato in the fridge for 7 seconds. | STEP 5: Take that potato to the microwave. | STEP 6: Place the potato in the microwave. | END"]} +{"id": "trial_T20190908_021510_064551-0", "input": "Put a plunger in the cabinet beneath 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, 0.901, 3.5, 0, 180, 0, [SEP] 1, SprayBottle, -0.330, 0.076, 2.336, 0, 0, 0, 26 [SEP] 2, SprayBottle, -0.326, 0.955, 2.843, 0, 0, 0, 24 [SEP] 3, Candle, -0.432, 0.076, 3.507, 0, 0, 0, 25 [SEP] 4, SoapBar, -0.432, 0.075, 3.145, 0, 0, 0, 20 [SEP] 5, SoapBottle, -0.229, 0.076, 2.157, 0, 0, 0, 26 [SEP] 6, ToiletPaper, -0.388, 0.951, 2.807, 0, 0, 0, 24 [SEP] 7, HandTowel, -0.038, 1.619, 3.799, 0, 90, 0, 31 [SEP] 8, Towel, -1.082, 1.326, 1.302, 0, 0, 0, 27 [SEP] 9, SoapBar, -0.280, 0.826, 3.222, 0, 0, 0, 34 [SEP] 10, ToiletPaper, -0.280, 0.654, 1.985, 0, 180, 90, 29 [SEP] 11, Plunger, -0.112, -0.000, 1.848, 0, 0, 0, [SEP] 12, Candle, -0.158, 0.953, 1.606, 0, 0, 0, 32 [SEP] 13, ToiletPaper, -0.178, 0.072, 2.247, 0, 0, 0, 26 [SEP] 14, SprayBottle, -0.024, 0.954, 1.481, 0, 90, 0, 32 [SEP] 15, Cloth, -0.331, 0.076, 3.462, 0, 180, 0, 25 [SEP] 16, ScrubBrush, -0.322, 3.109, 1.950, 0, 0, 0, [SEP] 17, SoapBottle, -0.230, 0.077, 2.698, 0, 0, 0, 21 [SEP] 18, Mirror, -0.030, 1.544, 2.864, 0, 0, 0, [SEP] 19, Sink, -0.302, 0.799, 3.263, 0, 270, 0, [SEP] 20, Cabinet, -0.491, 0.404, 2.863, 0, 0, 0, [SEP] 21, Cabinet, -0.495, 0.384, 2.842, 0, 0, 0, [SEP] 22, ShowerDoor, -1.647, 1.017, 1.180, 0, 0, 0, [SEP] 23, ShowerGlass, -0.909, 0.788, 0.485, 0, 0, 0, [SEP] 24, CounterTop, -0.261, 0.927, 2.843, 0, 0, 0, [SEP] 25, Cabinet, -0.495, 0.384, 3.650, 0, 0, 0, [SEP] 26, Cabinet, -0.491, 0.404, 2.055, 0, 0, 0, [SEP] 27, TowelHolder, -1.082, 1.312, 1.195, 0, 0, 0, [SEP] 28, LightSwitch, -2.424, 1.447, 3.338, 0, 90, 0, [SEP] 29, ToiletPaperHanger, -0.266, 0.786, 2.043, 0, 180, 0, [SEP] 30, HandTowelHolder, 0.000, 1.721, 1.887, 0, 180, 0, [SEP] 31, HandTowelHolder, 0.000, 1.721, 3.799, 0, 180, 0, [SEP] 32, Toilet, -0.542, 3.109, 1.493, 0, 270, 0, [SEP] 33, GarbageCan, -2.159, -0.000, 3.756, 0, 0, 0, [SEP] 34, SinkBasin, -0.308, 0.820, 3.266, 0, 0, 0, [SEP] 35, ShowerHead, -0.134, 1.888, 0.564, 0, 90, 0, [SEP] 36, Faucet, 0.0, 1.009, 3.265, 0, 0, 0, [SEP] 37, Faucet, 0.0, 1.009, 2.421, 0, 0, 0, [SEP] 38, SinkBasin, -0.308, 0.820, 2.422, 0, 0, 0, [SEP] 39, Sink, -0.302, 0.799, 2.419, 0, 270, 0, [SEP] 40, NorthWall, , , , , , , [SEP] 41, SouthWall, , , , , , , [SEP] 42, SouthWall, , , , , , , ", "output": ["STEP 1: Walk forward four steps, turn left for four steps and stop to the left of the toilet. | STEP 2: Pick up the plunger from the floor, between the sink and the toilet. | STEP 3: Turn around and walk three steps, turn around again and face the sink. | STEP 4: Open the left cabinet door under the sink, place the plunger in the cabinet on the front right. | END"]} +{"id": "trial_T20190908_021510_064551-1", "input": "Place a toilet plunger in the bathroom vanity. 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, 3.5, 0, 180, 0, [SEP] 1, SprayBottle, -0.330, 0.076, 2.336, 0, 0, 0, 26 [SEP] 2, SprayBottle, -0.326, 0.955, 2.843, 0, 0, 0, 24 [SEP] 3, Candle, -0.432, 0.076, 3.507, 0, 0, 0, 25 [SEP] 4, SoapBar, -0.432, 0.075, 3.145, 0, 0, 0, 20 [SEP] 5, SoapBottle, -0.229, 0.076, 2.157, 0, 0, 0, 26 [SEP] 6, ToiletPaper, -0.388, 0.951, 2.807, 0, 0, 0, 24 [SEP] 7, HandTowel, -0.038, 1.619, 3.799, 0, 90, 0, 31 [SEP] 8, Towel, -1.082, 1.326, 1.302, 0, 0, 0, 27 [SEP] 9, SoapBar, -0.280, 0.826, 3.222, 0, 0, 0, 34 [SEP] 10, ToiletPaper, -0.280, 0.654, 1.985, 0, 180, 90, 29 [SEP] 11, Plunger, -0.112, -0.000, 1.848, 0, 0, 0, [SEP] 12, Candle, -0.158, 0.953, 1.606, 0, 0, 0, 32 [SEP] 13, ToiletPaper, -0.178, 0.072, 2.247, 0, 0, 0, 26 [SEP] 14, SprayBottle, -0.024, 0.954, 1.481, 0, 90, 0, 32 [SEP] 15, Cloth, -0.331, 0.076, 3.462, 0, 180, 0, 25 [SEP] 16, ScrubBrush, -0.322, 3.109, 1.950, 0, 0, 0, [SEP] 17, SoapBottle, -0.230, 0.077, 2.698, 0, 0, 0, 21 [SEP] 18, Mirror, -0.030, 1.544, 2.864, 0, 0, 0, [SEP] 19, Sink, -0.302, 0.799, 3.263, 0, 270, 0, [SEP] 20, Cabinet, -0.491, 0.404, 2.863, 0, 0, 0, [SEP] 21, Cabinet, -0.495, 0.384, 2.842, 0, 0, 0, [SEP] 22, ShowerDoor, -1.647, 1.017, 1.180, 0, 0, 0, [SEP] 23, ShowerGlass, -0.909, 0.788, 0.485, 0, 0, 0, [SEP] 24, CounterTop, -0.261, 0.927, 2.843, 0, 0, 0, [SEP] 25, Cabinet, -0.495, 0.384, 3.650, 0, 0, 0, [SEP] 26, Cabinet, -0.491, 0.404, 2.055, 0, 0, 0, [SEP] 27, TowelHolder, -1.082, 1.312, 1.195, 0, 0, 0, [SEP] 28, LightSwitch, -2.424, 1.447, 3.338, 0, 90, 0, [SEP] 29, ToiletPaperHanger, -0.266, 0.786, 2.043, 0, 180, 0, [SEP] 30, HandTowelHolder, 0.000, 1.721, 1.887, 0, 180, 0, [SEP] 31, HandTowelHolder, 0.000, 1.721, 3.799, 0, 180, 0, [SEP] 32, Toilet, -0.542, 3.109, 1.493, 0, 270, 0, [SEP] 33, GarbageCan, -2.159, -0.000, 3.756, 0, 0, 0, [SEP] 34, SinkBasin, -0.308, 0.820, 3.266, 0, 0, 0, [SEP] 35, ShowerHead, -0.134, 1.888, 0.564, 0, 90, 0, [SEP] 36, Faucet, 0.0, 1.009, 3.265, 0, 0, 0, [SEP] 37, Faucet, 0.0, 1.009, 2.421, 0, 0, 0, [SEP] 38, SinkBasin, -0.308, 0.820, 2.422, 0, 0, 0, [SEP] 39, Sink, -0.302, 0.799, 2.419, 0, 270, 0, [SEP] 40, NorthWall, , , , , , , [SEP] 41, SouthWall, , , , , , , [SEP] 42, SouthWall, , , , , , , ", "output": ["STEP 1: Move forward towards the shower stall then turn left and face the sink. | STEP 2: Pick up the turquoise toilet plunger from the floor between the sink and the toilet. | STEP 3: Turn around and move towards the bathroom door then turn around and face the bathroom vanity. | STEP 4: Open the vanity cabinet door beneath the sink closest to the toilet, place the plunger in front of the green soap dispenser bottle, and then close the vanity cabinet door. | END"]} +{"id": "trial_T20190908_021510_064551-2", "input": "drop a plunger inside a 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, 3.5, 0, 180, 0, [SEP] 1, SprayBottle, -0.330, 0.076, 2.336, 0, 0, 0, 26 [SEP] 2, SprayBottle, -0.326, 0.955, 2.843, 0, 0, 0, 24 [SEP] 3, Candle, -0.432, 0.076, 3.507, 0, 0, 0, 25 [SEP] 4, SoapBar, -0.432, 0.075, 3.145, 0, 0, 0, 20 [SEP] 5, SoapBottle, -0.229, 0.076, 2.157, 0, 0, 0, 26 [SEP] 6, ToiletPaper, -0.388, 0.951, 2.807, 0, 0, 0, 24 [SEP] 7, HandTowel, -0.038, 1.619, 3.799, 0, 90, 0, 31 [SEP] 8, Towel, -1.082, 1.326, 1.302, 0, 0, 0, 27 [SEP] 9, SoapBar, -0.280, 0.826, 3.222, 0, 0, 0, 34 [SEP] 10, ToiletPaper, -0.280, 0.654, 1.985, 0, 180, 90, 29 [SEP] 11, Plunger, -0.112, -0.000, 1.848, 0, 0, 0, [SEP] 12, Candle, -0.158, 0.953, 1.606, 0, 0, 0, 32 [SEP] 13, ToiletPaper, -0.178, 0.072, 2.247, 0, 0, 0, 26 [SEP] 14, SprayBottle, -0.024, 0.954, 1.481, 0, 90, 0, 32 [SEP] 15, Cloth, -0.331, 0.076, 3.462, 0, 180, 0, 25 [SEP] 16, ScrubBrush, -0.322, 3.109, 1.950, 0, 0, 0, [SEP] 17, SoapBottle, -0.230, 0.077, 2.698, 0, 0, 0, 21 [SEP] 18, Mirror, -0.030, 1.544, 2.864, 0, 0, 0, [SEP] 19, Sink, -0.302, 0.799, 3.263, 0, 270, 0, [SEP] 20, Cabinet, -0.491, 0.404, 2.863, 0, 0, 0, [SEP] 21, Cabinet, -0.495, 0.384, 2.842, 0, 0, 0, [SEP] 22, ShowerDoor, -1.647, 1.017, 1.180, 0, 0, 0, [SEP] 23, ShowerGlass, -0.909, 0.788, 0.485, 0, 0, 0, [SEP] 24, CounterTop, -0.261, 0.927, 2.843, 0, 0, 0, [SEP] 25, Cabinet, -0.495, 0.384, 3.650, 0, 0, 0, [SEP] 26, Cabinet, -0.491, 0.404, 2.055, 0, 0, 0, [SEP] 27, TowelHolder, -1.082, 1.312, 1.195, 0, 0, 0, [SEP] 28, LightSwitch, -2.424, 1.447, 3.338, 0, 90, 0, [SEP] 29, ToiletPaperHanger, -0.266, 0.786, 2.043, 0, 180, 0, [SEP] 30, HandTowelHolder, 0.000, 1.721, 1.887, 0, 180, 0, [SEP] 31, HandTowelHolder, 0.000, 1.721, 3.799, 0, 180, 0, [SEP] 32, Toilet, -0.542, 3.109, 1.493, 0, 270, 0, [SEP] 33, GarbageCan, -2.159, -0.000, 3.756, 0, 0, 0, [SEP] 34, SinkBasin, -0.308, 0.820, 3.266, 0, 0, 0, [SEP] 35, ShowerHead, -0.134, 1.888, 0.564, 0, 90, 0, [SEP] 36, Faucet, 0.0, 1.009, 3.265, 0, 0, 0, [SEP] 37, Faucet, 0.0, 1.009, 2.421, 0, 0, 0, [SEP] 38, SinkBasin, -0.308, 0.820, 2.422, 0, 0, 0, [SEP] 39, Sink, -0.302, 0.799, 2.419, 0, 270, 0, [SEP] 40, NorthWall, , , , , , , [SEP] 41, SouthWall, , , , , , , [SEP] 42, SouthWall, , , , , , , ", "output": ["STEP 1: move left towards the toilet | STEP 2: pick up the plunger beside the toilet | STEP 3: move left towards the cupboard | STEP 4: drop the plunger inside the cupboard | END"]} +{"id": "trial_T20190907_221355_558505-0", "input": "Pick up the white coffee cup, fill it in the sink, place it 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, -2.75, 0.900, -1.0, 0, 90, 0, [SEP] 1, Statue, 1.114, 0.914, -0.034, 0, 0, 0, 55 [SEP] 2, CreditCard, 1.199, 0.908, -1.879, 0, 0, 0, 60 [SEP] 3, CellPhone, -1.418, 0.930, -0.380, 0, 0, 0, 54 [SEP] 4, DishSponge, 0.915, 0.702, -0.731, 0, 270, 0, 52 [SEP] 5, Glassbottle, -0.753, 0.781, -0.659, 0, 90, 0, 75 [SEP] 6, Glassbottle, -0.865, 0.177, 0.608, 0, 180, 0, 74 [SEP] 7, Fork, 0.859, 0.911, -0.381, 0, 0, 0, 55 [SEP] 8, Spoon, 0.773, 0.912, 0.313, 0, 0, 0, 55 [SEP] 9, Egg, -1.292, 0.971, -0.905, 0, 0, 0, 54 [SEP] 10, Egg, -1.041, 0.971, 0.144, 0, 0, 0, 54 [SEP] 11, Plate, 1.102, 1.669, -0.401, 0, 270, 0, 63 [SEP] 12, SaltShaker, -0.550, 0.929, -1.308, 0, 0, 0, 54 [SEP] 13, SaltShaker, 0.794, 0.490, -0.731, 0, 270, 0, 58 [SEP] 14, PepperShaker, 1.199, 0.907, -1.965, 0, 0, 0, 60 [SEP] 15, PepperShaker, 0.859, 0.907, -1.793, 0, 0, 0, 60 [SEP] 16, Bread, -1.292, 1.014, 0.144, 0, 0, 0, 54 [SEP] 17, Mug, 1.199, 0.906, -0.208, 0, 0, 0, 55 [SEP] 18, Apple, 1.060, 1.845, -1.339, 0, 270, 0, 76 [SEP] 19, Apple, 0.688, 0.961, -2.051, 0, 0, 0, 60 [SEP] 20, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 54 [SEP] 21, Glassbottle, -0.698, 0.934, 0.086, 0, 0, 0, 54 [SEP] 22, Bread, 1.026, 0.944, 1.349, 0, 270, 0, 77 [SEP] 23, CreditCard, -0.550, 0.930, -1.154, 0, 0, 0, 54 [SEP] 24, CellPhone, 0.773, 0.908, -1.879, 0, 0, 0, 60 [SEP] 25, Potato, -1.167, 0.963, -0.118, 0, 0, 0, 54 [SEP] 26, Knife, -0.624, 0.957, -1.463, 0, 0, 0, 54 [SEP] 27, Fork, -1.104, 0.934, -0.643, 0, 0, 0, 54 [SEP] 28, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 48 [SEP] 29, Lettuce, 0.965, 1.479, 1.444, 0, 270, 0, 77 [SEP] 30, Plate, 1.101, 1.669, -2.097, 0, 270, 0, 53 [SEP] 31, Apple, 0.773, 0.961, 0.139, 0, 0, 0, 55 [SEP] 32, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 50 [SEP] 33, Spatula, -0.642, 0.791, -0.486, 0, 0, 0, 75 [SEP] 34, PaperTowelRoll, -1.469, 0.986, 2.665, 0, 0, 0, 81 [SEP] 35, Tomato, 1.029, 0.952, -1.793, 0, 0, 0, 60 [SEP] 36, Egg, -1.054, 0.214, 0.608, 0, 180, 0, 74 [SEP] 37, SaltShaker, 0.713, 0.150, -0.571, 0, 270, 0, 57 [SEP] 38, PepperShaker, 1.147, 1.662, 0.280, 0, 270, 0, 62 [SEP] 39, Vase, 1.126, 2.207, -1.299, 0, 270, 0, 61 [SEP] 40, ButterKnife, 1.029, 0.911, -0.381, 0, 0, 0, 55 [SEP] 41, SoapBottle, -1.571, 0.882, 2.746, 0, 0, 0, 81 [SEP] 42, Vase, -0.846, 0.934, -1.540, 0, 0, 0, 54 [SEP] 43, Bowl, 1.199, 0.914, -0.555, 0, 0, 0, 55 [SEP] 44, DishSponge, 0.875, 0.493, -0.648, 0, 270, 0, 58 [SEP] 45, Spoon, -1.104, 0.934, 0.144, 0, 0, 0, 54 [SEP] 46, Cup, 0.761, 0.105, -1.812, 0, 0, 0, 59 [SEP] 47, Mug, 1.026, 1.129, 1.444, 0, 270, 0, 77 [SEP] 48, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 49, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 50, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 51, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 52, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 53, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 54, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 55, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 56, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 57, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 58, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 59, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 60, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 61, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 62, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 63, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 64, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 65, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 66, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 67, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 68, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 69, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 70, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 71, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 72, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 73, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 74, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 75, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 76, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 77, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 78, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 79, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 80, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 81, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 82, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 83, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 84, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 85, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 86, NorthWall, , , , , , , [SEP] 87, EastWall, , , , , , , [SEP] 88, SouthWall, , , , , , , [SEP] 89, WestWall, , , , , , , ", "output": ["STEP 1: Turn to the left, then turn right, walk in between the counter tops. Face the counter top to the left of the stove. | STEP 2: Pick up the white coffee cup to the right of the trophy. | STEP 3: Turn around to face the sink. | STEP 4: Put the coffee cup in the sink, turn on the water, turn off the water and pick up the coffee cup. | STEP 5: Turn left walk forward to face the coffee maker. | STEP 6: Place the coffee cup in the coffee maker. | END"]} +{"id": "trial_T20190907_221355_558505-1", "input": "Rinse a mug and take it 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, -2.75, 0.900, -1.0, 0, 90, 0, [SEP] 1, Statue, 1.114, 0.914, -0.034, 0, 0, 0, 55 [SEP] 2, CreditCard, 1.199, 0.908, -1.879, 0, 0, 0, 60 [SEP] 3, CellPhone, -1.418, 0.930, -0.380, 0, 0, 0, 54 [SEP] 4, DishSponge, 0.915, 0.702, -0.731, 0, 270, 0, 52 [SEP] 5, Glassbottle, -0.753, 0.781, -0.659, 0, 90, 0, 75 [SEP] 6, Glassbottle, -0.865, 0.177, 0.608, 0, 180, 0, 74 [SEP] 7, Fork, 0.859, 0.911, -0.381, 0, 0, 0, 55 [SEP] 8, Spoon, 0.773, 0.912, 0.313, 0, 0, 0, 55 [SEP] 9, Egg, -1.292, 0.971, -0.905, 0, 0, 0, 54 [SEP] 10, Egg, -1.041, 0.971, 0.144, 0, 0, 0, 54 [SEP] 11, Plate, 1.102, 1.669, -0.401, 0, 270, 0, 63 [SEP] 12, SaltShaker, -0.550, 0.929, -1.308, 0, 0, 0, 54 [SEP] 13, SaltShaker, 0.794, 0.490, -0.731, 0, 270, 0, 58 [SEP] 14, PepperShaker, 1.199, 0.907, -1.965, 0, 0, 0, 60 [SEP] 15, PepperShaker, 0.859, 0.907, -1.793, 0, 0, 0, 60 [SEP] 16, Bread, -1.292, 1.014, 0.144, 0, 0, 0, 54 [SEP] 17, Mug, 1.199, 0.906, -0.208, 0, 0, 0, 55 [SEP] 18, Apple, 1.060, 1.845, -1.339, 0, 270, 0, 76 [SEP] 19, Apple, 0.688, 0.961, -2.051, 0, 0, 0, 60 [SEP] 20, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 54 [SEP] 21, Glassbottle, -0.698, 0.934, 0.086, 0, 0, 0, 54 [SEP] 22, Bread, 1.026, 0.944, 1.349, 0, 270, 0, 77 [SEP] 23, CreditCard, -0.550, 0.930, -1.154, 0, 0, 0, 54 [SEP] 24, CellPhone, 0.773, 0.908, -1.879, 0, 0, 0, 60 [SEP] 25, Potato, -1.167, 0.963, -0.118, 0, 0, 0, 54 [SEP] 26, Knife, -0.624, 0.957, -1.463, 0, 0, 0, 54 [SEP] 27, Fork, -1.104, 0.934, -0.643, 0, 0, 0, 54 [SEP] 28, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 48 [SEP] 29, Lettuce, 0.965, 1.479, 1.444, 0, 270, 0, 77 [SEP] 30, Plate, 1.101, 1.669, -2.097, 0, 270, 0, 53 [SEP] 31, Apple, 0.773, 0.961, 0.139, 0, 0, 0, 55 [SEP] 32, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 50 [SEP] 33, Spatula, -0.642, 0.791, -0.486, 0, 0, 0, 75 [SEP] 34, PaperTowelRoll, -1.469, 0.986, 2.665, 0, 0, 0, 81 [SEP] 35, Tomato, 1.029, 0.952, -1.793, 0, 0, 0, 60 [SEP] 36, Egg, -1.054, 0.214, 0.608, 0, 180, 0, 74 [SEP] 37, SaltShaker, 0.713, 0.150, -0.571, 0, 270, 0, 57 [SEP] 38, PepperShaker, 1.147, 1.662, 0.280, 0, 270, 0, 62 [SEP] 39, Vase, 1.126, 2.207, -1.299, 0, 270, 0, 61 [SEP] 40, ButterKnife, 1.029, 0.911, -0.381, 0, 0, 0, 55 [SEP] 41, SoapBottle, -1.571, 0.882, 2.746, 0, 0, 0, 81 [SEP] 42, Vase, -0.846, 0.934, -1.540, 0, 0, 0, 54 [SEP] 43, Bowl, 1.199, 0.914, -0.555, 0, 0, 0, 55 [SEP] 44, DishSponge, 0.875, 0.493, -0.648, 0, 270, 0, 58 [SEP] 45, Spoon, -1.104, 0.934, 0.144, 0, 0, 0, 54 [SEP] 46, Cup, 0.761, 0.105, -1.812, 0, 0, 0, 59 [SEP] 47, Mug, 1.026, 1.129, 1.444, 0, 270, 0, 77 [SEP] 48, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 49, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 50, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 51, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 52, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 53, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 54, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 55, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 56, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 57, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 58, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 59, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 60, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 61, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 62, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 63, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 64, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 65, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 66, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 67, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 68, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 69, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 70, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 71, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 72, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 73, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 74, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 75, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 76, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 77, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 78, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 79, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 80, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 81, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 82, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 83, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 84, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 85, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 86, NorthWall, , , , , , , [SEP] 87, EastWall, , , , , , , [SEP] 88, SouthWall, , , , , , , [SEP] 89, WestWall, , , , , , , ", "output": ["STEP 1: Turn to the left, and then the right and right again to the back of the kitchen. | STEP 2: Pick up the mug from the middle of the counter. | STEP 3: Take the mug and turn around to the sink. | STEP 4: Place the mug in the sink, turn the water on and then off. Pick up the mug. | STEP 5: Carry the mug and move to the right, and face left to the coffee machine. | STEP 6: Place the mug under the coffee machine. | END"]} +{"id": "trial_T20190907_221355_558505-2", "input": "Place a rinsed coffee cup into 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, -2.75, 0.900, -1.0, 0, 90, 0, [SEP] 1, Statue, 1.114, 0.914, -0.034, 0, 0, 0, 55 [SEP] 2, CreditCard, 1.199, 0.908, -1.879, 0, 0, 0, 60 [SEP] 3, CellPhone, -1.418, 0.930, -0.380, 0, 0, 0, 54 [SEP] 4, DishSponge, 0.915, 0.702, -0.731, 0, 270, 0, 52 [SEP] 5, Glassbottle, -0.753, 0.781, -0.659, 0, 90, 0, 75 [SEP] 6, Glassbottle, -0.865, 0.177, 0.608, 0, 180, 0, 74 [SEP] 7, Fork, 0.859, 0.911, -0.381, 0, 0, 0, 55 [SEP] 8, Spoon, 0.773, 0.912, 0.313, 0, 0, 0, 55 [SEP] 9, Egg, -1.292, 0.971, -0.905, 0, 0, 0, 54 [SEP] 10, Egg, -1.041, 0.971, 0.144, 0, 0, 0, 54 [SEP] 11, Plate, 1.102, 1.669, -0.401, 0, 270, 0, 63 [SEP] 12, SaltShaker, -0.550, 0.929, -1.308, 0, 0, 0, 54 [SEP] 13, SaltShaker, 0.794, 0.490, -0.731, 0, 270, 0, 58 [SEP] 14, PepperShaker, 1.199, 0.907, -1.965, 0, 0, 0, 60 [SEP] 15, PepperShaker, 0.859, 0.907, -1.793, 0, 0, 0, 60 [SEP] 16, Bread, -1.292, 1.014, 0.144, 0, 0, 0, 54 [SEP] 17, Mug, 1.199, 0.906, -0.208, 0, 0, 0, 55 [SEP] 18, Apple, 1.060, 1.845, -1.339, 0, 270, 0, 76 [SEP] 19, Apple, 0.688, 0.961, -2.051, 0, 0, 0, 60 [SEP] 20, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 54 [SEP] 21, Glassbottle, -0.698, 0.934, 0.086, 0, 0, 0, 54 [SEP] 22, Bread, 1.026, 0.944, 1.349, 0, 270, 0, 77 [SEP] 23, CreditCard, -0.550, 0.930, -1.154, 0, 0, 0, 54 [SEP] 24, CellPhone, 0.773, 0.908, -1.879, 0, 0, 0, 60 [SEP] 25, Potato, -1.167, 0.963, -0.118, 0, 0, 0, 54 [SEP] 26, Knife, -0.624, 0.957, -1.463, 0, 0, 0, 54 [SEP] 27, Fork, -1.104, 0.934, -0.643, 0, 0, 0, 54 [SEP] 28, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 48 [SEP] 29, Lettuce, 0.965, 1.479, 1.444, 0, 270, 0, 77 [SEP] 30, Plate, 1.101, 1.669, -2.097, 0, 270, 0, 53 [SEP] 31, Apple, 0.773, 0.961, 0.139, 0, 0, 0, 55 [SEP] 32, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 50 [SEP] 33, Spatula, -0.642, 0.791, -0.486, 0, 0, 0, 75 [SEP] 34, PaperTowelRoll, -1.469, 0.986, 2.665, 0, 0, 0, 81 [SEP] 35, Tomato, 1.029, 0.952, -1.793, 0, 0, 0, 60 [SEP] 36, Egg, -1.054, 0.214, 0.608, 0, 180, 0, 74 [SEP] 37, SaltShaker, 0.713, 0.150, -0.571, 0, 270, 0, 57 [SEP] 38, PepperShaker, 1.147, 1.662, 0.280, 0, 270, 0, 62 [SEP] 39, Vase, 1.126, 2.207, -1.299, 0, 270, 0, 61 [SEP] 40, ButterKnife, 1.029, 0.911, -0.381, 0, 0, 0, 55 [SEP] 41, SoapBottle, -1.571, 0.882, 2.746, 0, 0, 0, 81 [SEP] 42, Vase, -0.846, 0.934, -1.540, 0, 0, 0, 54 [SEP] 43, Bowl, 1.199, 0.914, -0.555, 0, 0, 0, 55 [SEP] 44, DishSponge, 0.875, 0.493, -0.648, 0, 270, 0, 58 [SEP] 45, Spoon, -1.104, 0.934, 0.144, 0, 0, 0, 54 [SEP] 46, Cup, 0.761, 0.105, -1.812, 0, 0, 0, 59 [SEP] 47, Mug, 1.026, 1.129, 1.444, 0, 270, 0, 77 [SEP] 48, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 49, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 50, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 51, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 52, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 53, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 54, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 55, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 56, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 57, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 58, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 59, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 60, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 61, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 62, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 63, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 64, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 65, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 66, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 67, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 68, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 69, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 70, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 71, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 72, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 73, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 74, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 75, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 76, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 77, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 78, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 79, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 80, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 81, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 82, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 83, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 84, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 85, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 86, NorthWall, , , , , , , [SEP] 87, EastWall, , , , , , , [SEP] 88, SouthWall, , , , , , , [SEP] 89, WestWall, , , , , , , ", "output": ["STEP 1: Turn left, move to the counter right of the dishwasher. | STEP 2: Pick up the coffee cup from the counter. | STEP 3: Turn right, move to the island in front of the sink. | STEP 4: Place the coffee cup into the sink, rinse it, pick it back up. | STEP 5: Turn left, move to the end of the counter, in front of the coffee machine. | STEP 6: Place the coffee cup into the coffee machine. | END"]} +{"id": "trial_T20190909_123918_983775-0", "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, -0.5, 0.900, 2.5, 0, 0, 0, [SEP] 1, Pan, 1.126, 2.205, -1.517, 0, 180, 0, 65 [SEP] 2, Statue, 1.114, 0.914, -0.034, 0, 0, 0, 59 [SEP] 3, Vase, -1.469, 0.882, 2.719, 0, 0, 0, 85 [SEP] 4, Potato, 0.783, 1.165, 0.967, 0, 270, 0, 81 [SEP] 5, Potato, 0.783, 0.893, 1.063, 0, 270, 0, 81 [SEP] 6, Potato, -0.550, 0.963, -0.143, 0, 0, 0, 58 [SEP] 7, CellPhone, -1.418, 0.930, 0.144, 0, 0, 0, 58 [SEP] 8, CellPhone, -1.104, 0.930, -0.118, 0, 0, 0, 58 [SEP] 9, DishSponge, -1.363, 0.553, 2.615, 0, 0, 0, 84 [SEP] 10, DishSponge, 1.055, 1.665, -2.097, 0, 270, 0, 57 [SEP] 11, Glassbottle, 0.944, 0.912, -0.034, 0, 0, 0, 59 [SEP] 12, Fork, 0.794, 0.494, -0.607, 0, 180, 0, 62 [SEP] 13, Spoon, -0.753, 0.781, -0.573, 0, 90, 0, 79 [SEP] 14, Spatula, -1.167, 0.948, -0.905, 0, 0, 0, 58 [SEP] 15, Plate, 0.773, 0.914, -0.034, 0, 0, 0, 59 [SEP] 16, SoapBottle, -0.912, 0.179, 0.543, 0, 180, 0, 78 [SEP] 17, Bowl, 0.910, 0.111, -1.892, 0, 0, 0, 63 [SEP] 18, PepperShaker, 0.753, 0.150, -0.571, 0, 270, 0, 61 [SEP] 19, Lettuce, 0.688, 0.988, -1.879, 0, 0, 0, 64 [SEP] 20, Bread, 1.029, 0.992, -0.381, 0, 0, 0, 59 [SEP] 21, Mug, 0.905, 0.858, 1.349, 0, 270, 0, 81 [SEP] 22, Mug, 1.148, 1.661, -0.273, 0, 270, 0, 67 [SEP] 23, Apple, 1.028, 1.845, -1.339, 0, 270, 0, 80 [SEP] 24, Statue, -0.550, 0.936, -1.308, 0, 0, 0, 58 [SEP] 25, Glassbottle, -0.920, 0.934, 0.162, 0, 0, 0, 58 [SEP] 26, Bread, 0.966, 1.482, 1.063, 0, 270, 0, 81 [SEP] 27, CreditCard, -1.985, 0.551, 2.718, 0, 0, 0, 84 [SEP] 28, CellPhone, -0.550, 0.930, 0.009, 0, 0, 0, 58 [SEP] 29, Potato, 0.688, 0.941, -2.222, 0, 0, 0, 64 [SEP] 30, Knife, 0.773, 0.934, -1.879, 0, 270, 0, 64 [SEP] 31, Fork, 0.794, 0.495, -0.524, 0, 180, 0, 62 [SEP] 32, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 52 [SEP] 33, Lettuce, -0.697, 0.857, -0.832, 0, 90, 0, 79 [SEP] 34, Plate, -0.550, 0.936, 0.162, 0, 0, 0, 58 [SEP] 35, Apple, 0.844, 1.452, 1.540, 0, 270, 0, 81 [SEP] 36, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 54 [SEP] 37, Spatula, 0.915, 0.509, -0.772, 0, 0, 0, 62 [SEP] 38, PaperTowelRoll, -1.418, 1.037, -0.118, 0, 0, 0, 58 [SEP] 39, Tomato, 0.966, 1.175, 1.254, 0, 270, 0, 81 [SEP] 40, Egg, 1.114, 0.949, -1.793, 0, 0, 0, 64 [SEP] 41, SaltShaker, 0.688, 0.907, -2.051, 0, 0, 0, 64 [SEP] 42, PepperShaker, -1.674, 0.550, 2.563, 0, 0, 0, 84 [SEP] 43, Vase, 0.811, 0.108, -2.212, 0, 0, 0, 63 [SEP] 44, ButterKnife, -0.846, 0.933, -1.540, 0, 0, 0, 58 [SEP] 45, SoapBottle, 1.055, 1.666, -1.961, 0, 270, 0, 57 [SEP] 46, Vase, -0.772, 0.934, -1.308, 0, 0, 0, 58 [SEP] 47, Bowl, 0.905, 1.138, 1.444, 0, 270, 0, 81 [SEP] 48, DishSponge, 0.688, 0.910, 0.313, 0, 0, 0, 59 [SEP] 49, Spoon, -0.642, 0.777, -0.745, 0, 0, 0, 79 [SEP] 50, Cup, -0.642, 0.773, -0.400, 0, 90, 0, 79 [SEP] 51, Mug, 0.783, 1.638, 0.967, 0, 270, 0, 81 [SEP] 52, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 53, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 54, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 55, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 56, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 57, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 58, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 59, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 60, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 61, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 62, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 63, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 64, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 65, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 66, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 67, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 68, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 69, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 70, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 71, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 72, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 73, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 74, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 75, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 76, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 77, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 78, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 79, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 80, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 81, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 82, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 83, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 84, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 85, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 86, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 87, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 88, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 89, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 90, NorthWall, , , , , , , [SEP] 91, EastWall, , , , , , , [SEP] 92, SouthWall, , , , , , , [SEP] 93, WestWall, , , , , , , ", "output": ["STEP 1: move around to the table | STEP 2: pick up a knife from the table | STEP 3: move forward to the fridge | STEP 4: slice the potato in the fridge | STEP 5: turn around to the shelf | STEP 6: place the knife on the shelf | STEP 7: turn right to the fridge | STEP 8: pick up a slice of the potato | STEP 9: move right to the oven | STEP 10: cook the potato in the oven and take it out | STEP 11: move left to the fridge | STEP 12: place the cooked slice in the fridge | END"]} +{"id": "trial_T20190909_123918_983775-1", "input": "To heat a potato slice 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, -0.5, 0.900, 2.5, 0, 0, 0, [SEP] 1, Pan, 1.126, 2.205, -1.517, 0, 180, 0, 65 [SEP] 2, Statue, 1.114, 0.914, -0.034, 0, 0, 0, 59 [SEP] 3, Vase, -1.469, 0.882, 2.719, 0, 0, 0, 85 [SEP] 4, Potato, 0.783, 1.165, 0.967, 0, 270, 0, 81 [SEP] 5, Potato, 0.783, 0.893, 1.063, 0, 270, 0, 81 [SEP] 6, Potato, -0.550, 0.963, -0.143, 0, 0, 0, 58 [SEP] 7, CellPhone, -1.418, 0.930, 0.144, 0, 0, 0, 58 [SEP] 8, CellPhone, -1.104, 0.930, -0.118, 0, 0, 0, 58 [SEP] 9, DishSponge, -1.363, 0.553, 2.615, 0, 0, 0, 84 [SEP] 10, DishSponge, 1.055, 1.665, -2.097, 0, 270, 0, 57 [SEP] 11, Glassbottle, 0.944, 0.912, -0.034, 0, 0, 0, 59 [SEP] 12, Fork, 0.794, 0.494, -0.607, 0, 180, 0, 62 [SEP] 13, Spoon, -0.753, 0.781, -0.573, 0, 90, 0, 79 [SEP] 14, Spatula, -1.167, 0.948, -0.905, 0, 0, 0, 58 [SEP] 15, Plate, 0.773, 0.914, -0.034, 0, 0, 0, 59 [SEP] 16, SoapBottle, -0.912, 0.179, 0.543, 0, 180, 0, 78 [SEP] 17, Bowl, 0.910, 0.111, -1.892, 0, 0, 0, 63 [SEP] 18, PepperShaker, 0.753, 0.150, -0.571, 0, 270, 0, 61 [SEP] 19, Lettuce, 0.688, 0.988, -1.879, 0, 0, 0, 64 [SEP] 20, Bread, 1.029, 0.992, -0.381, 0, 0, 0, 59 [SEP] 21, Mug, 0.905, 0.858, 1.349, 0, 270, 0, 81 [SEP] 22, Mug, 1.148, 1.661, -0.273, 0, 270, 0, 67 [SEP] 23, Apple, 1.028, 1.845, -1.339, 0, 270, 0, 80 [SEP] 24, Statue, -0.550, 0.936, -1.308, 0, 0, 0, 58 [SEP] 25, Glassbottle, -0.920, 0.934, 0.162, 0, 0, 0, 58 [SEP] 26, Bread, 0.966, 1.482, 1.063, 0, 270, 0, 81 [SEP] 27, CreditCard, -1.985, 0.551, 2.718, 0, 0, 0, 84 [SEP] 28, CellPhone, -0.550, 0.930, 0.009, 0, 0, 0, 58 [SEP] 29, Potato, 0.688, 0.941, -2.222, 0, 0, 0, 64 [SEP] 30, Knife, 0.773, 0.934, -1.879, 0, 270, 0, 64 [SEP] 31, Fork, 0.794, 0.495, -0.524, 0, 180, 0, 62 [SEP] 32, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 52 [SEP] 33, Lettuce, -0.697, 0.857, -0.832, 0, 90, 0, 79 [SEP] 34, Plate, -0.550, 0.936, 0.162, 0, 0, 0, 58 [SEP] 35, Apple, 0.844, 1.452, 1.540, 0, 270, 0, 81 [SEP] 36, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 54 [SEP] 37, Spatula, 0.915, 0.509, -0.772, 0, 0, 0, 62 [SEP] 38, PaperTowelRoll, -1.418, 1.037, -0.118, 0, 0, 0, 58 [SEP] 39, Tomato, 0.966, 1.175, 1.254, 0, 270, 0, 81 [SEP] 40, Egg, 1.114, 0.949, -1.793, 0, 0, 0, 64 [SEP] 41, SaltShaker, 0.688, 0.907, -2.051, 0, 0, 0, 64 [SEP] 42, PepperShaker, -1.674, 0.550, 2.563, 0, 0, 0, 84 [SEP] 43, Vase, 0.811, 0.108, -2.212, 0, 0, 0, 63 [SEP] 44, ButterKnife, -0.846, 0.933, -1.540, 0, 0, 0, 58 [SEP] 45, SoapBottle, 1.055, 1.666, -1.961, 0, 270, 0, 57 [SEP] 46, Vase, -0.772, 0.934, -1.308, 0, 0, 0, 58 [SEP] 47, Bowl, 0.905, 1.138, 1.444, 0, 270, 0, 81 [SEP] 48, DishSponge, 0.688, 0.910, 0.313, 0, 0, 0, 59 [SEP] 49, Spoon, -0.642, 0.777, -0.745, 0, 0, 0, 79 [SEP] 50, Cup, -0.642, 0.773, -0.400, 0, 90, 0, 79 [SEP] 51, Mug, 0.783, 1.638, 0.967, 0, 270, 0, 81 [SEP] 52, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 53, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 54, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 55, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 56, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 57, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 58, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 59, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 60, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 61, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 62, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 63, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 64, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 65, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 66, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 67, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 68, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 69, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 70, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 71, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 72, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 73, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 74, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 75, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 76, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 77, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 78, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 79, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 80, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 81, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 82, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 83, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 84, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 85, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 86, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 87, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 88, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 89, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 90, NorthWall, , , , , , , [SEP] 91, EastWall, , , , , , , [SEP] 92, SouthWall, , , , , , , [SEP] 93, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and cross the room and turn around to face the end of the center table. | STEP 2: Pick up the knife on the counter. | STEP 3: Walk to the right past the center table and turn right to face the fridge. | STEP 4: Cut the potato on the bottom in the fridge into slices. | STEP 5: Turn left and step forward to face the shelves. | STEP 6: Place the knife on the shelf. | STEP 7: Turn right to face the fridge. | STEP 8: Pick up a slice of potato in the fridge. | STEP 9: Turn right and step forward and turn left to face the microwave. | STEP 10: Heat the potato slice in the microwave and remove it. | STEP 11: Turn left and walk forward and turn right to face the fridge. | STEP 12: Place the potato slice in the fridge. | END"]} +{"id": "trial_T20190909_123918_983775-2", "input": "Put a cooked slice of 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, -0.5, 0.900, 2.5, 0, 0, 0, [SEP] 1, Pan, 1.126, 2.205, -1.517, 0, 180, 0, 65 [SEP] 2, Statue, 1.114, 0.914, -0.034, 0, 0, 0, 59 [SEP] 3, Vase, -1.469, 0.882, 2.719, 0, 0, 0, 85 [SEP] 4, Potato, 0.783, 1.165, 0.967, 0, 270, 0, 81 [SEP] 5, Potato, 0.783, 0.893, 1.063, 0, 270, 0, 81 [SEP] 6, Potato, -0.550, 0.963, -0.143, 0, 0, 0, 58 [SEP] 7, CellPhone, -1.418, 0.930, 0.144, 0, 0, 0, 58 [SEP] 8, CellPhone, -1.104, 0.930, -0.118, 0, 0, 0, 58 [SEP] 9, DishSponge, -1.363, 0.553, 2.615, 0, 0, 0, 84 [SEP] 10, DishSponge, 1.055, 1.665, -2.097, 0, 270, 0, 57 [SEP] 11, Glassbottle, 0.944, 0.912, -0.034, 0, 0, 0, 59 [SEP] 12, Fork, 0.794, 0.494, -0.607, 0, 180, 0, 62 [SEP] 13, Spoon, -0.753, 0.781, -0.573, 0, 90, 0, 79 [SEP] 14, Spatula, -1.167, 0.948, -0.905, 0, 0, 0, 58 [SEP] 15, Plate, 0.773, 0.914, -0.034, 0, 0, 0, 59 [SEP] 16, SoapBottle, -0.912, 0.179, 0.543, 0, 180, 0, 78 [SEP] 17, Bowl, 0.910, 0.111, -1.892, 0, 0, 0, 63 [SEP] 18, PepperShaker, 0.753, 0.150, -0.571, 0, 270, 0, 61 [SEP] 19, Lettuce, 0.688, 0.988, -1.879, 0, 0, 0, 64 [SEP] 20, Bread, 1.029, 0.992, -0.381, 0, 0, 0, 59 [SEP] 21, Mug, 0.905, 0.858, 1.349, 0, 270, 0, 81 [SEP] 22, Mug, 1.148, 1.661, -0.273, 0, 270, 0, 67 [SEP] 23, Apple, 1.028, 1.845, -1.339, 0, 270, 0, 80 [SEP] 24, Statue, -0.550, 0.936, -1.308, 0, 0, 0, 58 [SEP] 25, Glassbottle, -0.920, 0.934, 0.162, 0, 0, 0, 58 [SEP] 26, Bread, 0.966, 1.482, 1.063, 0, 270, 0, 81 [SEP] 27, CreditCard, -1.985, 0.551, 2.718, 0, 0, 0, 84 [SEP] 28, CellPhone, -0.550, 0.930, 0.009, 0, 0, 0, 58 [SEP] 29, Potato, 0.688, 0.941, -2.222, 0, 0, 0, 64 [SEP] 30, Knife, 0.773, 0.934, -1.879, 0, 270, 0, 64 [SEP] 31, Fork, 0.794, 0.495, -0.524, 0, 180, 0, 62 [SEP] 32, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 52 [SEP] 33, Lettuce, -0.697, 0.857, -0.832, 0, 90, 0, 79 [SEP] 34, Plate, -0.550, 0.936, 0.162, 0, 0, 0, 58 [SEP] 35, Apple, 0.844, 1.452, 1.540, 0, 270, 0, 81 [SEP] 36, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 54 [SEP] 37, Spatula, 0.915, 0.509, -0.772, 0, 0, 0, 62 [SEP] 38, PaperTowelRoll, -1.418, 1.037, -0.118, 0, 0, 0, 58 [SEP] 39, Tomato, 0.966, 1.175, 1.254, 0, 270, 0, 81 [SEP] 40, Egg, 1.114, 0.949, -1.793, 0, 0, 0, 64 [SEP] 41, SaltShaker, 0.688, 0.907, -2.051, 0, 0, 0, 64 [SEP] 42, PepperShaker, -1.674, 0.550, 2.563, 0, 0, 0, 84 [SEP] 43, Vase, 0.811, 0.108, -2.212, 0, 0, 0, 63 [SEP] 44, ButterKnife, -0.846, 0.933, -1.540, 0, 0, 0, 58 [SEP] 45, SoapBottle, 1.055, 1.666, -1.961, 0, 270, 0, 57 [SEP] 46, Vase, -0.772, 0.934, -1.308, 0, 0, 0, 58 [SEP] 47, Bowl, 0.905, 1.138, 1.444, 0, 270, 0, 81 [SEP] 48, DishSponge, 0.688, 0.910, 0.313, 0, 0, 0, 59 [SEP] 49, Spoon, -0.642, 0.777, -0.745, 0, 0, 0, 79 [SEP] 50, Cup, -0.642, 0.773, -0.400, 0, 90, 0, 79 [SEP] 51, Mug, 0.783, 1.638, 0.967, 0, 270, 0, 81 [SEP] 52, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 53, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 54, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 55, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 56, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 57, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 58, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 59, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 60, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 61, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 62, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 63, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 64, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 65, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 66, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 67, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 68, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 69, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 70, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 71, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 72, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 73, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 74, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 75, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 76, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 77, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 78, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 79, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 80, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 81, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 82, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 83, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 84, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 85, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 86, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 87, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 88, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 89, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 90, NorthWall, , , , , , , [SEP] 91, EastWall, , , , , , , [SEP] 92, SouthWall, , , , , , , [SEP] 93, WestWall, , , , , , , ", "output": ["STEP 1: Turn around, go across the room and turn right to face the end of the counter. | STEP 2: Pick up the knife on the counter by the statue. | STEP 3: Go back across the room to the fridge. | STEP 4: Cut the potato on the second shelf in the fridge. | STEP 5: Turn around and go to the brown shelf on the left. | STEP 6: Put the knife on the top shelf. | STEP 7: Go back to the fridge. | STEP 8: Pick up a slice of potato in the fridge. | STEP 9: Turn right and go to the microwave. | STEP 10: Cook the slice of potato in the microwave and pick it back up. | STEP 11: Turn left and go back to the fridge. | STEP 12: Put the cooked slice of potato in the fridge between the mug and the potato. | END"]} +{"id": "trial_T20190909_213642_049125-0", "input": "Put a cold slice of lettuce in the garbage bin. 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, 180, 0, [SEP] 1, Potato, -0.587, 0.807, -0.659, 0, 90, 0, 78 [SEP] 2, Potato, 1.199, 0.941, -0.729, 0, 0, 0, 58 [SEP] 3, CellPhone, -1.041, 0.930, 0.144, 0, 0, 0, 57 [SEP] 4, CellPhone, -1.467, 0.550, 2.667, 0, 0, 0, 83 [SEP] 5, DishSponge, 0.688, 0.910, -1.793, 0, 0, 0, 63 [SEP] 6, Fork, -0.772, 0.934, 0.239, 0, 0, 0, 57 [SEP] 7, Spoon, 0.834, 0.704, -0.648, 0, 270, 0, 55 [SEP] 8, Spoon, 0.793, 0.154, -0.611, 0, 270, 0, 60 [SEP] 9, Knife, -0.550, 0.957, -0.143, 0, 0, 0, 57 [SEP] 10, Cup, 0.905, 1.399, 1.254, 0, 270, 0, 80 [SEP] 11, Plate, 0.905, 0.866, 1.063, 0, 270, 0, 80 [SEP] 12, Plate, 1.102, 1.669, -0.593, 0, 270, 0, 66 [SEP] 13, Tomato, 0.944, 0.952, -1.793, 0, 0, 0, 63 [SEP] 14, Tomato, -0.846, 0.974, -1.618, 0, 0, 0, 57 [SEP] 15, SaltShaker, 1.194, 1.662, -1.893, 0, 270, 0, 56 [SEP] 16, PepperShaker, 0.794, 0.699, -0.565, 0, 270, 0, 55 [SEP] 17, Lettuce, 1.114, 0.988, 0.139, 0, 0, 0, 58 [SEP] 18, Bread, 0.944, 0.992, -0.381, 0, 0, 0, 58 [SEP] 19, Bread, 1.026, 1.216, 1.349, 0, 270, 0, 80 [SEP] 20, Mug, 1.194, 1.661, -2.097, 0, 270, 0, 56 [SEP] 21, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 76 [SEP] 22, Apple, -0.920, 0.983, -1.308, 0, 0, 0, 57 [SEP] 23, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 57 [SEP] 24, Glassbottle, 1.082, 2.208, -0.973, 0, 270, 0, 64 [SEP] 25, Bread, -0.624, 1.014, -1.308, 0, 0, 0, 57 [SEP] 26, CreditCard, 0.688, 0.908, 0.313, 0, 0, 0, 58 [SEP] 27, CellPhone, -1.571, 0.878, 2.719, 0, 0, 0, 84 [SEP] 28, Potato, 0.995, 1.825, -1.132, 0, 270, 0, 79 [SEP] 29, Knife, 1.029, 0.934, -0.381, 0, 180, 0, 58 [SEP] 30, Fork, 0.859, 0.911, -0.729, 0, 0, 0, 58 [SEP] 31, Pan, 0.842, 0.950, -1.098, 0, 0, 0, 51 [SEP] 32, Lettuce, 0.859, 0.988, 0.139, 0, 0, 0, 58 [SEP] 33, Plate, -0.753, 0.783, -0.659, 0, 90, 0, 78 [SEP] 34, Apple, -0.960, 0.229, 0.543, 0, 180, 0, 77 [SEP] 35, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 53 [SEP] 36, Spatula, -0.587, 0.795, -0.400, 0, 0, 0, 78 [SEP] 37, PaperTowelRoll, -1.985, 0.658, 2.615, 0, 0, 0, 83 [SEP] 38, Tomato, 1.026, 1.175, 1.540, 0, 270, 0, 80 [SEP] 39, Egg, 1.087, 1.439, 1.063, 0, 270, 0, 80 [SEP] 40, SaltShaker, 0.760, 0.117, 0.325, 0, 270, 0, 58 [SEP] 41, PepperShaker, 0.688, 0.907, -2.308, 0, 0, 0, 63 [SEP] 42, Vase, -0.550, 0.933, 0.162, 0, 0, 0, 57 [SEP] 43, ButterKnife, 1.029, 0.911, -0.034, 0, 0, 0, 58 [SEP] 44, SoapBottle, 0.688, 0.911, -0.555, 0, 0, 0, 58 [SEP] 45, Vase, -1.985, 0.555, 2.822, 0, 0, 0, 83 [SEP] 46, Bowl, 1.193, 1.669, 0.280, 0, 270, 0, 65 [SEP] 47, DishSponge, 0.688, 0.910, -1.965, 0, 0, 0, 63 [SEP] 48, Spoon, -1.229, 0.934, -0.118, 0, 0, 0, 57 [SEP] 49, Cup, 1.026, 1.399, 1.444, 0, 270, 0, 80 [SEP] 50, Mug, 1.026, 1.396, 1.349, 0, 270, 0, 80 [SEP] 51, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 52, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 53, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 54, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 55, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 56, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 57, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 58, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 59, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 60, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 61, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 62, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 63, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 64, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 65, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 66, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 67, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 68, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 69, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 70, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 71, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 72, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 73, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 74, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 75, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 76, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 77, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 78, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 79, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 80, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 81, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 82, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 83, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 84, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 85, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 86, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 87, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 88, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 89, NorthWall, , , , , , , [SEP] 90, EastWall, , , , , , , [SEP] 91, SouthWall, , , , , , , [SEP] 92, WestWall, , , , , , , ", "output": ["STEP 1: Turn to your left and go to the refrigerator, then turn right and go to the counter top just past the refrigerator, on your left. | STEP 2: Pick up the butter knife between the bread and the lettuce, on the counter top. | STEP 3: Move over to the left side of the counter. | STEP 4: Cut the head of lettuce closest to you, into slices. | STEP 5: Move back over to the right side of the counter top. | STEP 6: Place the knife back on the counter top, between the lettuce and the bread. | STEP 7: Move back over to the left side of the counter top. | STEP 8: Pick up on of the lettuce slices. | STEP 9: Go to the refrigerator to your left. | STEP 10: Place the slice of lettuce to the right of the plate, on the second shelf of the refrigerator, wait a moment for the lettuce to chill, then remove the lettuce from the refrigerator. | STEP 11: Turn around and go to the garbage bin on the floor, next to the kitchen island. | STEP 12: Place the lettuce in the garbage bin on the floor. | END"]} +{"id": "trial_T20190909_213642_049125-1", "input": "put a chilled slice of lettuce in 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, -2.75, 0.900, 1.0, 0, 180, 0, [SEP] 1, Potato, -0.587, 0.807, -0.659, 0, 90, 0, 78 [SEP] 2, Potato, 1.199, 0.941, -0.729, 0, 0, 0, 58 [SEP] 3, CellPhone, -1.041, 0.930, 0.144, 0, 0, 0, 57 [SEP] 4, CellPhone, -1.467, 0.550, 2.667, 0, 0, 0, 83 [SEP] 5, DishSponge, 0.688, 0.910, -1.793, 0, 0, 0, 63 [SEP] 6, Fork, -0.772, 0.934, 0.239, 0, 0, 0, 57 [SEP] 7, Spoon, 0.834, 0.704, -0.648, 0, 270, 0, 55 [SEP] 8, Spoon, 0.793, 0.154, -0.611, 0, 270, 0, 60 [SEP] 9, Knife, -0.550, 0.957, -0.143, 0, 0, 0, 57 [SEP] 10, Cup, 0.905, 1.399, 1.254, 0, 270, 0, 80 [SEP] 11, Plate, 0.905, 0.866, 1.063, 0, 270, 0, 80 [SEP] 12, Plate, 1.102, 1.669, -0.593, 0, 270, 0, 66 [SEP] 13, Tomato, 0.944, 0.952, -1.793, 0, 0, 0, 63 [SEP] 14, Tomato, -0.846, 0.974, -1.618, 0, 0, 0, 57 [SEP] 15, SaltShaker, 1.194, 1.662, -1.893, 0, 270, 0, 56 [SEP] 16, PepperShaker, 0.794, 0.699, -0.565, 0, 270, 0, 55 [SEP] 17, Lettuce, 1.114, 0.988, 0.139, 0, 0, 0, 58 [SEP] 18, Bread, 0.944, 0.992, -0.381, 0, 0, 0, 58 [SEP] 19, Bread, 1.026, 1.216, 1.349, 0, 270, 0, 80 [SEP] 20, Mug, 1.194, 1.661, -2.097, 0, 270, 0, 56 [SEP] 21, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 76 [SEP] 22, Apple, -0.920, 0.983, -1.308, 0, 0, 0, 57 [SEP] 23, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 57 [SEP] 24, Glassbottle, 1.082, 2.208, -0.973, 0, 270, 0, 64 [SEP] 25, Bread, -0.624, 1.014, -1.308, 0, 0, 0, 57 [SEP] 26, CreditCard, 0.688, 0.908, 0.313, 0, 0, 0, 58 [SEP] 27, CellPhone, -1.571, 0.878, 2.719, 0, 0, 0, 84 [SEP] 28, Potato, 0.995, 1.825, -1.132, 0, 270, 0, 79 [SEP] 29, Knife, 1.029, 0.934, -0.381, 0, 180, 0, 58 [SEP] 30, Fork, 0.859, 0.911, -0.729, 0, 0, 0, 58 [SEP] 31, Pan, 0.842, 0.950, -1.098, 0, 0, 0, 51 [SEP] 32, Lettuce, 0.859, 0.988, 0.139, 0, 0, 0, 58 [SEP] 33, Plate, -0.753, 0.783, -0.659, 0, 90, 0, 78 [SEP] 34, Apple, -0.960, 0.229, 0.543, 0, 180, 0, 77 [SEP] 35, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 53 [SEP] 36, Spatula, -0.587, 0.795, -0.400, 0, 0, 0, 78 [SEP] 37, PaperTowelRoll, -1.985, 0.658, 2.615, 0, 0, 0, 83 [SEP] 38, Tomato, 1.026, 1.175, 1.540, 0, 270, 0, 80 [SEP] 39, Egg, 1.087, 1.439, 1.063, 0, 270, 0, 80 [SEP] 40, SaltShaker, 0.760, 0.117, 0.325, 0, 270, 0, 58 [SEP] 41, PepperShaker, 0.688, 0.907, -2.308, 0, 0, 0, 63 [SEP] 42, Vase, -0.550, 0.933, 0.162, 0, 0, 0, 57 [SEP] 43, ButterKnife, 1.029, 0.911, -0.034, 0, 0, 0, 58 [SEP] 44, SoapBottle, 0.688, 0.911, -0.555, 0, 0, 0, 58 [SEP] 45, Vase, -1.985, 0.555, 2.822, 0, 0, 0, 83 [SEP] 46, Bowl, 1.193, 1.669, 0.280, 0, 270, 0, 65 [SEP] 47, DishSponge, 0.688, 0.910, -1.965, 0, 0, 0, 63 [SEP] 48, Spoon, -1.229, 0.934, -0.118, 0, 0, 0, 57 [SEP] 49, Cup, 1.026, 1.399, 1.444, 0, 270, 0, 80 [SEP] 50, Mug, 1.026, 1.396, 1.349, 0, 270, 0, 80 [SEP] 51, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 52, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 53, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 54, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 55, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 56, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 57, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 58, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 59, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 60, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 61, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 62, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 63, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 64, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 65, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 66, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 67, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 68, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 69, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 70, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 71, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 72, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 73, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 74, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 75, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 76, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 77, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 78, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 79, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 80, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 81, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 82, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 83, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 84, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 85, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 86, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 87, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 88, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 89, NorthWall, , , , , , , [SEP] 90, EastWall, , , , , , , [SEP] 91, SouthWall, , , , , , , [SEP] 92, WestWall, , , , , , , ", "output": ["STEP 1: turn to the left and move forward to the fridge and turn right, move to the counter that is to the right of the fridge and turn left to face the counter | STEP 2: pick up the butter knife that is sitting on the counter to the right of two heads of lettuce | STEP 3: move slightly to the left facing the two heads of lettuce | STEP 4: use the knife to cut the head of lettuce in the front | STEP 5: move to the right of the counter slightly | STEP 6: put the knife on to the counter to the right of the heads of lettuce | STEP 7: move back to the left slightly to face both heads of lettuce | STEP 8: pick up a slice of the cut lettuce from the counter | STEP 9: move to the left to face the fridge | STEP 10: open the door of the fridge, put the lettuce slice on the top shelf, close the door to chill for a few seconds, open the door, remove the slice and close the door | STEP 11: turn around and move forward to the black trash can at the end of the counter of the left, turn to face the trash can | STEP 12: put the slice of lettuce in to the trash can | END"]} +{"id": "trial_T20190909_213642_049125-2", "input": "Place cold lettuce in black bin. 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, 180, 0, [SEP] 1, Potato, -0.587, 0.807, -0.659, 0, 90, 0, 78 [SEP] 2, Potato, 1.199, 0.941, -0.729, 0, 0, 0, 58 [SEP] 3, CellPhone, -1.041, 0.930, 0.144, 0, 0, 0, 57 [SEP] 4, CellPhone, -1.467, 0.550, 2.667, 0, 0, 0, 83 [SEP] 5, DishSponge, 0.688, 0.910, -1.793, 0, 0, 0, 63 [SEP] 6, Fork, -0.772, 0.934, 0.239, 0, 0, 0, 57 [SEP] 7, Spoon, 0.834, 0.704, -0.648, 0, 270, 0, 55 [SEP] 8, Spoon, 0.793, 0.154, -0.611, 0, 270, 0, 60 [SEP] 9, Knife, -0.550, 0.957, -0.143, 0, 0, 0, 57 [SEP] 10, Cup, 0.905, 1.399, 1.254, 0, 270, 0, 80 [SEP] 11, Plate, 0.905, 0.866, 1.063, 0, 270, 0, 80 [SEP] 12, Plate, 1.102, 1.669, -0.593, 0, 270, 0, 66 [SEP] 13, Tomato, 0.944, 0.952, -1.793, 0, 0, 0, 63 [SEP] 14, Tomato, -0.846, 0.974, -1.618, 0, 0, 0, 57 [SEP] 15, SaltShaker, 1.194, 1.662, -1.893, 0, 270, 0, 56 [SEP] 16, PepperShaker, 0.794, 0.699, -0.565, 0, 270, 0, 55 [SEP] 17, Lettuce, 1.114, 0.988, 0.139, 0, 0, 0, 58 [SEP] 18, Bread, 0.944, 0.992, -0.381, 0, 0, 0, 58 [SEP] 19, Bread, 1.026, 1.216, 1.349, 0, 270, 0, 80 [SEP] 20, Mug, 1.194, 1.661, -2.097, 0, 270, 0, 56 [SEP] 21, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 76 [SEP] 22, Apple, -0.920, 0.983, -1.308, 0, 0, 0, 57 [SEP] 23, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 57 [SEP] 24, Glassbottle, 1.082, 2.208, -0.973, 0, 270, 0, 64 [SEP] 25, Bread, -0.624, 1.014, -1.308, 0, 0, 0, 57 [SEP] 26, CreditCard, 0.688, 0.908, 0.313, 0, 0, 0, 58 [SEP] 27, CellPhone, -1.571, 0.878, 2.719, 0, 0, 0, 84 [SEP] 28, Potato, 0.995, 1.825, -1.132, 0, 270, 0, 79 [SEP] 29, Knife, 1.029, 0.934, -0.381, 0, 180, 0, 58 [SEP] 30, Fork, 0.859, 0.911, -0.729, 0, 0, 0, 58 [SEP] 31, Pan, 0.842, 0.950, -1.098, 0, 0, 0, 51 [SEP] 32, Lettuce, 0.859, 0.988, 0.139, 0, 0, 0, 58 [SEP] 33, Plate, -0.753, 0.783, -0.659, 0, 90, 0, 78 [SEP] 34, Apple, -0.960, 0.229, 0.543, 0, 180, 0, 77 [SEP] 35, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 53 [SEP] 36, Spatula, -0.587, 0.795, -0.400, 0, 0, 0, 78 [SEP] 37, PaperTowelRoll, -1.985, 0.658, 2.615, 0, 0, 0, 83 [SEP] 38, Tomato, 1.026, 1.175, 1.540, 0, 270, 0, 80 [SEP] 39, Egg, 1.087, 1.439, 1.063, 0, 270, 0, 80 [SEP] 40, SaltShaker, 0.760, 0.117, 0.325, 0, 270, 0, 58 [SEP] 41, PepperShaker, 0.688, 0.907, -2.308, 0, 0, 0, 63 [SEP] 42, Vase, -0.550, 0.933, 0.162, 0, 0, 0, 57 [SEP] 43, ButterKnife, 1.029, 0.911, -0.034, 0, 0, 0, 58 [SEP] 44, SoapBottle, 0.688, 0.911, -0.555, 0, 0, 0, 58 [SEP] 45, Vase, -1.985, 0.555, 2.822, 0, 0, 0, 83 [SEP] 46, Bowl, 1.193, 1.669, 0.280, 0, 270, 0, 65 [SEP] 47, DishSponge, 0.688, 0.910, -1.965, 0, 0, 0, 63 [SEP] 48, Spoon, -1.229, 0.934, -0.118, 0, 0, 0, 57 [SEP] 49, Cup, 1.026, 1.399, 1.444, 0, 270, 0, 80 [SEP] 50, Mug, 1.026, 1.396, 1.349, 0, 270, 0, 80 [SEP] 51, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 52, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 53, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 54, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 55, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 56, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 57, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 58, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 59, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 60, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 61, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 62, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 63, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 64, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 65, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 66, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 67, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 68, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 69, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 70, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 71, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 72, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 73, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 74, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 75, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 76, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 77, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 78, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 79, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 80, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 81, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 82, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 83, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 84, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 85, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 86, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 87, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 88, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 89, NorthWall, , , , , , , [SEP] 90, EastWall, , , , , , , [SEP] 91, SouthWall, , , , , , , [SEP] 92, WestWall, , , , , , , ", "output": ["STEP 1: Turn left then right and face the counter with the lettuce on your left. | STEP 2: Take the knife from the counter in front of you. | STEP 3: Turn left and face the counter on your right. | STEP 4: Slice the lettuce in front of you. | STEP 5: Turn right then face the counter to your left. | STEP 6: Place the knife on the counter in front of you. | STEP 7: Turn left then face the counter on your right. | STEP 8: Take a slice of lettuce from the counter in front of you. | STEP 9: Turn left and face the fridge to your right. | STEP 10: Place the lettuce in the fridge for a bit then take it out. | STEP 11: Turn around and face the black bin on your left. | STEP 12: Place lettuce in black bin in front of you. | END"]} +{"id": "trial_T20190909_103553_077615-0", "input": "Carry a credit card 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, -1.5, 0.901, 1.25, 0, 90, 0, [SEP] 1, Newspaper, -0.787, 0.615, 3.281, 0, 0, 0, 60 [SEP] 2, Newspaper, -3.543, 1.114, 4.687, 0, 90, 0, 56 [SEP] 3, CellPhone, -2.297, 0.034, 0.160, 0, 90, 0, 39 [SEP] 4, Statue, -3.222, 1.113, 4.589, 0, 90, 0, 56 [SEP] 5, Vase, -4.291, 0.203, 4.342, 0, 90, 0, 53 [SEP] 6, Vase, -3.863, 1.111, 4.391, 0, 90, 0, 56 [SEP] 7, CreditCard, -5.024, 1.038, 0.173, 0, 0, 0, 38 [SEP] 8, CreditCard, -0.705, 0.608, 1.960, 0, 0, 0, 60 [SEP] 9, CreditCard, -5.331, 0.861, 0.282, 0, 0, 0, 37 [SEP] 10, RemoteControl, -0.213, 0.076, 1.194, 0, 270, 0, 41 [SEP] 11, RemoteControl, -1.459, 0.592, 4.297, 0, 0, 0, 50 [SEP] 12, Box, -2.983, 0.421, 4.342, 0, 180, 0, 55 [SEP] 13, Watch, -2.137, 0.034, 0.160, 0, 90, 0, 39 [SEP] 14, Pillow, -2.031, 0.668, 4.421, 0, 0, 0, 50 [SEP] 15, TissueBox, -4.605, 0.205, 4.395, 0, 90, 0, 53 [SEP] 16, Newspaper, -0.952, 0.628, 2.753, 0, 0, 0, 60 [SEP] 17, CreditCard, -5.331, 0.861, 0.405, 0, 0, 0, 37 [SEP] 18, KeyChain, -2.210, 0.590, 4.557, 0, 0, 0, 50 [SEP] 19, CellPhone, -0.870, 0.609, 1.960, 0, 0, 0, 60 [SEP] 20, Statue, -3.543, 1.113, 4.490, 0, 90, 0, 56 [SEP] 21, Laptop, -4.184, 1.109, 4.687, 0, 90, 0, 56 [SEP] 22, RemoteControl, -0.952, 0.611, 3.281, 0, 0, 0, 60 [SEP] 23, Vase, -3.222, 1.111, 4.786, 0, 90, 0, 56 [SEP] 24, DeskLamp, -4.649, 1.051, 0.268, 0, 0, 0, [SEP] 25, DeskLamp, -2.992, 1.107, 4.522, 0, 0, 0, [SEP] 26, FloorLamp, -0.650, 0.007, 4.431, 0, 0, 0, [SEP] 27, FloorLamp, -5.607, 0.007, 4.641, 0, 0, 0, [SEP] 28, Shelf, -5.237, 1.776, 0.070, 0, 0, 0, [SEP] 29, Shelf, -5.238, 1.968, 0.085, 0, 0, 0, [SEP] 30, Shelf, -5.242, 1.391, 0.086, 0, 0, 0, [SEP] 31, Shelf, -5.241, 1.582, 0.065, 0, 0, 0, [SEP] 32, LightSwitch, -6.002, 1.353, 3.404, 0, 90, 0, [SEP] 33, GarbageCan, -5.794, -0.033, 4.073, 0, 90, 0, [SEP] 34, Painting, -6.017, 1.802, 4.177, 90, 270, 0, [SEP] 35, HousePlant, -3.966, 1.625, 0.135, 0, 315, 0, [SEP] 36, Television, -3.355, 0.833, 0.027, 0, 0, 0, [SEP] 37, Drawer, -5.024, 0.903, 0.370, 0, 0, 0, [SEP] 38, SideTable, -5.024, 0.008, 0.267, 0, 0, 0, [SEP] 39, Safe, -2.298, 5.778, 0.268, 0, 90, 0, [SEP] 40, Shelf, -0.253, 0.781, 1.058, 0, 270, 0, [SEP] 41, Shelf, -0.283, 0.274, 1.066, 0, 270, 0, [SEP] 42, Shelf, -1.224, 1.288, 0.270, 0, 0, 0, [SEP] 43, Shelf, -1.218, 1.810, 0.275, 0, 0, 0, [SEP] 44, Shelf, -0.280, 1.810, 1.057, 0, 270, 0, [SEP] 45, Shelf, -1.218, 0.274, 0.262, 0, 0, 0, [SEP] 46, Shelf, -1.223, 0.782, 0.237, 0, 0, 0, [SEP] 47, Shelf, -0.280, 1.288, 1.055, 0, 270, 0, [SEP] 48, ShelvingUnit, -0.268, 0.004, 1.067, 0, 270, 0, [SEP] 49, ShelvingUnit, -1.218, 0.004, 0.244, 0, 0, 0, [SEP] 50, ArmChair, -2.027, 0.001, 4.422, 0, 178.692, 0, [SEP] 51, Drawer, -4.329, 1.014, 4.311, 0, 180, 0, [SEP] 52, Drawer, -3.750, 1.014, 4.311, 0, 180, 0, [SEP] 53, Cabinet, -4.049, 0.561, 4.212, 0, 180, 0, [SEP] 54, Cabinet, -4.032, 0.561, 4.212, 0, 180, 0, [SEP] 55, Cabinet, -2.884, 0.561, 4.212, 0, 180, 0, [SEP] 56, Dresser, -4.041, -0.000, 4.589, 0, 180, 0, [SEP] 57, Drawer, -4.916, 1.014, 4.311, 0, 180, 0, [SEP] 58, Drawer, -3.166, 1.014, 4.311, 0, 180, 0, [SEP] 59, Cabinet, -5.196, 0.561, 4.212, 0, 180, 0, [SEP] 60, Sofa, -0.705, -0.002, 2.753, 0, 270, 0, [SEP] 61, NorthWall, , , , , , , [SEP] 62, SouthWall, , , , , , , [SEP] 63, SouthWall, , , , , , , ", "output": ["STEP 1: Move left then face the right side of the large tan couch | STEP 2: Pick up the red credit card on top of the couch | STEP 3: Carry the credit card to the lamp in the corner of the room | STEP 4: Turn on the lamp | END"]} +{"id": "trial_T20190909_103553_077615-1", "input": "Examine a red credit card in 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, 0.901, 1.25, 0, 90, 0, [SEP] 1, Newspaper, -0.787, 0.615, 3.281, 0, 0, 0, 60 [SEP] 2, Newspaper, -3.543, 1.114, 4.687, 0, 90, 0, 56 [SEP] 3, CellPhone, -2.297, 0.034, 0.160, 0, 90, 0, 39 [SEP] 4, Statue, -3.222, 1.113, 4.589, 0, 90, 0, 56 [SEP] 5, Vase, -4.291, 0.203, 4.342, 0, 90, 0, 53 [SEP] 6, Vase, -3.863, 1.111, 4.391, 0, 90, 0, 56 [SEP] 7, CreditCard, -5.024, 1.038, 0.173, 0, 0, 0, 38 [SEP] 8, CreditCard, -0.705, 0.608, 1.960, 0, 0, 0, 60 [SEP] 9, CreditCard, -5.331, 0.861, 0.282, 0, 0, 0, 37 [SEP] 10, RemoteControl, -0.213, 0.076, 1.194, 0, 270, 0, 41 [SEP] 11, RemoteControl, -1.459, 0.592, 4.297, 0, 0, 0, 50 [SEP] 12, Box, -2.983, 0.421, 4.342, 0, 180, 0, 55 [SEP] 13, Watch, -2.137, 0.034, 0.160, 0, 90, 0, 39 [SEP] 14, Pillow, -2.031, 0.668, 4.421, 0, 0, 0, 50 [SEP] 15, TissueBox, -4.605, 0.205, 4.395, 0, 90, 0, 53 [SEP] 16, Newspaper, -0.952, 0.628, 2.753, 0, 0, 0, 60 [SEP] 17, CreditCard, -5.331, 0.861, 0.405, 0, 0, 0, 37 [SEP] 18, KeyChain, -2.210, 0.590, 4.557, 0, 0, 0, 50 [SEP] 19, CellPhone, -0.870, 0.609, 1.960, 0, 0, 0, 60 [SEP] 20, Statue, -3.543, 1.113, 4.490, 0, 90, 0, 56 [SEP] 21, Laptop, -4.184, 1.109, 4.687, 0, 90, 0, 56 [SEP] 22, RemoteControl, -0.952, 0.611, 3.281, 0, 0, 0, 60 [SEP] 23, Vase, -3.222, 1.111, 4.786, 0, 90, 0, 56 [SEP] 24, DeskLamp, -4.649, 1.051, 0.268, 0, 0, 0, [SEP] 25, DeskLamp, -2.992, 1.107, 4.522, 0, 0, 0, [SEP] 26, FloorLamp, -0.650, 0.007, 4.431, 0, 0, 0, [SEP] 27, FloorLamp, -5.607, 0.007, 4.641, 0, 0, 0, [SEP] 28, Shelf, -5.237, 1.776, 0.070, 0, 0, 0, [SEP] 29, Shelf, -5.238, 1.968, 0.085, 0, 0, 0, [SEP] 30, Shelf, -5.242, 1.391, 0.086, 0, 0, 0, [SEP] 31, Shelf, -5.241, 1.582, 0.065, 0, 0, 0, [SEP] 32, LightSwitch, -6.002, 1.353, 3.404, 0, 90, 0, [SEP] 33, GarbageCan, -5.794, -0.033, 4.073, 0, 90, 0, [SEP] 34, Painting, -6.017, 1.802, 4.177, 90, 270, 0, [SEP] 35, HousePlant, -3.966, 1.625, 0.135, 0, 315, 0, [SEP] 36, Television, -3.355, 0.833, 0.027, 0, 0, 0, [SEP] 37, Drawer, -5.024, 0.903, 0.370, 0, 0, 0, [SEP] 38, SideTable, -5.024, 0.008, 0.267, 0, 0, 0, [SEP] 39, Safe, -2.298, 5.778, 0.268, 0, 90, 0, [SEP] 40, Shelf, -0.253, 0.781, 1.058, 0, 270, 0, [SEP] 41, Shelf, -0.283, 0.274, 1.066, 0, 270, 0, [SEP] 42, Shelf, -1.224, 1.288, 0.270, 0, 0, 0, [SEP] 43, Shelf, -1.218, 1.810, 0.275, 0, 0, 0, [SEP] 44, Shelf, -0.280, 1.810, 1.057, 0, 270, 0, [SEP] 45, Shelf, -1.218, 0.274, 0.262, 0, 0, 0, [SEP] 46, Shelf, -1.223, 0.782, 0.237, 0, 0, 0, [SEP] 47, Shelf, -0.280, 1.288, 1.055, 0, 270, 0, [SEP] 48, ShelvingUnit, -0.268, 0.004, 1.067, 0, 270, 0, [SEP] 49, ShelvingUnit, -1.218, 0.004, 0.244, 0, 0, 0, [SEP] 50, ArmChair, -2.027, 0.001, 4.422, 0, 178.692, 0, [SEP] 51, Drawer, -4.329, 1.014, 4.311, 0, 180, 0, [SEP] 52, Drawer, -3.750, 1.014, 4.311, 0, 180, 0, [SEP] 53, Cabinet, -4.049, 0.561, 4.212, 0, 180, 0, [SEP] 54, Cabinet, -4.032, 0.561, 4.212, 0, 180, 0, [SEP] 55, Cabinet, -2.884, 0.561, 4.212, 0, 180, 0, [SEP] 56, Dresser, -4.041, -0.000, 4.589, 0, 180, 0, [SEP] 57, Drawer, -4.916, 1.014, 4.311, 0, 180, 0, [SEP] 58, Drawer, -3.166, 1.014, 4.311, 0, 180, 0, [SEP] 59, Cabinet, -5.196, 0.561, 4.212, 0, 180, 0, [SEP] 60, Sofa, -0.705, -0.002, 2.753, 0, 270, 0, [SEP] 61, NorthWall, , , , , , , [SEP] 62, SouthWall, , , , , , , [SEP] 63, SouthWall, , , , , , , ", "output": ["STEP 1: Turn left and walk towards the blue chair, then turn right to face the couch. | STEP 2: Pick up the red credit card off of the couch. | STEP 3: Turn left and walk over to the blue chair, then turn right to face the tall lamp in the corner of the room. | STEP 4: Turn on the light of the tall lamp. | END"]} +{"id": "trial_T20190909_103553_077615-2", "input": "Look at a credit card under 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, 0.901, 1.25, 0, 90, 0, [SEP] 1, Newspaper, -0.787, 0.615, 3.281, 0, 0, 0, 60 [SEP] 2, Newspaper, -3.543, 1.114, 4.687, 0, 90, 0, 56 [SEP] 3, CellPhone, -2.297, 0.034, 0.160, 0, 90, 0, 39 [SEP] 4, Statue, -3.222, 1.113, 4.589, 0, 90, 0, 56 [SEP] 5, Vase, -4.291, 0.203, 4.342, 0, 90, 0, 53 [SEP] 6, Vase, -3.863, 1.111, 4.391, 0, 90, 0, 56 [SEP] 7, CreditCard, -5.024, 1.038, 0.173, 0, 0, 0, 38 [SEP] 8, CreditCard, -0.705, 0.608, 1.960, 0, 0, 0, 60 [SEP] 9, CreditCard, -5.331, 0.861, 0.282, 0, 0, 0, 37 [SEP] 10, RemoteControl, -0.213, 0.076, 1.194, 0, 270, 0, 41 [SEP] 11, RemoteControl, -1.459, 0.592, 4.297, 0, 0, 0, 50 [SEP] 12, Box, -2.983, 0.421, 4.342, 0, 180, 0, 55 [SEP] 13, Watch, -2.137, 0.034, 0.160, 0, 90, 0, 39 [SEP] 14, Pillow, -2.031, 0.668, 4.421, 0, 0, 0, 50 [SEP] 15, TissueBox, -4.605, 0.205, 4.395, 0, 90, 0, 53 [SEP] 16, Newspaper, -0.952, 0.628, 2.753, 0, 0, 0, 60 [SEP] 17, CreditCard, -5.331, 0.861, 0.405, 0, 0, 0, 37 [SEP] 18, KeyChain, -2.210, 0.590, 4.557, 0, 0, 0, 50 [SEP] 19, CellPhone, -0.870, 0.609, 1.960, 0, 0, 0, 60 [SEP] 20, Statue, -3.543, 1.113, 4.490, 0, 90, 0, 56 [SEP] 21, Laptop, -4.184, 1.109, 4.687, 0, 90, 0, 56 [SEP] 22, RemoteControl, -0.952, 0.611, 3.281, 0, 0, 0, 60 [SEP] 23, Vase, -3.222, 1.111, 4.786, 0, 90, 0, 56 [SEP] 24, DeskLamp, -4.649, 1.051, 0.268, 0, 0, 0, [SEP] 25, DeskLamp, -2.992, 1.107, 4.522, 0, 0, 0, [SEP] 26, FloorLamp, -0.650, 0.007, 4.431, 0, 0, 0, [SEP] 27, FloorLamp, -5.607, 0.007, 4.641, 0, 0, 0, [SEP] 28, Shelf, -5.237, 1.776, 0.070, 0, 0, 0, [SEP] 29, Shelf, -5.238, 1.968, 0.085, 0, 0, 0, [SEP] 30, Shelf, -5.242, 1.391, 0.086, 0, 0, 0, [SEP] 31, Shelf, -5.241, 1.582, 0.065, 0, 0, 0, [SEP] 32, LightSwitch, -6.002, 1.353, 3.404, 0, 90, 0, [SEP] 33, GarbageCan, -5.794, -0.033, 4.073, 0, 90, 0, [SEP] 34, Painting, -6.017, 1.802, 4.177, 90, 270, 0, [SEP] 35, HousePlant, -3.966, 1.625, 0.135, 0, 315, 0, [SEP] 36, Television, -3.355, 0.833, 0.027, 0, 0, 0, [SEP] 37, Drawer, -5.024, 0.903, 0.370, 0, 0, 0, [SEP] 38, SideTable, -5.024, 0.008, 0.267, 0, 0, 0, [SEP] 39, Safe, -2.298, 5.778, 0.268, 0, 90, 0, [SEP] 40, Shelf, -0.253, 0.781, 1.058, 0, 270, 0, [SEP] 41, Shelf, -0.283, 0.274, 1.066, 0, 270, 0, [SEP] 42, Shelf, -1.224, 1.288, 0.270, 0, 0, 0, [SEP] 43, Shelf, -1.218, 1.810, 0.275, 0, 0, 0, [SEP] 44, Shelf, -0.280, 1.810, 1.057, 0, 270, 0, [SEP] 45, Shelf, -1.218, 0.274, 0.262, 0, 0, 0, [SEP] 46, Shelf, -1.223, 0.782, 0.237, 0, 0, 0, [SEP] 47, Shelf, -0.280, 1.288, 1.055, 0, 270, 0, [SEP] 48, ShelvingUnit, -0.268, 0.004, 1.067, 0, 270, 0, [SEP] 49, ShelvingUnit, -1.218, 0.004, 0.244, 0, 0, 0, [SEP] 50, ArmChair, -2.027, 0.001, 4.422, 0, 178.692, 0, [SEP] 51, Drawer, -4.329, 1.014, 4.311, 0, 180, 0, [SEP] 52, Drawer, -3.750, 1.014, 4.311, 0, 180, 0, [SEP] 53, Cabinet, -4.049, 0.561, 4.212, 0, 180, 0, [SEP] 54, Cabinet, -4.032, 0.561, 4.212, 0, 180, 0, [SEP] 55, Cabinet, -2.884, 0.561, 4.212, 0, 180, 0, [SEP] 56, Dresser, -4.041, -0.000, 4.589, 0, 180, 0, [SEP] 57, Drawer, -4.916, 1.014, 4.311, 0, 180, 0, [SEP] 58, Drawer, -3.166, 1.014, 4.311, 0, 180, 0, [SEP] 59, Cabinet, -5.196, 0.561, 4.212, 0, 180, 0, [SEP] 60, Sofa, -0.705, -0.002, 2.753, 0, 270, 0, [SEP] 61, NorthWall, , , , , , , [SEP] 62, SouthWall, , , , , , , [SEP] 63, SouthWall, , , , , , , ", "output": ["STEP 1: turn left and take a step then turn right and face the couch | STEP 2: Pick up the red credit card that is sitting on the couch | STEP 3: Turn left and walk to the blue chair then turn right and face the couch and the tall floor lamp | STEP 4: Turn on the lamp | END"]} +{"id": "trial_T20190906_213926_964767-0", "input": "Grab the tissue box from the closet, turn on the lamp by the sofa SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -4.0, 0.901, 1.5, 0, 0, 0, [SEP] 1, TissueBox, -2.983, 0.201, 4.342, 0, 90, 0, 53 [SEP] 2, CellPhone, -2.297, 0.034, 0.212, 0, 90, 0, 37 [SEP] 3, Vase, -3.121, 0.203, 4.528, 0, 90, 0, 53 [SEP] 4, Vase, -3.864, 1.115, 4.687, 0, 90, 0, 54 [SEP] 5, Watch, -3.543, 1.108, 4.786, 0, 90, 0, 54 [SEP] 6, KeyChain, -1.459, 0.590, 4.557, 0, 0, 0, 48 [SEP] 7, KeyChain, -1.960, 0.590, 4.297, 0, 270, 0, 48 [SEP] 8, CreditCard, -0.263, 0.073, 1.285, 0, 270, 0, 39 [SEP] 9, Laptop, -4.184, 1.109, 4.490, 0, 90, 0, 54 [SEP] 10, Box, -4.826, 1.329, 4.490, 0, 90, 0, 54 [SEP] 11, Watch, -2.137, 0.034, 0.265, 0, 90, 0, 37 [SEP] 12, Pillow, -2.031, 0.668, 4.421, 0, 0, 0, 48 [SEP] 13, TissueBox, -3.706, 0.205, 4.331, 0, 90, 0, 52 [SEP] 14, Newspaper, -1.584, 0.596, 4.297, 0, 0, 0, 48 [SEP] 15, CreditCard, -1.960, 0.589, 4.557, 0, 0, 0, 48 [SEP] 16, KeyChain, -2.458, 0.034, 0.369, 0, 180, 0, 37 [SEP] 17, CellPhone, -3.864, 1.111, 4.885, 0, 90, 0, 54 [SEP] 18, Statue, -5.534, 1.044, 0.239, 0, 0, 0, 36 [SEP] 19, Laptop, -3.393, 1.104, 4.492, 0, 191.867, 0, 54 [SEP] 20, RemoteControl, -4.505, 1.110, 4.490, 0, 90, 0, 54 [SEP] 21, Vase, -4.223, 0.203, 4.342, 0, 90, 0, 51 [SEP] 22, DeskLamp, -4.649, 1.051, 0.268, 0, 0, 0, [SEP] 23, DeskLamp, -2.992, 1.107, 4.522, 0, 0, 0, [SEP] 24, FloorLamp, -0.650, 0.007, 4.431, 0, 0, 0, [SEP] 25, FloorLamp, -5.607, 0.007, 4.641, 0, 0, 0, [SEP] 26, Shelf, -5.237, 1.776, 0.070, 0, 0, 0, [SEP] 27, Shelf, -5.238, 1.968, 0.085, 0, 0, 0, [SEP] 28, Shelf, -5.242, 1.391, 0.086, 0, 0, 0, [SEP] 29, Shelf, -5.241, 1.582, 0.065, 0, 0, 0, [SEP] 30, LightSwitch, -6.002, 1.353, 3.404, 0, 90, 0, [SEP] 31, GarbageCan, -5.794, -0.033, 4.073, 0, 90, 0, [SEP] 32, Painting, -6.017, 1.802, 4.177, 90, 270, 0, [SEP] 33, HousePlant, -3.966, 1.625, 0.135, 0, 315, 0, [SEP] 34, Television, -3.355, 0.833, 0.027, 0, 0, 0, [SEP] 35, Drawer, -5.024, 0.903, 0.370, 0, 0, 0, [SEP] 36, SideTable, -5.024, 0.008, 0.267, 0, 0, 0, [SEP] 37, Safe, -2.298, 5.778, 0.268, 0, 90, 0, [SEP] 38, Shelf, -0.253, 0.781, 1.058, 0, 270, 0, [SEP] 39, Shelf, -0.283, 0.274, 1.066, 0, 270, 0, [SEP] 40, Shelf, -1.224, 1.288, 0.270, 0, 0, 0, [SEP] 41, Shelf, -1.218, 1.810, 0.275, 0, 0, 0, [SEP] 42, Shelf, -0.280, 1.810, 1.057, 0, 270, 0, [SEP] 43, Shelf, -1.218, 0.274, 0.262, 0, 0, 0, [SEP] 44, Shelf, -1.223, 0.782, 0.237, 0, 0, 0, [SEP] 45, Shelf, -0.280, 1.288, 1.055, 0, 270, 0, [SEP] 46, ShelvingUnit, -0.268, 0.004, 1.067, 0, 270, 0, [SEP] 47, ShelvingUnit, -1.218, 0.004, 0.244, 0, 0, 0, [SEP] 48, ArmChair, -2.027, 0.001, 4.422, 0, 178.692, 0, [SEP] 49, Drawer, -4.329, 1.014, 4.311, 0, 180, 0, [SEP] 50, Drawer, -3.750, 1.014, 4.311, 0, 180, 0, [SEP] 51, Cabinet, -4.049, 0.561, 4.212, 0, 180, 0, [SEP] 52, Cabinet, -4.032, 0.561, 4.212, 0, 180, 0, [SEP] 53, Cabinet, -2.884, 0.561, 4.212, 0, 180, 0, [SEP] 54, Dresser, -4.041, -0.000, 4.589, 0, 180, 0, [SEP] 55, Drawer, -4.916, 1.014, 4.311, 0, 180, 0, [SEP] 56, Drawer, -3.166, 1.014, 4.311, 0, 180, 0, [SEP] 57, Cabinet, -5.196, 0.561, 4.212, 0, 180, 0, [SEP] 58, Sofa, -0.705, -0.002, 2.753, 0, 270, 0, [SEP] 59, NorthWall, , , , , , , [SEP] 60, SouthWall, , , , , , , [SEP] 61, SouthWall, , , , , , , ", "output": ["STEP 1: Turn right, and turn left, walk to the cabinet | STEP 2: Open the closet at the right bottom, take the tissue box out, close the closet | STEP 3: Turn right, walk to the white sofa | STEP 4: Turn on the lamp by the sofa | END"]} +{"id": "trial_T20190906_213926_964767-1", "input": "Examine a box of tissues using the light from 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, -4.0, 0.901, 1.5, 0, 0, 0, [SEP] 1, TissueBox, -2.983, 0.201, 4.342, 0, 90, 0, 53 [SEP] 2, CellPhone, -2.297, 0.034, 0.212, 0, 90, 0, 37 [SEP] 3, Vase, -3.121, 0.203, 4.528, 0, 90, 0, 53 [SEP] 4, Vase, -3.864, 1.115, 4.687, 0, 90, 0, 54 [SEP] 5, Watch, -3.543, 1.108, 4.786, 0, 90, 0, 54 [SEP] 6, KeyChain, -1.459, 0.590, 4.557, 0, 0, 0, 48 [SEP] 7, KeyChain, -1.960, 0.590, 4.297, 0, 270, 0, 48 [SEP] 8, CreditCard, -0.263, 0.073, 1.285, 0, 270, 0, 39 [SEP] 9, Laptop, -4.184, 1.109, 4.490, 0, 90, 0, 54 [SEP] 10, Box, -4.826, 1.329, 4.490, 0, 90, 0, 54 [SEP] 11, Watch, -2.137, 0.034, 0.265, 0, 90, 0, 37 [SEP] 12, Pillow, -2.031, 0.668, 4.421, 0, 0, 0, 48 [SEP] 13, TissueBox, -3.706, 0.205, 4.331, 0, 90, 0, 52 [SEP] 14, Newspaper, -1.584, 0.596, 4.297, 0, 0, 0, 48 [SEP] 15, CreditCard, -1.960, 0.589, 4.557, 0, 0, 0, 48 [SEP] 16, KeyChain, -2.458, 0.034, 0.369, 0, 180, 0, 37 [SEP] 17, CellPhone, -3.864, 1.111, 4.885, 0, 90, 0, 54 [SEP] 18, Statue, -5.534, 1.044, 0.239, 0, 0, 0, 36 [SEP] 19, Laptop, -3.393, 1.104, 4.492, 0, 191.867, 0, 54 [SEP] 20, RemoteControl, -4.505, 1.110, 4.490, 0, 90, 0, 54 [SEP] 21, Vase, -4.223, 0.203, 4.342, 0, 90, 0, 51 [SEP] 22, DeskLamp, -4.649, 1.051, 0.268, 0, 0, 0, [SEP] 23, DeskLamp, -2.992, 1.107, 4.522, 0, 0, 0, [SEP] 24, FloorLamp, -0.650, 0.007, 4.431, 0, 0, 0, [SEP] 25, FloorLamp, -5.607, 0.007, 4.641, 0, 0, 0, [SEP] 26, Shelf, -5.237, 1.776, 0.070, 0, 0, 0, [SEP] 27, Shelf, -5.238, 1.968, 0.085, 0, 0, 0, [SEP] 28, Shelf, -5.242, 1.391, 0.086, 0, 0, 0, [SEP] 29, Shelf, -5.241, 1.582, 0.065, 0, 0, 0, [SEP] 30, LightSwitch, -6.002, 1.353, 3.404, 0, 90, 0, [SEP] 31, GarbageCan, -5.794, -0.033, 4.073, 0, 90, 0, [SEP] 32, Painting, -6.017, 1.802, 4.177, 90, 270, 0, [SEP] 33, HousePlant, -3.966, 1.625, 0.135, 0, 315, 0, [SEP] 34, Television, -3.355, 0.833, 0.027, 0, 0, 0, [SEP] 35, Drawer, -5.024, 0.903, 0.370, 0, 0, 0, [SEP] 36, SideTable, -5.024, 0.008, 0.267, 0, 0, 0, [SEP] 37, Safe, -2.298, 5.778, 0.268, 0, 90, 0, [SEP] 38, Shelf, -0.253, 0.781, 1.058, 0, 270, 0, [SEP] 39, Shelf, -0.283, 0.274, 1.066, 0, 270, 0, [SEP] 40, Shelf, -1.224, 1.288, 0.270, 0, 0, 0, [SEP] 41, Shelf, -1.218, 1.810, 0.275, 0, 0, 0, [SEP] 42, Shelf, -0.280, 1.810, 1.057, 0, 270, 0, [SEP] 43, Shelf, -1.218, 0.274, 0.262, 0, 0, 0, [SEP] 44, Shelf, -1.223, 0.782, 0.237, 0, 0, 0, [SEP] 45, Shelf, -0.280, 1.288, 1.055, 0, 270, 0, [SEP] 46, ShelvingUnit, -0.268, 0.004, 1.067, 0, 270, 0, [SEP] 47, ShelvingUnit, -1.218, 0.004, 0.244, 0, 0, 0, [SEP] 48, ArmChair, -2.027, 0.001, 4.422, 0, 178.692, 0, [SEP] 49, Drawer, -4.329, 1.014, 4.311, 0, 180, 0, [SEP] 50, Drawer, -3.750, 1.014, 4.311, 0, 180, 0, [SEP] 51, Cabinet, -4.049, 0.561, 4.212, 0, 180, 0, [SEP] 52, Cabinet, -4.032, 0.561, 4.212, 0, 180, 0, [SEP] 53, Cabinet, -2.884, 0.561, 4.212, 0, 180, 0, [SEP] 54, Dresser, -4.041, -0.000, 4.589, 0, 180, 0, [SEP] 55, Drawer, -4.916, 1.014, 4.311, 0, 180, 0, [SEP] 56, Drawer, -3.166, 1.014, 4.311, 0, 180, 0, [SEP] 57, Cabinet, -5.196, 0.561, 4.212, 0, 180, 0, [SEP] 58, Sofa, -0.705, -0.002, 2.753, 0, 270, 0, [SEP] 59, NorthWall, , , , , , , [SEP] 60, SouthWall, , , , , , , [SEP] 61, SouthWall, , , , , , , ", "output": ["STEP 1: Move to the dresser to the left of the blue chair. | STEP 2: Open the bottom cabinet door of the dresser to the left of the blue chair, pick up the box of tissues in front of the gold vase, and then close the cabinet door. | STEP 3: Turn to the right and move to the left arm of the white couch and look up at the lampshade. | STEP 4: Turn on the floor lamp in between the blue chair and the white couch. | END"]} +{"id": "trial_T20190906_213926_964767-2", "input": "turn on the lamp while holding a box of tissues SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -4.0, 0.901, 1.5, 0, 0, 0, [SEP] 1, TissueBox, -2.983, 0.201, 4.342, 0, 90, 0, 53 [SEP] 2, CellPhone, -2.297, 0.034, 0.212, 0, 90, 0, 37 [SEP] 3, Vase, -3.121, 0.203, 4.528, 0, 90, 0, 53 [SEP] 4, Vase, -3.864, 1.115, 4.687, 0, 90, 0, 54 [SEP] 5, Watch, -3.543, 1.108, 4.786, 0, 90, 0, 54 [SEP] 6, KeyChain, -1.459, 0.590, 4.557, 0, 0, 0, 48 [SEP] 7, KeyChain, -1.960, 0.590, 4.297, 0, 270, 0, 48 [SEP] 8, CreditCard, -0.263, 0.073, 1.285, 0, 270, 0, 39 [SEP] 9, Laptop, -4.184, 1.109, 4.490, 0, 90, 0, 54 [SEP] 10, Box, -4.826, 1.329, 4.490, 0, 90, 0, 54 [SEP] 11, Watch, -2.137, 0.034, 0.265, 0, 90, 0, 37 [SEP] 12, Pillow, -2.031, 0.668, 4.421, 0, 0, 0, 48 [SEP] 13, TissueBox, -3.706, 0.205, 4.331, 0, 90, 0, 52 [SEP] 14, Newspaper, -1.584, 0.596, 4.297, 0, 0, 0, 48 [SEP] 15, CreditCard, -1.960, 0.589, 4.557, 0, 0, 0, 48 [SEP] 16, KeyChain, -2.458, 0.034, 0.369, 0, 180, 0, 37 [SEP] 17, CellPhone, -3.864, 1.111, 4.885, 0, 90, 0, 54 [SEP] 18, Statue, -5.534, 1.044, 0.239, 0, 0, 0, 36 [SEP] 19, Laptop, -3.393, 1.104, 4.492, 0, 191.867, 0, 54 [SEP] 20, RemoteControl, -4.505, 1.110, 4.490, 0, 90, 0, 54 [SEP] 21, Vase, -4.223, 0.203, 4.342, 0, 90, 0, 51 [SEP] 22, DeskLamp, -4.649, 1.051, 0.268, 0, 0, 0, [SEP] 23, DeskLamp, -2.992, 1.107, 4.522, 0, 0, 0, [SEP] 24, FloorLamp, -0.650, 0.007, 4.431, 0, 0, 0, [SEP] 25, FloorLamp, -5.607, 0.007, 4.641, 0, 0, 0, [SEP] 26, Shelf, -5.237, 1.776, 0.070, 0, 0, 0, [SEP] 27, Shelf, -5.238, 1.968, 0.085, 0, 0, 0, [SEP] 28, Shelf, -5.242, 1.391, 0.086, 0, 0, 0, [SEP] 29, Shelf, -5.241, 1.582, 0.065, 0, 0, 0, [SEP] 30, LightSwitch, -6.002, 1.353, 3.404, 0, 90, 0, [SEP] 31, GarbageCan, -5.794, -0.033, 4.073, 0, 90, 0, [SEP] 32, Painting, -6.017, 1.802, 4.177, 90, 270, 0, [SEP] 33, HousePlant, -3.966, 1.625, 0.135, 0, 315, 0, [SEP] 34, Television, -3.355, 0.833, 0.027, 0, 0, 0, [SEP] 35, Drawer, -5.024, 0.903, 0.370, 0, 0, 0, [SEP] 36, SideTable, -5.024, 0.008, 0.267, 0, 0, 0, [SEP] 37, Safe, -2.298, 5.778, 0.268, 0, 90, 0, [SEP] 38, Shelf, -0.253, 0.781, 1.058, 0, 270, 0, [SEP] 39, Shelf, -0.283, 0.274, 1.066, 0, 270, 0, [SEP] 40, Shelf, -1.224, 1.288, 0.270, 0, 0, 0, [SEP] 41, Shelf, -1.218, 1.810, 0.275, 0, 0, 0, [SEP] 42, Shelf, -0.280, 1.810, 1.057, 0, 270, 0, [SEP] 43, Shelf, -1.218, 0.274, 0.262, 0, 0, 0, [SEP] 44, Shelf, -1.223, 0.782, 0.237, 0, 0, 0, [SEP] 45, Shelf, -0.280, 1.288, 1.055, 0, 270, 0, [SEP] 46, ShelvingUnit, -0.268, 0.004, 1.067, 0, 270, 0, [SEP] 47, ShelvingUnit, -1.218, 0.004, 0.244, 0, 0, 0, [SEP] 48, ArmChair, -2.027, 0.001, 4.422, 0, 178.692, 0, [SEP] 49, Drawer, -4.329, 1.014, 4.311, 0, 180, 0, [SEP] 50, Drawer, -3.750, 1.014, 4.311, 0, 180, 0, [SEP] 51, Cabinet, -4.049, 0.561, 4.212, 0, 180, 0, [SEP] 52, Cabinet, -4.032, 0.561, 4.212, 0, 180, 0, [SEP] 53, Cabinet, -2.884, 0.561, 4.212, 0, 180, 0, [SEP] 54, Dresser, -4.041, -0.000, 4.589, 0, 180, 0, [SEP] 55, Drawer, -4.916, 1.014, 4.311, 0, 180, 0, [SEP] 56, Drawer, -3.166, 1.014, 4.311, 0, 180, 0, [SEP] 57, Cabinet, -5.196, 0.561, 4.212, 0, 180, 0, [SEP] 58, Sofa, -0.705, -0.002, 2.753, 0, 270, 0, [SEP] 59, NorthWall, , , , , , , [SEP] 60, SouthWall, , , , , , , [SEP] 61, SouthWall, , , , , , , ", "output": ["STEP 1: walk over to the wooden cabinets next to the couch | STEP 2: grab a box of tissues out from the bottom right cabinet | STEP 3: walk over to the lamp in the corner of the room | STEP 4: turn on the lamp in the corner of the room | END"]} +{"id": "trial_T20190909_021613_077537-0", "input": "Put a salt shaker in a drawer next to the oven. 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, -0.25, 0, 90, 0, [SEP] 1, Statue, 1.029, 0.914, -0.729, 0, 0, 0, 57 [SEP] 2, CreditCard, -1.881, 0.551, 2.718, 0, 0, 0, 82 [SEP] 3, CreditCard, 1.114, 0.908, -0.381, 0, 0, 0, 57 [SEP] 4, DishSponge, -1.467, 0.553, 2.615, 0, 0, 0, 82 [SEP] 5, DishSponge, 0.688, 0.910, -2.308, 0, 0, 0, 62 [SEP] 6, Glassbottle, 1.169, 2.208, -1.082, 0, 270, 0, 63 [SEP] 7, Spoon, -0.642, 0.781, -0.745, 0, 90, 0, 77 [SEP] 8, Spatula, -0.587, 0.791, -0.659, 0, 0, 0, 77 [SEP] 9, Spatula, -0.808, 0.795, -0.573, 0, 180, 0, 77 [SEP] 10, Knife, 0.773, 0.934, -0.381, 0, 180, 0, 57 [SEP] 11, Egg, 1.028, 1.833, -1.132, 0, 270, 0, 78 [SEP] 12, Cup, 0.773, 0.908, -0.555, 0, 0, 0, 57 [SEP] 13, Plate, 1.194, 1.669, -2.234, 0, 270, 0, 55 [SEP] 14, Plate, 0.966, 1.405, 1.063, 0, 270, 0, 79 [SEP] 15, Tomato, 0.944, 0.952, -0.208, 0, 0, 0, 57 [SEP] 16, SoapBottle, 1.148, 1.666, -2.029, 0, 270, 0, 55 [SEP] 17, Lettuce, 0.688, 0.988, -0.381, 0, 0, 0, 57 [SEP] 18, Lettuce, 1.026, 1.212, 1.444, 0, 270, 0, 79 [SEP] 19, Mug, -1.981, 0.876, 2.719, 0, 0, 0, 83 [SEP] 20, Mug, 1.087, 0.858, 0.967, 0, 270, 0, 79 [SEP] 21, Apple, -0.96, 0.229, 0.641, 0, 180, 0, 76 [SEP] 22, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 56 [SEP] 23, Glassbottle, -0.865, 0.177, 0.510, 0, 180, 0, 76 [SEP] 24, Bread, -0.778, 0.996, 0.209, 0, 258.629, 0, 56 [SEP] 25, CreditCard, 0.773, 0.908, -2.308, 0, 0, 0, 62 [SEP] 26, CellPhone, 0.875, 0.491, -0.607, 0, 270, 0, 60 [SEP] 27, Potato, -0.550, 0.963, -0.143, 0, 0, 0, 56 [SEP] 28, Knife, 1.029, 0.934, -0.207, 0, 90, 0, 57 [SEP] 29, Fork, 0.794, 0.703, -0.524, 0, 180, 0, 54 [SEP] 30, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 50 [SEP] 31, Lettuce, 1.114, 0.988, -0.034, 0, 0, 0, 57 [SEP] 32, Plate, 1.147, 1.669, 0.216, 0, 270, 0, 64 [SEP] 33, Apple, 1.087, 1.452, 1.254, 0, 270, 0, 79 [SEP] 34, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 52 [SEP] 35, Spatula, 0.915, 0.510, -0.565, 0, 0, 0, 60 [SEP] 36, PaperTowelRoll, 0.859, 1.015, -0.555, 0, 0, 0, 57 [SEP] 37, Tomato, 0.944, 0.952, -0.034, 0, 0, 0, 57 [SEP] 38, Egg, 1.093, 1.821, -1.236, 0, 270, 0, 78 [SEP] 39, SaltShaker, 1.240, 1.662, -1.961, 0, 270, 0, 55 [SEP] 40, PepperShaker, 0.915, 0.698, -0.607, 0, 270, 0, 54 [SEP] 41, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 82 [SEP] 42, ButterKnife, -0.550, 0.920, 0.162, 0, 0, 0, 56 [SEP] 43, SoapBottle, 0.773, 0.911, -0.729, 0, 0, 0, 57 [SEP] 44, Vase, -1.104, 0.934, 0.144, 0, 0, 0, 56 [SEP] 45, Bowl, 0.905, 0.866, 1.349, 0, 270, 0, 79 [SEP] 46, DishSponge, 0.861, 0.107, -2.212, 0, 0, 0, 61 [SEP] 47, Spoon, -0.846, 0.934, -1.386, 0, 0, 0, 56 [SEP] 48, Cup, 1.055, 1.663, -0.038, 0, 270, 0, 64 [SEP] 49, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 75 [SEP] 50, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 51, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 52, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 53, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 54, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 55, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 56, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 57, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 58, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 59, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 60, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 61, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 62, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 63, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 64, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 65, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 66, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 67, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 68, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 69, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 70, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 71, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 72, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 73, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 74, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 75, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 76, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 77, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 78, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 79, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 80, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 81, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 82, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 83, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 84, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 85, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 86, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 87, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 88, NorthWall, , , , , , , [SEP] 89, EastWall, , , , , , , [SEP] 90, SouthWall, , , , , , , [SEP] 91, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and walk to the wall then turn left and walk to the counter. | STEP 2: Take a salt shaker from the cupboard above the coffee maker. | STEP 3: Turn left and walk in front of the oven. | STEP 4: Put the salt shaker in the middle drawer between the dishwasher and the oven. | END"]} +{"id": "trial_T20190909_021613_077537-1", "input": "Move a salt shaker into 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, -0.25, 0, 90, 0, [SEP] 1, Statue, 1.029, 0.914, -0.729, 0, 0, 0, 57 [SEP] 2, CreditCard, -1.881, 0.551, 2.718, 0, 0, 0, 82 [SEP] 3, CreditCard, 1.114, 0.908, -0.381, 0, 0, 0, 57 [SEP] 4, DishSponge, -1.467, 0.553, 2.615, 0, 0, 0, 82 [SEP] 5, DishSponge, 0.688, 0.910, -2.308, 0, 0, 0, 62 [SEP] 6, Glassbottle, 1.169, 2.208, -1.082, 0, 270, 0, 63 [SEP] 7, Spoon, -0.642, 0.781, -0.745, 0, 90, 0, 77 [SEP] 8, Spatula, -0.587, 0.791, -0.659, 0, 0, 0, 77 [SEP] 9, Spatula, -0.808, 0.795, -0.573, 0, 180, 0, 77 [SEP] 10, Knife, 0.773, 0.934, -0.381, 0, 180, 0, 57 [SEP] 11, Egg, 1.028, 1.833, -1.132, 0, 270, 0, 78 [SEP] 12, Cup, 0.773, 0.908, -0.555, 0, 0, 0, 57 [SEP] 13, Plate, 1.194, 1.669, -2.234, 0, 270, 0, 55 [SEP] 14, Plate, 0.966, 1.405, 1.063, 0, 270, 0, 79 [SEP] 15, Tomato, 0.944, 0.952, -0.208, 0, 0, 0, 57 [SEP] 16, SoapBottle, 1.148, 1.666, -2.029, 0, 270, 0, 55 [SEP] 17, Lettuce, 0.688, 0.988, -0.381, 0, 0, 0, 57 [SEP] 18, Lettuce, 1.026, 1.212, 1.444, 0, 270, 0, 79 [SEP] 19, Mug, -1.981, 0.876, 2.719, 0, 0, 0, 83 [SEP] 20, Mug, 1.087, 0.858, 0.967, 0, 270, 0, 79 [SEP] 21, Apple, -0.96, 0.229, 0.641, 0, 180, 0, 76 [SEP] 22, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 56 [SEP] 23, Glassbottle, -0.865, 0.177, 0.510, 0, 180, 0, 76 [SEP] 24, Bread, -0.778, 0.996, 0.209, 0, 258.629, 0, 56 [SEP] 25, CreditCard, 0.773, 0.908, -2.308, 0, 0, 0, 62 [SEP] 26, CellPhone, 0.875, 0.491, -0.607, 0, 270, 0, 60 [SEP] 27, Potato, -0.550, 0.963, -0.143, 0, 0, 0, 56 [SEP] 28, Knife, 1.029, 0.934, -0.207, 0, 90, 0, 57 [SEP] 29, Fork, 0.794, 0.703, -0.524, 0, 180, 0, 54 [SEP] 30, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 50 [SEP] 31, Lettuce, 1.114, 0.988, -0.034, 0, 0, 0, 57 [SEP] 32, Plate, 1.147, 1.669, 0.216, 0, 270, 0, 64 [SEP] 33, Apple, 1.087, 1.452, 1.254, 0, 270, 0, 79 [SEP] 34, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 52 [SEP] 35, Spatula, 0.915, 0.510, -0.565, 0, 0, 0, 60 [SEP] 36, PaperTowelRoll, 0.859, 1.015, -0.555, 0, 0, 0, 57 [SEP] 37, Tomato, 0.944, 0.952, -0.034, 0, 0, 0, 57 [SEP] 38, Egg, 1.093, 1.821, -1.236, 0, 270, 0, 78 [SEP] 39, SaltShaker, 1.240, 1.662, -1.961, 0, 270, 0, 55 [SEP] 40, PepperShaker, 0.915, 0.698, -0.607, 0, 270, 0, 54 [SEP] 41, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 82 [SEP] 42, ButterKnife, -0.550, 0.920, 0.162, 0, 0, 0, 56 [SEP] 43, SoapBottle, 0.773, 0.911, -0.729, 0, 0, 0, 57 [SEP] 44, Vase, -1.104, 0.934, 0.144, 0, 0, 0, 56 [SEP] 45, Bowl, 0.905, 0.866, 1.349, 0, 270, 0, 79 [SEP] 46, DishSponge, 0.861, 0.107, -2.212, 0, 0, 0, 61 [SEP] 47, Spoon, -0.846, 0.934, -1.386, 0, 0, 0, 56 [SEP] 48, Cup, 1.055, 1.663, -0.038, 0, 270, 0, 64 [SEP] 49, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 75 [SEP] 50, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 51, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 52, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 53, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 54, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 55, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 56, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 57, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 58, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 59, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 60, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 61, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 62, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 63, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 64, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 65, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 66, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 67, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 68, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 69, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 70, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 71, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 72, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 73, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 74, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 75, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 76, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 77, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 78, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 79, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 80, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 81, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 82, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 83, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 84, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 85, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 86, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 87, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 88, NorthWall, , , , , , , [SEP] 89, EastWall, , , , , , , [SEP] 90, SouthWall, , , , , , , [SEP] 91, WestWall, , , , , , , ", "output": ["STEP 1: Walk around the kitchen island to where the coffee machine is on the counter and look up at the upper cabinets. | STEP 2: Open the upper cabinet in front of you and take out the salt shaker, then close the cabinet. | STEP 3: Turn around and take a step forward, then turn right and walk towards the wall, stop before the sink. | STEP 4: Open the middle drawer to the left of the oven and put the salt shaker inside, then close the drawer. | END"]} +{"id": "trial_T20190909_021613_077537-2", "input": "place salt in second drawer to the left of stove 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, -0.25, 0, 90, 0, [SEP] 1, Statue, 1.029, 0.914, -0.729, 0, 0, 0, 57 [SEP] 2, CreditCard, -1.881, 0.551, 2.718, 0, 0, 0, 82 [SEP] 3, CreditCard, 1.114, 0.908, -0.381, 0, 0, 0, 57 [SEP] 4, DishSponge, -1.467, 0.553, 2.615, 0, 0, 0, 82 [SEP] 5, DishSponge, 0.688, 0.910, -2.308, 0, 0, 0, 62 [SEP] 6, Glassbottle, 1.169, 2.208, -1.082, 0, 270, 0, 63 [SEP] 7, Spoon, -0.642, 0.781, -0.745, 0, 90, 0, 77 [SEP] 8, Spatula, -0.587, 0.791, -0.659, 0, 0, 0, 77 [SEP] 9, Spatula, -0.808, 0.795, -0.573, 0, 180, 0, 77 [SEP] 10, Knife, 0.773, 0.934, -0.381, 0, 180, 0, 57 [SEP] 11, Egg, 1.028, 1.833, -1.132, 0, 270, 0, 78 [SEP] 12, Cup, 0.773, 0.908, -0.555, 0, 0, 0, 57 [SEP] 13, Plate, 1.194, 1.669, -2.234, 0, 270, 0, 55 [SEP] 14, Plate, 0.966, 1.405, 1.063, 0, 270, 0, 79 [SEP] 15, Tomato, 0.944, 0.952, -0.208, 0, 0, 0, 57 [SEP] 16, SoapBottle, 1.148, 1.666, -2.029, 0, 270, 0, 55 [SEP] 17, Lettuce, 0.688, 0.988, -0.381, 0, 0, 0, 57 [SEP] 18, Lettuce, 1.026, 1.212, 1.444, 0, 270, 0, 79 [SEP] 19, Mug, -1.981, 0.876, 2.719, 0, 0, 0, 83 [SEP] 20, Mug, 1.087, 0.858, 0.967, 0, 270, 0, 79 [SEP] 21, Apple, -0.96, 0.229, 0.641, 0, 180, 0, 76 [SEP] 22, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 56 [SEP] 23, Glassbottle, -0.865, 0.177, 0.510, 0, 180, 0, 76 [SEP] 24, Bread, -0.778, 0.996, 0.209, 0, 258.629, 0, 56 [SEP] 25, CreditCard, 0.773, 0.908, -2.308, 0, 0, 0, 62 [SEP] 26, CellPhone, 0.875, 0.491, -0.607, 0, 270, 0, 60 [SEP] 27, Potato, -0.550, 0.963, -0.143, 0, 0, 0, 56 [SEP] 28, Knife, 1.029, 0.934, -0.207, 0, 90, 0, 57 [SEP] 29, Fork, 0.794, 0.703, -0.524, 0, 180, 0, 54 [SEP] 30, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 50 [SEP] 31, Lettuce, 1.114, 0.988, -0.034, 0, 0, 0, 57 [SEP] 32, Plate, 1.147, 1.669, 0.216, 0, 270, 0, 64 [SEP] 33, Apple, 1.087, 1.452, 1.254, 0, 270, 0, 79 [SEP] 34, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 52 [SEP] 35, Spatula, 0.915, 0.510, -0.565, 0, 0, 0, 60 [SEP] 36, PaperTowelRoll, 0.859, 1.015, -0.555, 0, 0, 0, 57 [SEP] 37, Tomato, 0.944, 0.952, -0.034, 0, 0, 0, 57 [SEP] 38, Egg, 1.093, 1.821, -1.236, 0, 270, 0, 78 [SEP] 39, SaltShaker, 1.240, 1.662, -1.961, 0, 270, 0, 55 [SEP] 40, PepperShaker, 0.915, 0.698, -0.607, 0, 270, 0, 54 [SEP] 41, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 82 [SEP] 42, ButterKnife, -0.550, 0.920, 0.162, 0, 0, 0, 56 [SEP] 43, SoapBottle, 0.773, 0.911, -0.729, 0, 0, 0, 57 [SEP] 44, Vase, -1.104, 0.934, 0.144, 0, 0, 0, 56 [SEP] 45, Bowl, 0.905, 0.866, 1.349, 0, 270, 0, 79 [SEP] 46, DishSponge, 0.861, 0.107, -2.212, 0, 0, 0, 61 [SEP] 47, Spoon, -0.846, 0.934, -1.386, 0, 0, 0, 56 [SEP] 48, Cup, 1.055, 1.663, -0.038, 0, 270, 0, 64 [SEP] 49, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 75 [SEP] 50, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 51, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 52, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 53, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 54, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 55, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 56, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 57, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 58, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 59, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 60, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 61, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 62, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 63, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 64, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 65, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 66, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 67, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 68, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 69, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 70, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 71, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 72, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 73, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 74, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 75, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 76, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 77, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 78, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 79, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 80, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 81, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 82, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 83, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 84, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 85, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 86, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 87, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 88, NorthWall, , , , , , , [SEP] 89, EastWall, , , , , , , [SEP] 90, SouthWall, , , , , , , [SEP] 91, WestWall, , , , , , , ", "output": ["STEP 1: turn right, go around counter to cabinet above coffee maker | STEP 2: open cabinet, pick up salt from cabinet, close cabinet | STEP 3: turn left, go to second drawer to the left of stove | STEP 4: place salt in second drawer, close drawer | END"]} +{"id": "trial_T20190907_133953_562557-0", "input": "Examine the bowl by the light 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, -0.25, 0.900, 1.0, 0, 180, 0, [SEP] 1, Bowl, -2.045, 1.353, 0.366, 0, 0, 0, 45 [SEP] 2, Bowl, -0.567, 0.861, -0.663, 0, 0, 0, 35 [SEP] 3, Mug, -1.744, 0.876, 0.832, 0, 0, 0, 45 [SEP] 4, CD, -0.473, 0.083, -1.093, 0, 0, 0, 34 [SEP] 5, CD, -0.785, 0.202, -0.310, 0, 0, 0, 28 [SEP] 6, Pencil, -1.744, 0.882, 0.665, 0, 0, 0, 45 [SEP] 7, KeyChain, -2.074, 0.386, 0.683, 0, 0, 0, 47 [SEP] 8, Pillow, 1.409, 0.918, 1.945, 0, 0, 0, 26 [SEP] 9, Pillow, 1.206, 0.918, 1.366, 0, 0, 0, 26 [SEP] 10, Laptop, 0.800, 0.781, 0.787, 0, 0, 0, 26 [SEP] 11, AlarmClock, -2.091, 0.879, 0.581, 0, 0, 0, 45 [SEP] 12, Book, 0.598, 0.783, 1.655, 0, 0, 0, 26 [SEP] 13, AlarmClock, -2.265, 0.879, 0.581, 0, 0, 0, 45 [SEP] 14, BasketBall, 1.976, 0.120, 0.211, 0, 331.076, 0, [SEP] 15, Pen, -1.728, 1.729, 0.366, 0, 0, 0, 40 [SEP] 16, Laptop, 0.800, 0.781, 1.945, 0, 0, 0, 26 [SEP] 17, BaseballBat, 1.953, 0.659, -1.81, 346.388, 0, 0, [SEP] 18, Bowl, -0.819, 0.861, -0.663, 0, 0, 0, 35 [SEP] 19, Pillow, 1.118, 0.867, 2.464, 0, 0, 0, 26 [SEP] 20, KeyChain, -2.344, 0.039, 2.629, 0, 180, 0, 50 [SEP] 21, CreditCard, -0.511, 0.364, -1.013, 0, 0, 0, 34 [SEP] 22, CellPhone, -2.031, 0.040, 2.629, 0, 180, 0, 50 [SEP] 23, CD, -1.339, 1.350, 0.407, 0, 0, 0, 39 [SEP] 24, Pencil, -1.392, 1.727, 0.448, 0, 270, 0, 39 [SEP] 25, Mug, -0.651, 0.855, -1.010, 0, 0, 0, 35 [SEP] 26, Bed, 1.227, -0.002, 1.664, 0, 0, 0, [SEP] 27, LightSwitch, 2.151, 1.233, -0.518, 0, 270, 0, [SEP] 28, GarbageCan, -0.747, 0.014, -0.327, 0, 0, 0, [SEP] 29, Mirror, -1.358, 1.427, 2.855, 0, 0, 0, [SEP] 30, DeskLamp, -2.296, 0.858, 0.750, 0, 0, 0, [SEP] 31, Window, -0.421, 1.534, -1.947, 90, 0, 0, [SEP] 32, Window, 0.579, 1.534, -1.947, 90, 0, 0, [SEP] 33, Drawer, -0.491, 0.739, -0.855, 0, 90, 0, [SEP] 34, Drawer, -0.491, 0.204, -0.855, 0, 90, 0, [SEP] 35, Desk, -0.639, 0.009, -1.187, 0, 90, 0, [SEP] 36, Drawer, -0.491, 0.487, -0.855, 0, 90, 0, [SEP] 37, Shelf, -1.965, 1.514, 0.416, 0, 0, 0, [SEP] 38, Shelf, -1.965, 1.092, 0.416, 0, 0, 0, [SEP] 39, Shelf, -1.312, 1.888, 0.416, 0, 0, 0, [SEP] 40, Shelf, -1.965, 1.888, 0.416, 0, 0, 0, [SEP] 41, Shelf, -1.312, 1.092, 0.416, 0, 0, 0, [SEP] 42, Shelf, -1.312, 1.514, 0.416, 0, 0, 0, [SEP] 43, Blinds, 0.601, 2.161, -1.916, 0, 0, 0, [SEP] 44, Blinds, -0.402, 2.161, -1.916, 0, 0, 0, [SEP] 45, Desk, -1.726, 0.001, 0.575, 0, 0, 0, [SEP] 46, Drawer, -2.058, 0.733, 0.734, 0, 0, 0, [SEP] 47, Drawer, -2.058, 0.482, 0.734, 0, 0, 0, [SEP] 48, Drawer, -2.058, 0.198, 0.735, 0, 0, 0, [SEP] 49, Chair, -0.137, 0.000, -1.587, 0, 315, 0, [SEP] 50, Safe, -2.183, -7.748, 2.576, 0, 180, 0, [SEP] 51, Chair, -1.433, 0.009, 0.780, 357.672, 206.726, 0, [SEP] 52, LaundryHamper, 0.163, 0.003, 2.635, 0, 86.390, 0, [SEP] 53, NorthWall, , , , , , , [SEP] 54, EastWall, , , , , , , [SEP] 55, SouthWall, , , , , , , [SEP] 56, WestWall, , , , , , , ", "output": ["STEP 1: Turn around, go forward, turn left, go forward, turn left, face the desk. | STEP 2: Pick up the bowl from the shelf. | STEP 3: Bring the bowl to the lamp on the desk. | STEP 4: Turn on the lamp on the desk. | END"]} +{"id": "trial_T20190907_133953_562557-1", "input": "Turn a lamp on with a bowl in hand. 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, Bowl, -2.045, 1.353, 0.366, 0, 0, 0, 45 [SEP] 2, Bowl, -0.567, 0.861, -0.663, 0, 0, 0, 35 [SEP] 3, Mug, -1.744, 0.876, 0.832, 0, 0, 0, 45 [SEP] 4, CD, -0.473, 0.083, -1.093, 0, 0, 0, 34 [SEP] 5, CD, -0.785, 0.202, -0.310, 0, 0, 0, 28 [SEP] 6, Pencil, -1.744, 0.882, 0.665, 0, 0, 0, 45 [SEP] 7, KeyChain, -2.074, 0.386, 0.683, 0, 0, 0, 47 [SEP] 8, Pillow, 1.409, 0.918, 1.945, 0, 0, 0, 26 [SEP] 9, Pillow, 1.206, 0.918, 1.366, 0, 0, 0, 26 [SEP] 10, Laptop, 0.800, 0.781, 0.787, 0, 0, 0, 26 [SEP] 11, AlarmClock, -2.091, 0.879, 0.581, 0, 0, 0, 45 [SEP] 12, Book, 0.598, 0.783, 1.655, 0, 0, 0, 26 [SEP] 13, AlarmClock, -2.265, 0.879, 0.581, 0, 0, 0, 45 [SEP] 14, BasketBall, 1.976, 0.120, 0.211, 0, 331.076, 0, [SEP] 15, Pen, -1.728, 1.729, 0.366, 0, 0, 0, 40 [SEP] 16, Laptop, 0.800, 0.781, 1.945, 0, 0, 0, 26 [SEP] 17, BaseballBat, 1.953, 0.659, -1.81, 346.388, 0, 0, [SEP] 18, Bowl, -0.819, 0.861, -0.663, 0, 0, 0, 35 [SEP] 19, Pillow, 1.118, 0.867, 2.464, 0, 0, 0, 26 [SEP] 20, KeyChain, -2.344, 0.039, 2.629, 0, 180, 0, 50 [SEP] 21, CreditCard, -0.511, 0.364, -1.013, 0, 0, 0, 34 [SEP] 22, CellPhone, -2.031, 0.040, 2.629, 0, 180, 0, 50 [SEP] 23, CD, -1.339, 1.350, 0.407, 0, 0, 0, 39 [SEP] 24, Pencil, -1.392, 1.727, 0.448, 0, 270, 0, 39 [SEP] 25, Mug, -0.651, 0.855, -1.010, 0, 0, 0, 35 [SEP] 26, Bed, 1.227, -0.002, 1.664, 0, 0, 0, [SEP] 27, LightSwitch, 2.151, 1.233, -0.518, 0, 270, 0, [SEP] 28, GarbageCan, -0.747, 0.014, -0.327, 0, 0, 0, [SEP] 29, Mirror, -1.358, 1.427, 2.855, 0, 0, 0, [SEP] 30, DeskLamp, -2.296, 0.858, 0.750, 0, 0, 0, [SEP] 31, Window, -0.421, 1.534, -1.947, 90, 0, 0, [SEP] 32, Window, 0.579, 1.534, -1.947, 90, 0, 0, [SEP] 33, Drawer, -0.491, 0.739, -0.855, 0, 90, 0, [SEP] 34, Drawer, -0.491, 0.204, -0.855, 0, 90, 0, [SEP] 35, Desk, -0.639, 0.009, -1.187, 0, 90, 0, [SEP] 36, Drawer, -0.491, 0.487, -0.855, 0, 90, 0, [SEP] 37, Shelf, -1.965, 1.514, 0.416, 0, 0, 0, [SEP] 38, Shelf, -1.965, 1.092, 0.416, 0, 0, 0, [SEP] 39, Shelf, -1.312, 1.888, 0.416, 0, 0, 0, [SEP] 40, Shelf, -1.965, 1.888, 0.416, 0, 0, 0, [SEP] 41, Shelf, -1.312, 1.092, 0.416, 0, 0, 0, [SEP] 42, Shelf, -1.312, 1.514, 0.416, 0, 0, 0, [SEP] 43, Blinds, 0.601, 2.161, -1.916, 0, 0, 0, [SEP] 44, Blinds, -0.402, 2.161, -1.916, 0, 0, 0, [SEP] 45, Desk, -1.726, 0.001, 0.575, 0, 0, 0, [SEP] 46, Drawer, -2.058, 0.733, 0.734, 0, 0, 0, [SEP] 47, Drawer, -2.058, 0.482, 0.734, 0, 0, 0, [SEP] 48, Drawer, -2.058, 0.198, 0.735, 0, 0, 0, [SEP] 49, Chair, -0.137, 0.000, -1.587, 0, 315, 0, [SEP] 50, Safe, -2.183, -7.748, 2.576, 0, 180, 0, [SEP] 51, Chair, -1.433, 0.009, 0.780, 357.672, 206.726, 0, [SEP] 52, LaundryHamper, 0.163, 0.003, 2.635, 0, 86.390, 0, [SEP] 53, NorthWall, , , , , , , [SEP] 54, EastWall, , , , , , , [SEP] 55, SouthWall, , , , , , , [SEP] 56, WestWall, , , , , , , ", "output": ["STEP 1: Turn and go right to face the desk with the lamp and cup. | STEP 2: Pick the bowl up from the shelf. | STEP 3: Move to the right and face the desk drawers. | STEP 4: Turn the lamp on the desk on. | END"]} +{"id": "trial_T20190907_133953_562557-2", "input": "Pick up a bowl while turning on 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, -0.25, 0.900, 1.0, 0, 180, 0, [SEP] 1, Bowl, -2.045, 1.353, 0.366, 0, 0, 0, 45 [SEP] 2, Bowl, -0.567, 0.861, -0.663, 0, 0, 0, 35 [SEP] 3, Mug, -1.744, 0.876, 0.832, 0, 0, 0, 45 [SEP] 4, CD, -0.473, 0.083, -1.093, 0, 0, 0, 34 [SEP] 5, CD, -0.785, 0.202, -0.310, 0, 0, 0, 28 [SEP] 6, Pencil, -1.744, 0.882, 0.665, 0, 0, 0, 45 [SEP] 7, KeyChain, -2.074, 0.386, 0.683, 0, 0, 0, 47 [SEP] 8, Pillow, 1.409, 0.918, 1.945, 0, 0, 0, 26 [SEP] 9, Pillow, 1.206, 0.918, 1.366, 0, 0, 0, 26 [SEP] 10, Laptop, 0.800, 0.781, 0.787, 0, 0, 0, 26 [SEP] 11, AlarmClock, -2.091, 0.879, 0.581, 0, 0, 0, 45 [SEP] 12, Book, 0.598, 0.783, 1.655, 0, 0, 0, 26 [SEP] 13, AlarmClock, -2.265, 0.879, 0.581, 0, 0, 0, 45 [SEP] 14, BasketBall, 1.976, 0.120, 0.211, 0, 331.076, 0, [SEP] 15, Pen, -1.728, 1.729, 0.366, 0, 0, 0, 40 [SEP] 16, Laptop, 0.800, 0.781, 1.945, 0, 0, 0, 26 [SEP] 17, BaseballBat, 1.953, 0.659, -1.81, 346.388, 0, 0, [SEP] 18, Bowl, -0.819, 0.861, -0.663, 0, 0, 0, 35 [SEP] 19, Pillow, 1.118, 0.867, 2.464, 0, 0, 0, 26 [SEP] 20, KeyChain, -2.344, 0.039, 2.629, 0, 180, 0, 50 [SEP] 21, CreditCard, -0.511, 0.364, -1.013, 0, 0, 0, 34 [SEP] 22, CellPhone, -2.031, 0.040, 2.629, 0, 180, 0, 50 [SEP] 23, CD, -1.339, 1.350, 0.407, 0, 0, 0, 39 [SEP] 24, Pencil, -1.392, 1.727, 0.448, 0, 270, 0, 39 [SEP] 25, Mug, -0.651, 0.855, -1.010, 0, 0, 0, 35 [SEP] 26, Bed, 1.227, -0.002, 1.664, 0, 0, 0, [SEP] 27, LightSwitch, 2.151, 1.233, -0.518, 0, 270, 0, [SEP] 28, GarbageCan, -0.747, 0.014, -0.327, 0, 0, 0, [SEP] 29, Mirror, -1.358, 1.427, 2.855, 0, 0, 0, [SEP] 30, DeskLamp, -2.296, 0.858, 0.750, 0, 0, 0, [SEP] 31, Window, -0.421, 1.534, -1.947, 90, 0, 0, [SEP] 32, Window, 0.579, 1.534, -1.947, 90, 0, 0, [SEP] 33, Drawer, -0.491, 0.739, -0.855, 0, 90, 0, [SEP] 34, Drawer, -0.491, 0.204, -0.855, 0, 90, 0, [SEP] 35, Desk, -0.639, 0.009, -1.187, 0, 90, 0, [SEP] 36, Drawer, -0.491, 0.487, -0.855, 0, 90, 0, [SEP] 37, Shelf, -1.965, 1.514, 0.416, 0, 0, 0, [SEP] 38, Shelf, -1.965, 1.092, 0.416, 0, 0, 0, [SEP] 39, Shelf, -1.312, 1.888, 0.416, 0, 0, 0, [SEP] 40, Shelf, -1.965, 1.888, 0.416, 0, 0, 0, [SEP] 41, Shelf, -1.312, 1.092, 0.416, 0, 0, 0, [SEP] 42, Shelf, -1.312, 1.514, 0.416, 0, 0, 0, [SEP] 43, Blinds, 0.601, 2.161, -1.916, 0, 0, 0, [SEP] 44, Blinds, -0.402, 2.161, -1.916, 0, 0, 0, [SEP] 45, Desk, -1.726, 0.001, 0.575, 0, 0, 0, [SEP] 46, Drawer, -2.058, 0.733, 0.734, 0, 0, 0, [SEP] 47, Drawer, -2.058, 0.482, 0.734, 0, 0, 0, [SEP] 48, Drawer, -2.058, 0.198, 0.735, 0, 0, 0, [SEP] 49, Chair, -0.137, 0.000, -1.587, 0, 315, 0, [SEP] 50, Safe, -2.183, -7.748, 2.576, 0, 180, 0, [SEP] 51, Chair, -1.433, 0.009, 0.780, 357.672, 206.726, 0, [SEP] 52, LaundryHamper, 0.163, 0.003, 2.635, 0, 86.390, 0, [SEP] 53, NorthWall, , , , , , , [SEP] 54, EastWall, , , , , , , [SEP] 55, SouthWall, , , , , , , [SEP] 56, WestWall, , , , , , , ", "output": ["STEP 1: Move to the wooden desk across from the white safe | STEP 2: Pick up the clear bowl between the books on the desk shelf | STEP 3: Carry the clear bowl to face the lamp on the right of the desk | STEP 4: Turn on the lamp sitting on the desk while holding the bowl | END"]} +{"id": "trial_T20190909_102644_926781-0", "input": "cook a chilled tomato 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, Pan, -1.229, 0.931, -0.380, 0, 0, 0, 57 [SEP] 2, CellPhone, 1.114, 0.908, -0.381, 0, 0, 0, 58 [SEP] 3, DishSponge, -0.865, 0.176, 0.608, 0, 180, 0, 77 [SEP] 4, ButterKnife, 1.114, 0.911, -0.555, 0, 0, 0, 58 [SEP] 5, Glassbottle, 1.193, 1.667, 0.216, 0, 270, 0, 65 [SEP] 6, Spoon, 0.834, 0.496, -0.607, 0, 270, 0, 61 [SEP] 7, Spatula, -0.587, 0.791, -0.659, 0, 0, 0, 78 [SEP] 8, Spatula, -0.753, 0.791, -0.573, 0, 180, 0, 78 [SEP] 9, Knife, -0.698, 0.957, 0.315, 0, 0, 0, 57 [SEP] 10, Knife, 0.859, 0.934, -0.729, 0, 90, 0, 58 [SEP] 11, Cup, 1.148, 1.663, -0.273, 0, 270, 0, 66 [SEP] 12, Cup, -0.698, 0.930, -1.618, 0, 0, 0, 57 [SEP] 13, Plate, 1.194, 1.669, -2.234, 0, 270, 0, 56 [SEP] 14, Plate, 1.102, 1.669, -0.529, 0, 270, 0, 66 [SEP] 15, Tomato, 0.773, 0.952, -0.555, 0, 0, 0, 58 [SEP] 16, SaltShaker, 1.199, 0.907, -0.208, 0, 0, 0, 58 [SEP] 17, SaltShaker, -1.981, 0.878, 2.773, 0, 0, 0, 84 [SEP] 18, PepperShaker, 0.914, 0.150, -0.531, 0, 270, 0, 60 [SEP] 19, PepperShaker, 0.794, 0.699, -0.524, 0, 270, 0, 55 [SEP] 20, Bread, 0.966, 1.482, 1.063, 0, 270, 0, 80 [SEP] 21, Mug, 0.783, 1.396, 0.967, 0, 270, 0, 80 [SEP] 22, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 76 [SEP] 23, Statue, 0.944, 0.914, -0.381, 0, 0, 0, 58 [SEP] 24, Glassbottle, -0.698, 0.934, 0.239, 0, 0, 0, 57 [SEP] 25, Bread, -0.846, 1.014, -1.463, 0, 0, 0, 57 [SEP] 26, CreditCard, 1.199, 0.908, -0.729, 0, 0, 0, 58 [SEP] 27, CellPhone, -1.467, 0.550, 2.667, 0, 0, 0, 83 [SEP] 28, Potato, -0.624, 0.963, -1.386, 0, 0, 0, 57 [SEP] 29, Knife, -0.772, 0.957, -1.308, 0, 180, 0, 57 [SEP] 30, Fork, -0.753, 0.781, -0.745, 0, 180, 0, 78 [SEP] 31, Pan, 0.965, 0.860, 1.444, 0, 0, 0, 80 [SEP] 32, Lettuce, 0.773, 0.988, 0.139, 0, 0, 0, 58 [SEP] 33, Plate, 1.026, 1.405, 1.254, 0, 270, 0, 80 [SEP] 34, Apple, -0.642, 0.830, -0.486, 0, 90, 0, 78 [SEP] 35, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 53 [SEP] 36, Spatula, 0.914, 0.168, -0.611, 0, 0, 0, 60 [SEP] 37, PaperTowelRoll, -0.960, 0.281, 0.543, 0, 180, 0, 77 [SEP] 38, Tomato, -0.642, 0.821, -0.832, 0, 90, 0, 78 [SEP] 39, Egg, 1.093, 1.821, -1.236, 0, 270, 0, 79 [SEP] 40, SaltShaker, 1.029, 0.907, 0.139, 0, 0, 0, 58 [SEP] 41, PepperShaker, -1.467, 0.550, 2.822, 0, 0, 0, 83 [SEP] 42, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 83 [SEP] 43, ButterKnife, -1.292, 0.933, -0.118, 0, 0, 0, 57 [SEP] 44, SoapBottle, -0.698, 0.933, 0.086, 0, 0, 0, 57 [SEP] 45, Vase, -1.985, 0.555, 2.822, 0, 0, 0, 83 [SEP] 46, Bowl, 1.101, 1.669, 0.025, 0, 270, 0, 65 [SEP] 47, DishSponge, 0.688, 0.910, -1.793, 0, 0, 0, 63 [SEP] 48, Spoon, -0.550, 0.934, -1.308, 0, 180, 0, 57 [SEP] 49, Cup, -0.587, 0.777, -0.400, 0, 90, 0, 78 [SEP] 50, Mug, 1.055, 1.661, 0.216, 0, 270, 0, 65 [SEP] 51, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 52, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 53, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 54, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 55, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 56, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 57, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 58, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 59, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 60, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 61, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 62, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 63, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 64, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 65, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 66, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 67, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 68, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 69, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 70, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 71, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 72, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 73, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 74, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 75, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 76, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 77, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 78, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 79, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 80, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 81, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 82, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 83, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 84, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 85, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 86, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 87, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 88, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 89, NorthWall, , , , , , , [SEP] 90, EastWall, , , , , , , [SEP] 91, SouthWall, , , , , , , [SEP] 92, WestWall, , , , , , , ", "output": ["STEP 1: turn right, walk forward, turn left to face sink | STEP 2: pick up the tomato that is in the sink | STEP 3: turn right, walk forward, turn right to face fridge | STEP 4: put tomato in fridge, wait a minute, take tomato out | STEP 5: turn right, walk forward, turn left to face stove | STEP 6: put tomato in microwave above stove | END"]} +{"id": "trial_T20190909_102644_926781-1", "input": "Place a chilled tomato 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, 0.900, -1.5, 0, 270, 0, [SEP] 1, Pan, -1.229, 0.931, -0.380, 0, 0, 0, 57 [SEP] 2, CellPhone, 1.114, 0.908, -0.381, 0, 0, 0, 58 [SEP] 3, DishSponge, -0.865, 0.176, 0.608, 0, 180, 0, 77 [SEP] 4, ButterKnife, 1.114, 0.911, -0.555, 0, 0, 0, 58 [SEP] 5, Glassbottle, 1.193, 1.667, 0.216, 0, 270, 0, 65 [SEP] 6, Spoon, 0.834, 0.496, -0.607, 0, 270, 0, 61 [SEP] 7, Spatula, -0.587, 0.791, -0.659, 0, 0, 0, 78 [SEP] 8, Spatula, -0.753, 0.791, -0.573, 0, 180, 0, 78 [SEP] 9, Knife, -0.698, 0.957, 0.315, 0, 0, 0, 57 [SEP] 10, Knife, 0.859, 0.934, -0.729, 0, 90, 0, 58 [SEP] 11, Cup, 1.148, 1.663, -0.273, 0, 270, 0, 66 [SEP] 12, Cup, -0.698, 0.930, -1.618, 0, 0, 0, 57 [SEP] 13, Plate, 1.194, 1.669, -2.234, 0, 270, 0, 56 [SEP] 14, Plate, 1.102, 1.669, -0.529, 0, 270, 0, 66 [SEP] 15, Tomato, 0.773, 0.952, -0.555, 0, 0, 0, 58 [SEP] 16, SaltShaker, 1.199, 0.907, -0.208, 0, 0, 0, 58 [SEP] 17, SaltShaker, -1.981, 0.878, 2.773, 0, 0, 0, 84 [SEP] 18, PepperShaker, 0.914, 0.150, -0.531, 0, 270, 0, 60 [SEP] 19, PepperShaker, 0.794, 0.699, -0.524, 0, 270, 0, 55 [SEP] 20, Bread, 0.966, 1.482, 1.063, 0, 270, 0, 80 [SEP] 21, Mug, 0.783, 1.396, 0.967, 0, 270, 0, 80 [SEP] 22, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 76 [SEP] 23, Statue, 0.944, 0.914, -0.381, 0, 0, 0, 58 [SEP] 24, Glassbottle, -0.698, 0.934, 0.239, 0, 0, 0, 57 [SEP] 25, Bread, -0.846, 1.014, -1.463, 0, 0, 0, 57 [SEP] 26, CreditCard, 1.199, 0.908, -0.729, 0, 0, 0, 58 [SEP] 27, CellPhone, -1.467, 0.550, 2.667, 0, 0, 0, 83 [SEP] 28, Potato, -0.624, 0.963, -1.386, 0, 0, 0, 57 [SEP] 29, Knife, -0.772, 0.957, -1.308, 0, 180, 0, 57 [SEP] 30, Fork, -0.753, 0.781, -0.745, 0, 180, 0, 78 [SEP] 31, Pan, 0.965, 0.860, 1.444, 0, 0, 0, 80 [SEP] 32, Lettuce, 0.773, 0.988, 0.139, 0, 0, 0, 58 [SEP] 33, Plate, 1.026, 1.405, 1.254, 0, 270, 0, 80 [SEP] 34, Apple, -0.642, 0.830, -0.486, 0, 90, 0, 78 [SEP] 35, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 53 [SEP] 36, Spatula, 0.914, 0.168, -0.611, 0, 0, 0, 60 [SEP] 37, PaperTowelRoll, -0.960, 0.281, 0.543, 0, 180, 0, 77 [SEP] 38, Tomato, -0.642, 0.821, -0.832, 0, 90, 0, 78 [SEP] 39, Egg, 1.093, 1.821, -1.236, 0, 270, 0, 79 [SEP] 40, SaltShaker, 1.029, 0.907, 0.139, 0, 0, 0, 58 [SEP] 41, PepperShaker, -1.467, 0.550, 2.822, 0, 0, 0, 83 [SEP] 42, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 83 [SEP] 43, ButterKnife, -1.292, 0.933, -0.118, 0, 0, 0, 57 [SEP] 44, SoapBottle, -0.698, 0.933, 0.086, 0, 0, 0, 57 [SEP] 45, Vase, -1.985, 0.555, 2.822, 0, 0, 0, 83 [SEP] 46, Bowl, 1.101, 1.669, 0.025, 0, 270, 0, 65 [SEP] 47, DishSponge, 0.688, 0.910, -1.793, 0, 0, 0, 63 [SEP] 48, Spoon, -0.550, 0.934, -1.308, 0, 180, 0, 57 [SEP] 49, Cup, -0.587, 0.777, -0.400, 0, 90, 0, 78 [SEP] 50, Mug, 1.055, 1.661, 0.216, 0, 270, 0, 65 [SEP] 51, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 52, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 53, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 54, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 55, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 56, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 57, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 58, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 59, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 60, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 61, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 62, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 63, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 64, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 65, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 66, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 67, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 68, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 69, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 70, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 71, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 72, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 73, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 74, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 75, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 76, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 77, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 78, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 79, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 80, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 81, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 82, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 83, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 84, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 85, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 86, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 87, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 88, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 89, NorthWall, , , , , , , [SEP] 90, EastWall, , , , , , , [SEP] 91, SouthWall, , , , , , , [SEP] 92, WestWall, , , , , , , ", "output": ["STEP 1: Take a step right and face the sink. | STEP 2: Pick up the tomato in the sink. | STEP 3: Turn right and walk to the fridge. | STEP 4: Place the tomato in the fridge, to the right of the plate. Close the door, wait a moment, and take it out again. | STEP 5: Turn right and walk to the stove and microwave on the left. | STEP 6: Place the tomato in the microwave. | END"]} +{"id": "trial_T20190909_102644_926781-2", "input": "place a cold piece of tomato 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, 0.25, 0.900, -1.5, 0, 270, 0, [SEP] 1, Pan, -1.229, 0.931, -0.380, 0, 0, 0, 57 [SEP] 2, CellPhone, 1.114, 0.908, -0.381, 0, 0, 0, 58 [SEP] 3, DishSponge, -0.865, 0.176, 0.608, 0, 180, 0, 77 [SEP] 4, ButterKnife, 1.114, 0.911, -0.555, 0, 0, 0, 58 [SEP] 5, Glassbottle, 1.193, 1.667, 0.216, 0, 270, 0, 65 [SEP] 6, Spoon, 0.834, 0.496, -0.607, 0, 270, 0, 61 [SEP] 7, Spatula, -0.587, 0.791, -0.659, 0, 0, 0, 78 [SEP] 8, Spatula, -0.753, 0.791, -0.573, 0, 180, 0, 78 [SEP] 9, Knife, -0.698, 0.957, 0.315, 0, 0, 0, 57 [SEP] 10, Knife, 0.859, 0.934, -0.729, 0, 90, 0, 58 [SEP] 11, Cup, 1.148, 1.663, -0.273, 0, 270, 0, 66 [SEP] 12, Cup, -0.698, 0.930, -1.618, 0, 0, 0, 57 [SEP] 13, Plate, 1.194, 1.669, -2.234, 0, 270, 0, 56 [SEP] 14, Plate, 1.102, 1.669, -0.529, 0, 270, 0, 66 [SEP] 15, Tomato, 0.773, 0.952, -0.555, 0, 0, 0, 58 [SEP] 16, SaltShaker, 1.199, 0.907, -0.208, 0, 0, 0, 58 [SEP] 17, SaltShaker, -1.981, 0.878, 2.773, 0, 0, 0, 84 [SEP] 18, PepperShaker, 0.914, 0.150, -0.531, 0, 270, 0, 60 [SEP] 19, PepperShaker, 0.794, 0.699, -0.524, 0, 270, 0, 55 [SEP] 20, Bread, 0.966, 1.482, 1.063, 0, 270, 0, 80 [SEP] 21, Mug, 0.783, 1.396, 0.967, 0, 270, 0, 80 [SEP] 22, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 76 [SEP] 23, Statue, 0.944, 0.914, -0.381, 0, 0, 0, 58 [SEP] 24, Glassbottle, -0.698, 0.934, 0.239, 0, 0, 0, 57 [SEP] 25, Bread, -0.846, 1.014, -1.463, 0, 0, 0, 57 [SEP] 26, CreditCard, 1.199, 0.908, -0.729, 0, 0, 0, 58 [SEP] 27, CellPhone, -1.467, 0.550, 2.667, 0, 0, 0, 83 [SEP] 28, Potato, -0.624, 0.963, -1.386, 0, 0, 0, 57 [SEP] 29, Knife, -0.772, 0.957, -1.308, 0, 180, 0, 57 [SEP] 30, Fork, -0.753, 0.781, -0.745, 0, 180, 0, 78 [SEP] 31, Pan, 0.965, 0.860, 1.444, 0, 0, 0, 80 [SEP] 32, Lettuce, 0.773, 0.988, 0.139, 0, 0, 0, 58 [SEP] 33, Plate, 1.026, 1.405, 1.254, 0, 270, 0, 80 [SEP] 34, Apple, -0.642, 0.830, -0.486, 0, 90, 0, 78 [SEP] 35, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 53 [SEP] 36, Spatula, 0.914, 0.168, -0.611, 0, 0, 0, 60 [SEP] 37, PaperTowelRoll, -0.960, 0.281, 0.543, 0, 180, 0, 77 [SEP] 38, Tomato, -0.642, 0.821, -0.832, 0, 90, 0, 78 [SEP] 39, Egg, 1.093, 1.821, -1.236, 0, 270, 0, 79 [SEP] 40, SaltShaker, 1.029, 0.907, 0.139, 0, 0, 0, 58 [SEP] 41, PepperShaker, -1.467, 0.550, 2.822, 0, 0, 0, 83 [SEP] 42, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 83 [SEP] 43, ButterKnife, -1.292, 0.933, -0.118, 0, 0, 0, 57 [SEP] 44, SoapBottle, -0.698, 0.933, 0.086, 0, 0, 0, 57 [SEP] 45, Vase, -1.985, 0.555, 2.822, 0, 0, 0, 83 [SEP] 46, Bowl, 1.101, 1.669, 0.025, 0, 270, 0, 65 [SEP] 47, DishSponge, 0.688, 0.910, -1.793, 0, 0, 0, 63 [SEP] 48, Spoon, -0.550, 0.934, -1.308, 0, 180, 0, 57 [SEP] 49, Cup, -0.587, 0.777, -0.400, 0, 90, 0, 78 [SEP] 50, Mug, 1.055, 1.661, 0.216, 0, 270, 0, 65 [SEP] 51, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 52, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 53, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 54, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 55, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 56, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 57, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 58, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 59, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 60, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 61, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 62, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 63, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 64, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 65, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 66, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 67, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 68, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 69, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 70, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 71, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 72, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 73, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 74, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 75, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 76, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 77, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 78, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 79, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 80, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 81, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 82, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 83, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 84, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 85, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 86, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 87, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 88, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 89, NorthWall, , , , , , , [SEP] 90, EastWall, , , , , , , [SEP] 91, SouthWall, , , , , , , [SEP] 92, WestWall, , , , , , , ", "output": ["STEP 1: move right to the sink | STEP 2: pick up a tomato in the sink | STEP 3: head right to the fridge | STEP 4: cool the tomato for some time and take it out | STEP 5: heat right to the microwave oven | STEP 6: place the tomato in the microwave oven | END"]} +{"id": "trial_T20190906_182435_622538-0", "input": "Put a heated apple next to the lettuce on the middle shelf 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, 0.0, 0.900, -0.75, 0, 180, 0, [SEP] 1, Statue, 1.114, 0.914, -0.381, 0, 0, 0, 61 [SEP] 2, Potato, 0.844, 1.165, 1.063, 0, 270, 0, 83 [SEP] 3, CreditCard, -0.772, 0.930, -1.231, 0, 0, 0, 60 [SEP] 4, CreditCard, 1.199, 0.908, -0.729, 0, 0, 0, 61 [SEP] 5, CellPhone, 0.875, 0.699, -0.607, 0, 270, 0, 58 [SEP] 6, Glassbottle, -0.550, 0.934, 0.315, 0, 0, 0, 60 [SEP] 7, Knife, -0.547, 0.926, 0.194, 90, 5.974, 0, 60 [SEP] 8, Knife, 1.029, 0.934, -0.034, 0, 90, 0, 61 [SEP] 9, Egg, 1.199, 0.949, 0.313, 0, 0, 0, 61 [SEP] 10, Egg, 1.126, 1.833, -1.132, 0, 270, 0, 82 [SEP] 11, Cup, 0.905, 1.132, 1.444, 0, 270, 0, 83 [SEP] 12, Plate, 1.102, 1.669, -0.593, 0, 270, 0, 69 [SEP] 13, Plate, 1.148, 1.669, -2.097, 0, 270, 0, 59 [SEP] 14, SoapBottle, 0.944, 0.911, 0.139, 0, 0, 0, 61 [SEP] 15, SoapBottle, 1.039, 2.208, -1.082, 0, 270, 0, 67 [SEP] 16, Bowl, 1.126, 2.211, -1.408, 0, 270, 0, 67 [SEP] 17, Bowl, 1.026, 1.405, 1.063, 0, 270, 0, 83 [SEP] 18, SaltShaker, 0.794, 0.699, -0.524, 0, 270, 0, 58 [SEP] 19, SaltShaker, 1.055, 1.662, -1.893, 0, 270, 0, 59 [SEP] 20, PepperShaker, -1.367, 0.878, 2.773, 0, 0, 0, 87 [SEP] 21, PepperShaker, 0.833, 0.150, -0.531, 0, 270, 0, 63 [SEP] 22, Lettuce, 0.905, 0.940, 1.254, 0, 90, 0, 83 [SEP] 23, Lettuce, 0.688, 0.988, -0.381, 0, 0, 0, 61 [SEP] 24, Apple, -0.96, 0.229, 0.641, 0, 180, 0, 80 [SEP] 25, Apple, -0.587, 0.830, -0.745, 0, 90, 0, 81 [SEP] 26, Statue, -1.229, 0.936, -0.905, 0, 0, 0, 60 [SEP] 27, Glassbottle, 0.910, 0.109, -1.972, 0, 0, 0, 65 [SEP] 28, Bread, -0.805, 0.998, 0.251, 0, 248.144, 358.791, 60 [SEP] 29, CreditCard, 0.875, 0.699, -0.690, 0, 270, 0, 58 [SEP] 30, CellPhone, 0.688, 0.908, -0.034, 0, 0, 0, 61 [SEP] 31, Potato, 1.087, 1.165, 1.540, 0, 270, 0, 83 [SEP] 32, Knife, 1.029, 0.934, -0.207, 0, 0, 0, 61 [SEP] 33, Fork, 0.773, 0.911, -0.555, 0, 90, 0, 61 [SEP] 34, Pan, 1.077, 0.950, -1.504, 0, 0, 0, 56 [SEP] 35, Lettuce, -1.104, 1.010, 0.144, 0, 0, 0, 60 [SEP] 36, Plate, 0.859, 0.914, -0.034, 0, 0, 0, 61 [SEP] 37, Apple, 1.026, 0.913, 1.349, 0, 270, 0, 83 [SEP] 38, Pot, -1.221, 0.92, -0.49, 0, 0, 0, 60 [SEP] 39, Spatula, -1.229, 0.948, -1.167, 0, 0, 0, 60 [SEP] 40, PaperTowelRoll, 0.688, 1.015, -2.308, 0, 0, 0, 66 [SEP] 41, Tomato, 1.026, 1.175, 1.254, 0, 270, 0, 83 [SEP] 42, Egg, 0.783, 1.680, 1.254, 0, 270, 0, 83 [SEP] 43, SaltShaker, 0.753, 0.150, -0.650, 0, 270, 0, 63 [SEP] 44, PepperShaker, 1.056, 1.662, -0.337, 0, 270, 0, 69 [SEP] 45, Vase, 1.199, 0.911, 0.139, 0, 0, 0, 61 [SEP] 46, ButterKnife, -0.846, 0.933, -1.540, 0, 0, 0, 60 [SEP] 47, SoapBottle, -1.054, 0.177, 0.543, 0, 180, 0, 80 [SEP] 48, Vase, -1.985, 0.555, 2.770, 0, 0, 0, 86 [SEP] 49, Bowl, 1.193, 1.669, 0.280, 0, 270, 0, 68 [SEP] 50, DishSponge, 0.834, 0.494, -0.607, 0, 270, 0, 64 [SEP] 51, Spoon, -0.642, 0.781, -0.918, 0, 0, 0, 81 [SEP] 52, Cup, 0.905, 1.640, 1.444, 0, 270, 0, 83 [SEP] 53, Mug, -1.674, 0.876, 2.719, 0, 0, 0, 87 [SEP] 54, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 55, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 56, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 57, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 58, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 59, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 60, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 61, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 62, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 63, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 64, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 65, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 66, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 67, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 68, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 69, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 70, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 71, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 72, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 73, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 74, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 75, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 76, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 77, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 78, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 79, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 80, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 81, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 82, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 83, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 84, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 85, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 86, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 87, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 88, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 89, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 90, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 91, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 92, NorthWall, , , , , , , [SEP] 93, EastWall, , , , , , , [SEP] 94, SouthWall, , , , , , , [SEP] 95, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and face the sink. | STEP 2: Pick up the apple next to the drain. | STEP 3: Turn around and face microwave above the stove. | STEP 4: Open the microwave and place the apple on the plate to the right of the egg. Turn on the microwave for a few seconds, then open the door and remove the heated apple. Close the door. | STEP 5: Turn left and head to the refrigerator. | STEP 6: Open the refrigerator door and place the apple on the middle shelf to the right of the lettuce. Close the refrigerator door. | END"]} +{"id": "trial_T20190906_182435_622538-1", "input": "cook the apple in the microwave, put the apple 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, 0.0, 0.900, -0.75, 0, 180, 0, [SEP] 1, Statue, 1.114, 0.914, -0.381, 0, 0, 0, 61 [SEP] 2, Potato, 0.844, 1.165, 1.063, 0, 270, 0, 83 [SEP] 3, CreditCard, -0.772, 0.930, -1.231, 0, 0, 0, 60 [SEP] 4, CreditCard, 1.199, 0.908, -0.729, 0, 0, 0, 61 [SEP] 5, CellPhone, 0.875, 0.699, -0.607, 0, 270, 0, 58 [SEP] 6, Glassbottle, -0.550, 0.934, 0.315, 0, 0, 0, 60 [SEP] 7, Knife, -0.547, 0.926, 0.194, 90, 5.974, 0, 60 [SEP] 8, Knife, 1.029, 0.934, -0.034, 0, 90, 0, 61 [SEP] 9, Egg, 1.199, 0.949, 0.313, 0, 0, 0, 61 [SEP] 10, Egg, 1.126, 1.833, -1.132, 0, 270, 0, 82 [SEP] 11, Cup, 0.905, 1.132, 1.444, 0, 270, 0, 83 [SEP] 12, Plate, 1.102, 1.669, -0.593, 0, 270, 0, 69 [SEP] 13, Plate, 1.148, 1.669, -2.097, 0, 270, 0, 59 [SEP] 14, SoapBottle, 0.944, 0.911, 0.139, 0, 0, 0, 61 [SEP] 15, SoapBottle, 1.039, 2.208, -1.082, 0, 270, 0, 67 [SEP] 16, Bowl, 1.126, 2.211, -1.408, 0, 270, 0, 67 [SEP] 17, Bowl, 1.026, 1.405, 1.063, 0, 270, 0, 83 [SEP] 18, SaltShaker, 0.794, 0.699, -0.524, 0, 270, 0, 58 [SEP] 19, SaltShaker, 1.055, 1.662, -1.893, 0, 270, 0, 59 [SEP] 20, PepperShaker, -1.367, 0.878, 2.773, 0, 0, 0, 87 [SEP] 21, PepperShaker, 0.833, 0.150, -0.531, 0, 270, 0, 63 [SEP] 22, Lettuce, 0.905, 0.940, 1.254, 0, 90, 0, 83 [SEP] 23, Lettuce, 0.688, 0.988, -0.381, 0, 0, 0, 61 [SEP] 24, Apple, -0.96, 0.229, 0.641, 0, 180, 0, 80 [SEP] 25, Apple, -0.587, 0.830, -0.745, 0, 90, 0, 81 [SEP] 26, Statue, -1.229, 0.936, -0.905, 0, 0, 0, 60 [SEP] 27, Glassbottle, 0.910, 0.109, -1.972, 0, 0, 0, 65 [SEP] 28, Bread, -0.805, 0.998, 0.251, 0, 248.144, 358.791, 60 [SEP] 29, CreditCard, 0.875, 0.699, -0.690, 0, 270, 0, 58 [SEP] 30, CellPhone, 0.688, 0.908, -0.034, 0, 0, 0, 61 [SEP] 31, Potato, 1.087, 1.165, 1.540, 0, 270, 0, 83 [SEP] 32, Knife, 1.029, 0.934, -0.207, 0, 0, 0, 61 [SEP] 33, Fork, 0.773, 0.911, -0.555, 0, 90, 0, 61 [SEP] 34, Pan, 1.077, 0.950, -1.504, 0, 0, 0, 56 [SEP] 35, Lettuce, -1.104, 1.010, 0.144, 0, 0, 0, 60 [SEP] 36, Plate, 0.859, 0.914, -0.034, 0, 0, 0, 61 [SEP] 37, Apple, 1.026, 0.913, 1.349, 0, 270, 0, 83 [SEP] 38, Pot, -1.221, 0.92, -0.49, 0, 0, 0, 60 [SEP] 39, Spatula, -1.229, 0.948, -1.167, 0, 0, 0, 60 [SEP] 40, PaperTowelRoll, 0.688, 1.015, -2.308, 0, 0, 0, 66 [SEP] 41, Tomato, 1.026, 1.175, 1.254, 0, 270, 0, 83 [SEP] 42, Egg, 0.783, 1.680, 1.254, 0, 270, 0, 83 [SEP] 43, SaltShaker, 0.753, 0.150, -0.650, 0, 270, 0, 63 [SEP] 44, PepperShaker, 1.056, 1.662, -0.337, 0, 270, 0, 69 [SEP] 45, Vase, 1.199, 0.911, 0.139, 0, 0, 0, 61 [SEP] 46, ButterKnife, -0.846, 0.933, -1.540, 0, 0, 0, 60 [SEP] 47, SoapBottle, -1.054, 0.177, 0.543, 0, 180, 0, 80 [SEP] 48, Vase, -1.985, 0.555, 2.770, 0, 0, 0, 86 [SEP] 49, Bowl, 1.193, 1.669, 0.280, 0, 270, 0, 68 [SEP] 50, DishSponge, 0.834, 0.494, -0.607, 0, 270, 0, 64 [SEP] 51, Spoon, -0.642, 0.781, -0.918, 0, 0, 0, 81 [SEP] 52, Cup, 0.905, 1.640, 1.444, 0, 270, 0, 83 [SEP] 53, Mug, -1.674, 0.876, 2.719, 0, 0, 0, 87 [SEP] 54, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 55, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 56, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 57, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 58, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 59, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 60, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 61, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 62, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 63, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 64, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 65, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 66, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 67, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 68, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 69, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 70, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 71, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 72, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 73, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 74, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 75, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 76, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 77, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 78, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 79, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 80, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 81, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 82, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 83, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 84, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 85, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 86, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 87, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 88, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 89, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 90, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 91, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 92, NorthWall, , , , , , , [SEP] 93, EastWall, , , , , , , [SEP] 94, SouthWall, , , , , , , [SEP] 95, WestWall, , , , , , , ", "output": ["STEP 1: turn right to the sink | STEP 2: grab the apple from the sink | STEP 3: turn around to the microwave | STEP 4: open the microwave, put the apple in, heat the apple for a while, take the apple out | STEP 5: turn around, walk to the refrigerator on the right | STEP 6: open the refrigerator, put the apple in | END"]} +{"id": "trial_T20190906_182435_622538-2", "input": "Cook apple and place in 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, -0.75, 0, 180, 0, [SEP] 1, Statue, 1.114, 0.914, -0.381, 0, 0, 0, 61 [SEP] 2, Potato, 0.844, 1.165, 1.063, 0, 270, 0, 83 [SEP] 3, CreditCard, -0.772, 0.930, -1.231, 0, 0, 0, 60 [SEP] 4, CreditCard, 1.199, 0.908, -0.729, 0, 0, 0, 61 [SEP] 5, CellPhone, 0.875, 0.699, -0.607, 0, 270, 0, 58 [SEP] 6, Glassbottle, -0.550, 0.934, 0.315, 0, 0, 0, 60 [SEP] 7, Knife, -0.547, 0.926, 0.194, 90, 5.974, 0, 60 [SEP] 8, Knife, 1.029, 0.934, -0.034, 0, 90, 0, 61 [SEP] 9, Egg, 1.199, 0.949, 0.313, 0, 0, 0, 61 [SEP] 10, Egg, 1.126, 1.833, -1.132, 0, 270, 0, 82 [SEP] 11, Cup, 0.905, 1.132, 1.444, 0, 270, 0, 83 [SEP] 12, Plate, 1.102, 1.669, -0.593, 0, 270, 0, 69 [SEP] 13, Plate, 1.148, 1.669, -2.097, 0, 270, 0, 59 [SEP] 14, SoapBottle, 0.944, 0.911, 0.139, 0, 0, 0, 61 [SEP] 15, SoapBottle, 1.039, 2.208, -1.082, 0, 270, 0, 67 [SEP] 16, Bowl, 1.126, 2.211, -1.408, 0, 270, 0, 67 [SEP] 17, Bowl, 1.026, 1.405, 1.063, 0, 270, 0, 83 [SEP] 18, SaltShaker, 0.794, 0.699, -0.524, 0, 270, 0, 58 [SEP] 19, SaltShaker, 1.055, 1.662, -1.893, 0, 270, 0, 59 [SEP] 20, PepperShaker, -1.367, 0.878, 2.773, 0, 0, 0, 87 [SEP] 21, PepperShaker, 0.833, 0.150, -0.531, 0, 270, 0, 63 [SEP] 22, Lettuce, 0.905, 0.940, 1.254, 0, 90, 0, 83 [SEP] 23, Lettuce, 0.688, 0.988, -0.381, 0, 0, 0, 61 [SEP] 24, Apple, -0.96, 0.229, 0.641, 0, 180, 0, 80 [SEP] 25, Apple, -0.587, 0.830, -0.745, 0, 90, 0, 81 [SEP] 26, Statue, -1.229, 0.936, -0.905, 0, 0, 0, 60 [SEP] 27, Glassbottle, 0.910, 0.109, -1.972, 0, 0, 0, 65 [SEP] 28, Bread, -0.805, 0.998, 0.251, 0, 248.144, 358.791, 60 [SEP] 29, CreditCard, 0.875, 0.699, -0.690, 0, 270, 0, 58 [SEP] 30, CellPhone, 0.688, 0.908, -0.034, 0, 0, 0, 61 [SEP] 31, Potato, 1.087, 1.165, 1.540, 0, 270, 0, 83 [SEP] 32, Knife, 1.029, 0.934, -0.207, 0, 0, 0, 61 [SEP] 33, Fork, 0.773, 0.911, -0.555, 0, 90, 0, 61 [SEP] 34, Pan, 1.077, 0.950, -1.504, 0, 0, 0, 56 [SEP] 35, Lettuce, -1.104, 1.010, 0.144, 0, 0, 0, 60 [SEP] 36, Plate, 0.859, 0.914, -0.034, 0, 0, 0, 61 [SEP] 37, Apple, 1.026, 0.913, 1.349, 0, 270, 0, 83 [SEP] 38, Pot, -1.221, 0.92, -0.49, 0, 0, 0, 60 [SEP] 39, Spatula, -1.229, 0.948, -1.167, 0, 0, 0, 60 [SEP] 40, PaperTowelRoll, 0.688, 1.015, -2.308, 0, 0, 0, 66 [SEP] 41, Tomato, 1.026, 1.175, 1.254, 0, 270, 0, 83 [SEP] 42, Egg, 0.783, 1.680, 1.254, 0, 270, 0, 83 [SEP] 43, SaltShaker, 0.753, 0.150, -0.650, 0, 270, 0, 63 [SEP] 44, PepperShaker, 1.056, 1.662, -0.337, 0, 270, 0, 69 [SEP] 45, Vase, 1.199, 0.911, 0.139, 0, 0, 0, 61 [SEP] 46, ButterKnife, -0.846, 0.933, -1.540, 0, 0, 0, 60 [SEP] 47, SoapBottle, -1.054, 0.177, 0.543, 0, 180, 0, 80 [SEP] 48, Vase, -1.985, 0.555, 2.770, 0, 0, 0, 86 [SEP] 49, Bowl, 1.193, 1.669, 0.280, 0, 270, 0, 68 [SEP] 50, DishSponge, 0.834, 0.494, -0.607, 0, 270, 0, 64 [SEP] 51, Spoon, -0.642, 0.781, -0.918, 0, 0, 0, 81 [SEP] 52, Cup, 0.905, 1.640, 1.444, 0, 270, 0, 83 [SEP] 53, Mug, -1.674, 0.876, 2.719, 0, 0, 0, 87 [SEP] 54, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 55, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 56, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 57, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 58, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 59, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 60, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 61, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 62, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 63, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 64, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 65, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 66, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 67, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 68, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 69, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 70, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 71, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 72, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 73, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 74, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 75, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 76, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 77, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 78, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 79, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 80, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 81, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 82, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 83, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 84, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 85, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 86, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 87, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 88, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 89, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 90, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 91, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 92, NorthWall, , , , , , , [SEP] 93, EastWall, , , , , , , [SEP] 94, SouthWall, , , , , , , [SEP] 95, WestWall, , , , , , , ", "output": ["STEP 1: Turn right to face sink. | STEP 2: Pick up green apple from sink, located to the right of the spoon. | STEP 3: Turn around to face stove and microwave. | STEP 4: Open microwave door, place apple on the right side of the microwave opposite the egg, shut the microwave door. Open microwave door after five seconds. | STEP 5: Remove apple from microwave, close door. Turn left, move to fridge. Turn right to face fridge. | STEP 6: Open fridge door, place apple to the right of lettuce, close fridge door. | END"]} +{"id": "trial_T20190906_182435_622538-3", "input": "Place a heated 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, 0.0, 0.900, -0.75, 0, 180, 0, [SEP] 1, Statue, 1.114, 0.914, -0.381, 0, 0, 0, 61 [SEP] 2, Potato, 0.844, 1.165, 1.063, 0, 270, 0, 83 [SEP] 3, CreditCard, -0.772, 0.930, -1.231, 0, 0, 0, 60 [SEP] 4, CreditCard, 1.199, 0.908, -0.729, 0, 0, 0, 61 [SEP] 5, CellPhone, 0.875, 0.699, -0.607, 0, 270, 0, 58 [SEP] 6, Glassbottle, -0.550, 0.934, 0.315, 0, 0, 0, 60 [SEP] 7, Knife, -0.547, 0.926, 0.194, 90, 5.974, 0, 60 [SEP] 8, Knife, 1.029, 0.934, -0.034, 0, 90, 0, 61 [SEP] 9, Egg, 1.199, 0.949, 0.313, 0, 0, 0, 61 [SEP] 10, Egg, 1.126, 1.833, -1.132, 0, 270, 0, 82 [SEP] 11, Cup, 0.905, 1.132, 1.444, 0, 270, 0, 83 [SEP] 12, Plate, 1.102, 1.669, -0.593, 0, 270, 0, 69 [SEP] 13, Plate, 1.148, 1.669, -2.097, 0, 270, 0, 59 [SEP] 14, SoapBottle, 0.944, 0.911, 0.139, 0, 0, 0, 61 [SEP] 15, SoapBottle, 1.039, 2.208, -1.082, 0, 270, 0, 67 [SEP] 16, Bowl, 1.126, 2.211, -1.408, 0, 270, 0, 67 [SEP] 17, Bowl, 1.026, 1.405, 1.063, 0, 270, 0, 83 [SEP] 18, SaltShaker, 0.794, 0.699, -0.524, 0, 270, 0, 58 [SEP] 19, SaltShaker, 1.055, 1.662, -1.893, 0, 270, 0, 59 [SEP] 20, PepperShaker, -1.367, 0.878, 2.773, 0, 0, 0, 87 [SEP] 21, PepperShaker, 0.833, 0.150, -0.531, 0, 270, 0, 63 [SEP] 22, Lettuce, 0.905, 0.940, 1.254, 0, 90, 0, 83 [SEP] 23, Lettuce, 0.688, 0.988, -0.381, 0, 0, 0, 61 [SEP] 24, Apple, -0.96, 0.229, 0.641, 0, 180, 0, 80 [SEP] 25, Apple, -0.587, 0.830, -0.745, 0, 90, 0, 81 [SEP] 26, Statue, -1.229, 0.936, -0.905, 0, 0, 0, 60 [SEP] 27, Glassbottle, 0.910, 0.109, -1.972, 0, 0, 0, 65 [SEP] 28, Bread, -0.805, 0.998, 0.251, 0, 248.144, 358.791, 60 [SEP] 29, CreditCard, 0.875, 0.699, -0.690, 0, 270, 0, 58 [SEP] 30, CellPhone, 0.688, 0.908, -0.034, 0, 0, 0, 61 [SEP] 31, Potato, 1.087, 1.165, 1.540, 0, 270, 0, 83 [SEP] 32, Knife, 1.029, 0.934, -0.207, 0, 0, 0, 61 [SEP] 33, Fork, 0.773, 0.911, -0.555, 0, 90, 0, 61 [SEP] 34, Pan, 1.077, 0.950, -1.504, 0, 0, 0, 56 [SEP] 35, Lettuce, -1.104, 1.010, 0.144, 0, 0, 0, 60 [SEP] 36, Plate, 0.859, 0.914, -0.034, 0, 0, 0, 61 [SEP] 37, Apple, 1.026, 0.913, 1.349, 0, 270, 0, 83 [SEP] 38, Pot, -1.221, 0.92, -0.49, 0, 0, 0, 60 [SEP] 39, Spatula, -1.229, 0.948, -1.167, 0, 0, 0, 60 [SEP] 40, PaperTowelRoll, 0.688, 1.015, -2.308, 0, 0, 0, 66 [SEP] 41, Tomato, 1.026, 1.175, 1.254, 0, 270, 0, 83 [SEP] 42, Egg, 0.783, 1.680, 1.254, 0, 270, 0, 83 [SEP] 43, SaltShaker, 0.753, 0.150, -0.650, 0, 270, 0, 63 [SEP] 44, PepperShaker, 1.056, 1.662, -0.337, 0, 270, 0, 69 [SEP] 45, Vase, 1.199, 0.911, 0.139, 0, 0, 0, 61 [SEP] 46, ButterKnife, -0.846, 0.933, -1.540, 0, 0, 0, 60 [SEP] 47, SoapBottle, -1.054, 0.177, 0.543, 0, 180, 0, 80 [SEP] 48, Vase, -1.985, 0.555, 2.770, 0, 0, 0, 86 [SEP] 49, Bowl, 1.193, 1.669, 0.280, 0, 270, 0, 68 [SEP] 50, DishSponge, 0.834, 0.494, -0.607, 0, 270, 0, 64 [SEP] 51, Spoon, -0.642, 0.781, -0.918, 0, 0, 0, 81 [SEP] 52, Cup, 0.905, 1.640, 1.444, 0, 270, 0, 83 [SEP] 53, Mug, -1.674, 0.876, 2.719, 0, 0, 0, 87 [SEP] 54, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 55, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 56, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 57, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 58, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 59, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 60, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 61, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 62, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 63, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 64, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 65, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 66, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 67, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 68, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 69, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 70, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 71, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 72, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 73, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 74, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 75, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 76, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 77, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 78, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 79, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 80, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 81, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 82, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 83, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 84, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 85, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 86, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 87, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 88, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 89, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 90, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 91, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 92, NorthWall, , , , , , , [SEP] 93, EastWall, , , , , , , [SEP] 94, SouthWall, , , , , , , [SEP] 95, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and face the sink. | STEP 2: Pick up the apple in the sink. | STEP 3: Turn around and walk a step right to the microwave. | STEP 4: Heat the apple in the microwave. | STEP 5: Turn left and walk to the fridge on the right. | STEP 6: Place the apple in the fridge to the right of the lettuce. | END"]} +{"id": "trial_T20190906_182435_622538-4", "input": "Place a heated 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, 0.0, 0.900, -0.75, 0, 180, 0, [SEP] 1, Statue, 1.114, 0.914, -0.381, 0, 0, 0, 61 [SEP] 2, Potato, 0.844, 1.165, 1.063, 0, 270, 0, 83 [SEP] 3, CreditCard, -0.772, 0.930, -1.231, 0, 0, 0, 60 [SEP] 4, CreditCard, 1.199, 0.908, -0.729, 0, 0, 0, 61 [SEP] 5, CellPhone, 0.875, 0.699, -0.607, 0, 270, 0, 58 [SEP] 6, Glassbottle, -0.550, 0.934, 0.315, 0, 0, 0, 60 [SEP] 7, Knife, -0.547, 0.926, 0.194, 90, 5.974, 0, 60 [SEP] 8, Knife, 1.029, 0.934, -0.034, 0, 90, 0, 61 [SEP] 9, Egg, 1.199, 0.949, 0.313, 0, 0, 0, 61 [SEP] 10, Egg, 1.126, 1.833, -1.132, 0, 270, 0, 82 [SEP] 11, Cup, 0.905, 1.132, 1.444, 0, 270, 0, 83 [SEP] 12, Plate, 1.102, 1.669, -0.593, 0, 270, 0, 69 [SEP] 13, Plate, 1.148, 1.669, -2.097, 0, 270, 0, 59 [SEP] 14, SoapBottle, 0.944, 0.911, 0.139, 0, 0, 0, 61 [SEP] 15, SoapBottle, 1.039, 2.208, -1.082, 0, 270, 0, 67 [SEP] 16, Bowl, 1.126, 2.211, -1.408, 0, 270, 0, 67 [SEP] 17, Bowl, 1.026, 1.405, 1.063, 0, 270, 0, 83 [SEP] 18, SaltShaker, 0.794, 0.699, -0.524, 0, 270, 0, 58 [SEP] 19, SaltShaker, 1.055, 1.662, -1.893, 0, 270, 0, 59 [SEP] 20, PepperShaker, -1.367, 0.878, 2.773, 0, 0, 0, 87 [SEP] 21, PepperShaker, 0.833, 0.150, -0.531, 0, 270, 0, 63 [SEP] 22, Lettuce, 0.905, 0.940, 1.254, 0, 90, 0, 83 [SEP] 23, Lettuce, 0.688, 0.988, -0.381, 0, 0, 0, 61 [SEP] 24, Apple, -0.96, 0.229, 0.641, 0, 180, 0, 80 [SEP] 25, Apple, -0.587, 0.830, -0.745, 0, 90, 0, 81 [SEP] 26, Statue, -1.229, 0.936, -0.905, 0, 0, 0, 60 [SEP] 27, Glassbottle, 0.910, 0.109, -1.972, 0, 0, 0, 65 [SEP] 28, Bread, -0.805, 0.998, 0.251, 0, 248.144, 358.791, 60 [SEP] 29, CreditCard, 0.875, 0.699, -0.690, 0, 270, 0, 58 [SEP] 30, CellPhone, 0.688, 0.908, -0.034, 0, 0, 0, 61 [SEP] 31, Potato, 1.087, 1.165, 1.540, 0, 270, 0, 83 [SEP] 32, Knife, 1.029, 0.934, -0.207, 0, 0, 0, 61 [SEP] 33, Fork, 0.773, 0.911, -0.555, 0, 90, 0, 61 [SEP] 34, Pan, 1.077, 0.950, -1.504, 0, 0, 0, 56 [SEP] 35, Lettuce, -1.104, 1.010, 0.144, 0, 0, 0, 60 [SEP] 36, Plate, 0.859, 0.914, -0.034, 0, 0, 0, 61 [SEP] 37, Apple, 1.026, 0.913, 1.349, 0, 270, 0, 83 [SEP] 38, Pot, -1.221, 0.92, -0.49, 0, 0, 0, 60 [SEP] 39, Spatula, -1.229, 0.948, -1.167, 0, 0, 0, 60 [SEP] 40, PaperTowelRoll, 0.688, 1.015, -2.308, 0, 0, 0, 66 [SEP] 41, Tomato, 1.026, 1.175, 1.254, 0, 270, 0, 83 [SEP] 42, Egg, 0.783, 1.680, 1.254, 0, 270, 0, 83 [SEP] 43, SaltShaker, 0.753, 0.150, -0.650, 0, 270, 0, 63 [SEP] 44, PepperShaker, 1.056, 1.662, -0.337, 0, 270, 0, 69 [SEP] 45, Vase, 1.199, 0.911, 0.139, 0, 0, 0, 61 [SEP] 46, ButterKnife, -0.846, 0.933, -1.540, 0, 0, 0, 60 [SEP] 47, SoapBottle, -1.054, 0.177, 0.543, 0, 180, 0, 80 [SEP] 48, Vase, -1.985, 0.555, 2.770, 0, 0, 0, 86 [SEP] 49, Bowl, 1.193, 1.669, 0.280, 0, 270, 0, 68 [SEP] 50, DishSponge, 0.834, 0.494, -0.607, 0, 270, 0, 64 [SEP] 51, Spoon, -0.642, 0.781, -0.918, 0, 0, 0, 81 [SEP] 52, Cup, 0.905, 1.640, 1.444, 0, 270, 0, 83 [SEP] 53, Mug, -1.674, 0.876, 2.719, 0, 0, 0, 87 [SEP] 54, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 55, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 56, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 57, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 58, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 59, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 60, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 61, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 62, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 63, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 64, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 65, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 66, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 67, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 68, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 69, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 70, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 71, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 72, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 73, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 74, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 75, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 76, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 77, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 78, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 79, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 80, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 81, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 82, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 83, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 84, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 85, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 86, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 87, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 88, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 89, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 90, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 91, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 92, NorthWall, , , , , , , [SEP] 93, EastWall, , , , , , , [SEP] 94, SouthWall, , , , , , , [SEP] 95, WestWall, , , , , , , ", "output": ["STEP 1: Turn right to face the silver sink. | STEP 2: Pick up the green apple inside the sink next to the spoon. | STEP 3: Turn left and head towards the silver stove on your left. | STEP 4: Look above the stove, open the microwave door, place the apple inside next to the egg, close the door, heat it for a moment, open the door, pick up the apple and close the microwave door. | STEP 5: Turn around, go towards the counter with the sink, turn right to cross the room to face the white fridge on your right. | STEP 6: Open the fridge door, place the apple on the middle shelf to the right of the lettuce and close the door. | END"]} +{"id": "trial_T20190906_182435_622538-5", "input": "Refrigerator the heated apple 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, Statue, 1.114, 0.914, -0.381, 0, 0, 0, 61 [SEP] 2, Potato, 0.844, 1.165, 1.063, 0, 270, 0, 83 [SEP] 3, CreditCard, -0.772, 0.930, -1.231, 0, 0, 0, 60 [SEP] 4, CreditCard, 1.199, 0.908, -0.729, 0, 0, 0, 61 [SEP] 5, CellPhone, 0.875, 0.699, -0.607, 0, 270, 0, 58 [SEP] 6, Glassbottle, -0.550, 0.934, 0.315, 0, 0, 0, 60 [SEP] 7, Knife, -0.547, 0.926, 0.194, 90, 5.974, 0, 60 [SEP] 8, Knife, 1.029, 0.934, -0.034, 0, 90, 0, 61 [SEP] 9, Egg, 1.199, 0.949, 0.313, 0, 0, 0, 61 [SEP] 10, Egg, 1.126, 1.833, -1.132, 0, 270, 0, 82 [SEP] 11, Cup, 0.905, 1.132, 1.444, 0, 270, 0, 83 [SEP] 12, Plate, 1.102, 1.669, -0.593, 0, 270, 0, 69 [SEP] 13, Plate, 1.148, 1.669, -2.097, 0, 270, 0, 59 [SEP] 14, SoapBottle, 0.944, 0.911, 0.139, 0, 0, 0, 61 [SEP] 15, SoapBottle, 1.039, 2.208, -1.082, 0, 270, 0, 67 [SEP] 16, Bowl, 1.126, 2.211, -1.408, 0, 270, 0, 67 [SEP] 17, Bowl, 1.026, 1.405, 1.063, 0, 270, 0, 83 [SEP] 18, SaltShaker, 0.794, 0.699, -0.524, 0, 270, 0, 58 [SEP] 19, SaltShaker, 1.055, 1.662, -1.893, 0, 270, 0, 59 [SEP] 20, PepperShaker, -1.367, 0.878, 2.773, 0, 0, 0, 87 [SEP] 21, PepperShaker, 0.833, 0.150, -0.531, 0, 270, 0, 63 [SEP] 22, Lettuce, 0.905, 0.940, 1.254, 0, 90, 0, 83 [SEP] 23, Lettuce, 0.688, 0.988, -0.381, 0, 0, 0, 61 [SEP] 24, Apple, -0.96, 0.229, 0.641, 0, 180, 0, 80 [SEP] 25, Apple, -0.587, 0.830, -0.745, 0, 90, 0, 81 [SEP] 26, Statue, -1.229, 0.936, -0.905, 0, 0, 0, 60 [SEP] 27, Glassbottle, 0.910, 0.109, -1.972, 0, 0, 0, 65 [SEP] 28, Bread, -0.805, 0.998, 0.251, 0, 248.144, 358.791, 60 [SEP] 29, CreditCard, 0.875, 0.699, -0.690, 0, 270, 0, 58 [SEP] 30, CellPhone, 0.688, 0.908, -0.034, 0, 0, 0, 61 [SEP] 31, Potato, 1.087, 1.165, 1.540, 0, 270, 0, 83 [SEP] 32, Knife, 1.029, 0.934, -0.207, 0, 0, 0, 61 [SEP] 33, Fork, 0.773, 0.911, -0.555, 0, 90, 0, 61 [SEP] 34, Pan, 1.077, 0.950, -1.504, 0, 0, 0, 56 [SEP] 35, Lettuce, -1.104, 1.010, 0.144, 0, 0, 0, 60 [SEP] 36, Plate, 0.859, 0.914, -0.034, 0, 0, 0, 61 [SEP] 37, Apple, 1.026, 0.913, 1.349, 0, 270, 0, 83 [SEP] 38, Pot, -1.221, 0.92, -0.49, 0, 0, 0, 60 [SEP] 39, Spatula, -1.229, 0.948, -1.167, 0, 0, 0, 60 [SEP] 40, PaperTowelRoll, 0.688, 1.015, -2.308, 0, 0, 0, 66 [SEP] 41, Tomato, 1.026, 1.175, 1.254, 0, 270, 0, 83 [SEP] 42, Egg, 0.783, 1.680, 1.254, 0, 270, 0, 83 [SEP] 43, SaltShaker, 0.753, 0.150, -0.650, 0, 270, 0, 63 [SEP] 44, PepperShaker, 1.056, 1.662, -0.337, 0, 270, 0, 69 [SEP] 45, Vase, 1.199, 0.911, 0.139, 0, 0, 0, 61 [SEP] 46, ButterKnife, -0.846, 0.933, -1.540, 0, 0, 0, 60 [SEP] 47, SoapBottle, -1.054, 0.177, 0.543, 0, 180, 0, 80 [SEP] 48, Vase, -1.985, 0.555, 2.770, 0, 0, 0, 86 [SEP] 49, Bowl, 1.193, 1.669, 0.280, 0, 270, 0, 68 [SEP] 50, DishSponge, 0.834, 0.494, -0.607, 0, 270, 0, 64 [SEP] 51, Spoon, -0.642, 0.781, -0.918, 0, 0, 0, 81 [SEP] 52, Cup, 0.905, 1.640, 1.444, 0, 270, 0, 83 [SEP] 53, Mug, -1.674, 0.876, 2.719, 0, 0, 0, 87 [SEP] 54, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 55, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 56, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 57, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 58, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 59, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 60, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 61, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 62, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 63, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 64, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 65, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 66, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 67, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 68, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 69, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 70, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 71, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 72, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 73, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 74, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 75, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 76, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 77, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 78, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 79, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 80, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 81, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 82, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 83, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 84, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 85, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 86, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 87, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 88, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 89, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 90, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 91, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 92, NorthWall, , , , , , , [SEP] 93, EastWall, , , , , , , [SEP] 94, SouthWall, , , , , , , [SEP] 95, WestWall, , , , , , , ", "output": ["STEP 1: Turn right towards the sink. | STEP 2: Pick up the apple in the sink. | STEP 3: Turn left, walk forward, then turn left at the stove. | STEP 4: Place the apple in the microwave and remove it. | STEP 5: Turn left and walk to the refrigerator. | STEP 6: Put the apple in the refrigerator. | END"]} +{"id": "trial_T20190908_220656_510400-0", "input": "Pick a pencil up 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, 1.25, 0.900, 0.0, 0, 0, 0, [SEP] 1, Bowl, -1.834, 1.727, 0.448, 0, 0, 0, 43 [SEP] 2, CellPhone, -2.155, 0.105, 0.721, 0, 0, 0, 46 [SEP] 3, CellPhone, -0.549, 0.365, -1.013, 0, 0, 0, 32 [SEP] 4, Pen, -2.235, 0.673, 0.721, 0, 0, 0, 44 [SEP] 5, Pencil, -0.567, 0.861, -0.836, 0, 0, 0, 33 [SEP] 6, Pencil, -1.728, 1.353, 0.489, 0, 0, 0, 35 [SEP] 7, Book, -0.735, 0.857, -0.836, 0, 0, 0, 33 [SEP] 8, Pillow, 1.612, 0.918, 2.524, 0, 0, 0, 24 [SEP] 9, Pillow, 1.206, 0.918, 0.787, 0, 0, 0, 24 [SEP] 10, Book, 1.206, 0.783, 1.655, 0, 0, 0, 24 [SEP] 11, AlarmClock, -0.483, 0.858, -1.702, 0, 0, 0, 33 [SEP] 12, BasketBall, 1.976, 0.120, 0.211, 0, 331.076, 0, [SEP] 13, Pen, -1.392, 1.729, 0.530, 0, 0, 0, 37 [SEP] 14, Laptop, -1.783, 0.871, 0.732, 0, 0, 0, 43 [SEP] 15, BaseballBat, 1.953, 0.659, -1.81, 346.388, 0, 0, [SEP] 16, Bowl, -1.834, 0.886, 0.407, 0, 0, 0, 43 [SEP] 17, Pillow, 0.800, 0.918, 1.655, 0, 0, 0, 24 [SEP] 18, KeyChain, -0.624, 0.365, -0.772, 0, 90, 0, 34 [SEP] 19, CreditCard, -0.436, 0.649, -1.012, 0, 0, 0, 31 [SEP] 20, CellPhone, -0.511, 0.084, -0.933, 0, 0, 0, 32 [SEP] 21, CD, -1.397, 0.878, 0.832, 0, 0, 0, 43 [SEP] 22, Pencil, -2.151, 1.353, 0.448, 0, 0, 0, 35 [SEP] 23, Mug, -0.399, 0.855, -1.529, 0, 0, 0, 33 [SEP] 24, Bed, 1.227, -0.002, 1.664, 0, 0, 0, [SEP] 25, LightSwitch, 2.151, 1.233, -0.518, 0, 270, 0, [SEP] 26, GarbageCan, -0.747, 0.014, -0.327, 0, 0, 0, [SEP] 27, Mirror, -1.358, 1.427, 2.855, 0, 0, 0, [SEP] 28, DeskLamp, -2.296, 0.858, 0.750, 0, 0, 0, [SEP] 29, Window, -0.421, 1.534, -1.947, 90, 0, 0, [SEP] 30, Window, 0.579, 1.534, -1.947, 90, 0, 0, [SEP] 31, Drawer, -0.491, 0.739, -0.855, 0, 90, 0, [SEP] 32, Drawer, -0.491, 0.204, -0.855, 0, 90, 0, [SEP] 33, Desk, -0.639, 0.009, -1.187, 0, 90, 0, [SEP] 34, Drawer, -0.491, 0.487, -0.855, 0, 90, 0, [SEP] 35, Shelf, -1.965, 1.514, 0.416, 0, 0, 0, [SEP] 36, Shelf, -1.965, 1.092, 0.416, 0, 0, 0, [SEP] 37, Shelf, -1.312, 1.888, 0.416, 0, 0, 0, [SEP] 38, Shelf, -1.965, 1.888, 0.416, 0, 0, 0, [SEP] 39, Shelf, -1.312, 1.092, 0.416, 0, 0, 0, [SEP] 40, Shelf, -1.312, 1.514, 0.416, 0, 0, 0, [SEP] 41, Blinds, 0.601, 2.161, -1.916, 0, 0, 0, [SEP] 42, Blinds, -0.402, 2.161, -1.916, 0, 0, 0, [SEP] 43, Desk, -1.726, 0.001, 0.575, 0, 0, 0, [SEP] 44, Drawer, -2.058, 0.733, 0.734, 0, 0, 0, [SEP] 45, Drawer, -2.058, 0.482, 0.734, 0, 0, 0, [SEP] 46, Drawer, -2.058, 0.198, 0.735, 0, 0, 0, [SEP] 47, Chair, -0.137, 0.000, -1.587, 0, 315, 0, [SEP] 48, Safe, -2.183, -7.748, 2.576, 0, 180, 0, [SEP] 49, Chair, -1.433, 0.009, 0.780, 357.672, 206.726, 0, [SEP] 50, LaundryHamper, 0.163, 0.003, 2.635, 0, 86.390, 0, [SEP] 51, NorthWall, , , , , , , [SEP] 52, EastWall, , , , , , , [SEP] 53, SouthWall, , , , , , , [SEP] 54, WestWall, , , , , , , ", "output": ["STEP 1: Cross the room to the left and then turn to the left and face the lamp on the desk. | STEP 2: Pick the pencil up from the shelf above the computer on the desk. | STEP 3: Look down at the lamp. | STEP 4: Turn the lamp on. | END"]} +{"id": "trial_T20190908_220656_510400-1", "input": "Examine a pencil in 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, 1.25, 0.900, 0.0, 0, 0, 0, [SEP] 1, Bowl, -1.834, 1.727, 0.448, 0, 0, 0, 43 [SEP] 2, CellPhone, -2.155, 0.105, 0.721, 0, 0, 0, 46 [SEP] 3, CellPhone, -0.549, 0.365, -1.013, 0, 0, 0, 32 [SEP] 4, Pen, -2.235, 0.673, 0.721, 0, 0, 0, 44 [SEP] 5, Pencil, -0.567, 0.861, -0.836, 0, 0, 0, 33 [SEP] 6, Pencil, -1.728, 1.353, 0.489, 0, 0, 0, 35 [SEP] 7, Book, -0.735, 0.857, -0.836, 0, 0, 0, 33 [SEP] 8, Pillow, 1.612, 0.918, 2.524, 0, 0, 0, 24 [SEP] 9, Pillow, 1.206, 0.918, 0.787, 0, 0, 0, 24 [SEP] 10, Book, 1.206, 0.783, 1.655, 0, 0, 0, 24 [SEP] 11, AlarmClock, -0.483, 0.858, -1.702, 0, 0, 0, 33 [SEP] 12, BasketBall, 1.976, 0.120, 0.211, 0, 331.076, 0, [SEP] 13, Pen, -1.392, 1.729, 0.530, 0, 0, 0, 37 [SEP] 14, Laptop, -1.783, 0.871, 0.732, 0, 0, 0, 43 [SEP] 15, BaseballBat, 1.953, 0.659, -1.81, 346.388, 0, 0, [SEP] 16, Bowl, -1.834, 0.886, 0.407, 0, 0, 0, 43 [SEP] 17, Pillow, 0.800, 0.918, 1.655, 0, 0, 0, 24 [SEP] 18, KeyChain, -0.624, 0.365, -0.772, 0, 90, 0, 34 [SEP] 19, CreditCard, -0.436, 0.649, -1.012, 0, 0, 0, 31 [SEP] 20, CellPhone, -0.511, 0.084, -0.933, 0, 0, 0, 32 [SEP] 21, CD, -1.397, 0.878, 0.832, 0, 0, 0, 43 [SEP] 22, Pencil, -2.151, 1.353, 0.448, 0, 0, 0, 35 [SEP] 23, Mug, -0.399, 0.855, -1.529, 0, 0, 0, 33 [SEP] 24, Bed, 1.227, -0.002, 1.664, 0, 0, 0, [SEP] 25, LightSwitch, 2.151, 1.233, -0.518, 0, 270, 0, [SEP] 26, GarbageCan, -0.747, 0.014, -0.327, 0, 0, 0, [SEP] 27, Mirror, -1.358, 1.427, 2.855, 0, 0, 0, [SEP] 28, DeskLamp, -2.296, 0.858, 0.750, 0, 0, 0, [SEP] 29, Window, -0.421, 1.534, -1.947, 90, 0, 0, [SEP] 30, Window, 0.579, 1.534, -1.947, 90, 0, 0, [SEP] 31, Drawer, -0.491, 0.739, -0.855, 0, 90, 0, [SEP] 32, Drawer, -0.491, 0.204, -0.855, 0, 90, 0, [SEP] 33, Desk, -0.639, 0.009, -1.187, 0, 90, 0, [SEP] 34, Drawer, -0.491, 0.487, -0.855, 0, 90, 0, [SEP] 35, Shelf, -1.965, 1.514, 0.416, 0, 0, 0, [SEP] 36, Shelf, -1.965, 1.092, 0.416, 0, 0, 0, [SEP] 37, Shelf, -1.312, 1.888, 0.416, 0, 0, 0, [SEP] 38, Shelf, -1.965, 1.888, 0.416, 0, 0, 0, [SEP] 39, Shelf, -1.312, 1.092, 0.416, 0, 0, 0, [SEP] 40, Shelf, -1.312, 1.514, 0.416, 0, 0, 0, [SEP] 41, Blinds, 0.601, 2.161, -1.916, 0, 0, 0, [SEP] 42, Blinds, -0.402, 2.161, -1.916, 0, 0, 0, [SEP] 43, Desk, -1.726, 0.001, 0.575, 0, 0, 0, [SEP] 44, Drawer, -2.058, 0.733, 0.734, 0, 0, 0, [SEP] 45, Drawer, -2.058, 0.482, 0.734, 0, 0, 0, [SEP] 46, Drawer, -2.058, 0.198, 0.735, 0, 0, 0, [SEP] 47, Chair, -0.137, 0.000, -1.587, 0, 315, 0, [SEP] 48, Safe, -2.183, -7.748, 2.576, 0, 180, 0, [SEP] 49, Chair, -1.433, 0.009, 0.780, 357.672, 206.726, 0, [SEP] 50, LaundryHamper, 0.163, 0.003, 2.635, 0, 86.390, 0, [SEP] 51, NorthWall, , , , , , , [SEP] 52, EastWall, , , , , , , [SEP] 53, SouthWall, , , , , , , [SEP] 54, WestWall, , , , , , , ", "output": ["STEP 1: Walk over to the right side of the wooden desk to your left. | STEP 2: Pick up the pencil off of the middle shelf behind the desk. | STEP 3: Look down at the lamp on the desk. | STEP 4: Turn on the light of the small lamp. | END"]} +{"id": "trial_T20190908_220656_510400-2", "input": "Examine a pencil 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, 1.25, 0.900, 0.0, 0, 0, 0, [SEP] 1, Bowl, -1.834, 1.727, 0.448, 0, 0, 0, 43 [SEP] 2, CellPhone, -2.155, 0.105, 0.721, 0, 0, 0, 46 [SEP] 3, CellPhone, -0.549, 0.365, -1.013, 0, 0, 0, 32 [SEP] 4, Pen, -2.235, 0.673, 0.721, 0, 0, 0, 44 [SEP] 5, Pencil, -0.567, 0.861, -0.836, 0, 0, 0, 33 [SEP] 6, Pencil, -1.728, 1.353, 0.489, 0, 0, 0, 35 [SEP] 7, Book, -0.735, 0.857, -0.836, 0, 0, 0, 33 [SEP] 8, Pillow, 1.612, 0.918, 2.524, 0, 0, 0, 24 [SEP] 9, Pillow, 1.206, 0.918, 0.787, 0, 0, 0, 24 [SEP] 10, Book, 1.206, 0.783, 1.655, 0, 0, 0, 24 [SEP] 11, AlarmClock, -0.483, 0.858, -1.702, 0, 0, 0, 33 [SEP] 12, BasketBall, 1.976, 0.120, 0.211, 0, 331.076, 0, [SEP] 13, Pen, -1.392, 1.729, 0.530, 0, 0, 0, 37 [SEP] 14, Laptop, -1.783, 0.871, 0.732, 0, 0, 0, 43 [SEP] 15, BaseballBat, 1.953, 0.659, -1.81, 346.388, 0, 0, [SEP] 16, Bowl, -1.834, 0.886, 0.407, 0, 0, 0, 43 [SEP] 17, Pillow, 0.800, 0.918, 1.655, 0, 0, 0, 24 [SEP] 18, KeyChain, -0.624, 0.365, -0.772, 0, 90, 0, 34 [SEP] 19, CreditCard, -0.436, 0.649, -1.012, 0, 0, 0, 31 [SEP] 20, CellPhone, -0.511, 0.084, -0.933, 0, 0, 0, 32 [SEP] 21, CD, -1.397, 0.878, 0.832, 0, 0, 0, 43 [SEP] 22, Pencil, -2.151, 1.353, 0.448, 0, 0, 0, 35 [SEP] 23, Mug, -0.399, 0.855, -1.529, 0, 0, 0, 33 [SEP] 24, Bed, 1.227, -0.002, 1.664, 0, 0, 0, [SEP] 25, LightSwitch, 2.151, 1.233, -0.518, 0, 270, 0, [SEP] 26, GarbageCan, -0.747, 0.014, -0.327, 0, 0, 0, [SEP] 27, Mirror, -1.358, 1.427, 2.855, 0, 0, 0, [SEP] 28, DeskLamp, -2.296, 0.858, 0.750, 0, 0, 0, [SEP] 29, Window, -0.421, 1.534, -1.947, 90, 0, 0, [SEP] 30, Window, 0.579, 1.534, -1.947, 90, 0, 0, [SEP] 31, Drawer, -0.491, 0.739, -0.855, 0, 90, 0, [SEP] 32, Drawer, -0.491, 0.204, -0.855, 0, 90, 0, [SEP] 33, Desk, -0.639, 0.009, -1.187, 0, 90, 0, [SEP] 34, Drawer, -0.491, 0.487, -0.855, 0, 90, 0, [SEP] 35, Shelf, -1.965, 1.514, 0.416, 0, 0, 0, [SEP] 36, Shelf, -1.965, 1.092, 0.416, 0, 0, 0, [SEP] 37, Shelf, -1.312, 1.888, 0.416, 0, 0, 0, [SEP] 38, Shelf, -1.965, 1.888, 0.416, 0, 0, 0, [SEP] 39, Shelf, -1.312, 1.092, 0.416, 0, 0, 0, [SEP] 40, Shelf, -1.312, 1.514, 0.416, 0, 0, 0, [SEP] 41, Blinds, 0.601, 2.161, -1.916, 0, 0, 0, [SEP] 42, Blinds, -0.402, 2.161, -1.916, 0, 0, 0, [SEP] 43, Desk, -1.726, 0.001, 0.575, 0, 0, 0, [SEP] 44, Drawer, -2.058, 0.733, 0.734, 0, 0, 0, [SEP] 45, Drawer, -2.058, 0.482, 0.734, 0, 0, 0, [SEP] 46, Drawer, -2.058, 0.198, 0.735, 0, 0, 0, [SEP] 47, Chair, -0.137, 0.000, -1.587, 0, 315, 0, [SEP] 48, Safe, -2.183, -7.748, 2.576, 0, 180, 0, [SEP] 49, Chair, -1.433, 0.009, 0.780, 357.672, 206.726, 0, [SEP] 50, LaundryHamper, 0.163, 0.003, 2.635, 0, 86.390, 0, [SEP] 51, NorthWall, , , , , , , [SEP] 52, EastWall, , , , , , , [SEP] 53, SouthWall, , , , , , , [SEP] 54, WestWall, , , , , , , ", "output": ["STEP 1: Turn left, walk to the end of the bed, turn right, walk a few steps, turn left, walk to the wall, then turn left to face the desk. | STEP 2: Pick up the white pencil that is sitting on the shelf above the desk. | STEP 3: Lower the pencil down to the desk area. | STEP 4: Turn on the lamp that is sitting on the desk. | END"]} +{"id": "trial_T20190908_071731_613441-0", "input": "Examine a vase under 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, -3.5, 0.901, 2.0, 0, 90, 0, [SEP] 1, Newspaper, -1.709, 0.596, 4.211, 0, 0, 0, 47 [SEP] 2, Vase, -2.404, 0.037, 0.369, 0, 90, 0, 36 [SEP] 3, Vase, -1.094, 1.105, 0.192, 0, 0, 0, 39 [SEP] 4, Watch, -4.157, 0.996, 4.290, 0, 90, 0, 48 [SEP] 5, KeyChain, -1.835, 0.590, 4.470, 0, 90, 0, 47 [SEP] 6, KeyChain, -5.318, 1.976, 0.066, 0, 0, 0, 26 [SEP] 7, RemoteControl, -0.870, 0.611, 3.281, 0, 0, 0, 57 [SEP] 8, Box, -3.052, 0.421, 4.404, 0, 180, 0, 52 [SEP] 9, Box, -3.222, 1.329, 4.490, 0, 90, 0, 53 [SEP] 10, Watch, -4.505, 1.108, 4.588, 0, 90, 0, 53 [SEP] 11, Pillow, -2.031, 0.668, 4.421, 0, 0, 0, 47 [SEP] 12, TissueBox, -4.154, 0.201, 4.404, 0, 90, 0, 50 [SEP] 13, Newspaper, -5.534, 1.045, 0.372, 0, 0, 0, 35 [SEP] 14, CreditCard, -2.901, 1.111, 4.885, 0, 90, 0, 53 [SEP] 15, KeyChain, -0.870, 0.609, 2.224, 0, 0, 0, 57 [SEP] 16, CellPhone, -0.787, 0.617, 2.753, 0, 0, 0, 57 [SEP] 17, Statue, -0.192, 1.107, 1.192, 0, 270, 0, 44 [SEP] 18, Laptop, -3.864, 1.105, 4.687, 0, 90, 0, 53 [SEP] 19, RemoteControl, -1.035, 0.611, 3.545, 0, 0, 0, 57 [SEP] 20, Vase, -2.191, 0.037, 0.265, 0, 90, 0, 36 [SEP] 21, DeskLamp, -4.649, 1.051, 0.268, 0, 0, 0, [SEP] 22, DeskLamp, -2.992, 1.107, 4.522, 0, 0, 0, [SEP] 23, FloorLamp, -0.650, 0.007, 4.431, 0, 0, 0, [SEP] 24, FloorLamp, -5.607, 0.007, 4.641, 0, 0, 0, [SEP] 25, Shelf, -5.237, 1.776, 0.070, 0, 0, 0, [SEP] 26, Shelf, -5.238, 1.968, 0.085, 0, 0, 0, [SEP] 27, Shelf, -5.242, 1.391, 0.086, 0, 0, 0, [SEP] 28, Shelf, -5.241, 1.582, 0.065, 0, 0, 0, [SEP] 29, LightSwitch, -6.002, 1.353, 3.404, 0, 90, 0, [SEP] 30, GarbageCan, -5.794, -0.033, 4.073, 0, 90, 0, [SEP] 31, Painting, -6.017, 1.802, 4.177, 90, 270, 0, [SEP] 32, HousePlant, -3.966, 1.625, 0.135, 0, 315, 0, [SEP] 33, Television, -3.355, 0.833, 0.027, 0, 0, 0, [SEP] 34, Drawer, -5.024, 0.903, 0.370, 0, 0, 0, [SEP] 35, SideTable, -5.024, 0.008, 0.267, 0, 0, 0, [SEP] 36, Safe, -2.298, 5.778, 0.268, 0, 90, 0, [SEP] 37, Shelf, -0.253, 0.781, 1.058, 0, 270, 0, [SEP] 38, Shelf, -0.283, 0.274, 1.066, 0, 270, 0, [SEP] 39, Shelf, -1.224, 1.288, 0.270, 0, 0, 0, [SEP] 40, Shelf, -1.218, 1.810, 0.275, 0, 0, 0, [SEP] 41, Shelf, -0.280, 1.810, 1.057, 0, 270, 0, [SEP] 42, Shelf, -1.218, 0.274, 0.262, 0, 0, 0, [SEP] 43, Shelf, -1.223, 0.782, 0.237, 0, 0, 0, [SEP] 44, Shelf, -0.280, 1.288, 1.055, 0, 270, 0, [SEP] 45, ShelvingUnit, -0.268, 0.004, 1.067, 0, 270, 0, [SEP] 46, ShelvingUnit, -1.218, 0.004, 0.244, 0, 0, 0, [SEP] 47, ArmChair, -2.027, 0.001, 4.422, 0, 178.692, 0, [SEP] 48, Drawer, -4.329, 1.014, 4.311, 0, 180, 0, [SEP] 49, Drawer, -3.750, 1.014, 4.311, 0, 180, 0, [SEP] 50, Cabinet, -4.049, 0.561, 4.212, 0, 180, 0, [SEP] 51, Cabinet, -4.032, 0.561, 4.212, 0, 180, 0, [SEP] 52, Cabinet, -2.884, 0.561, 4.212, 0, 180, 0, [SEP] 53, Dresser, -4.041, -0.000, 4.589, 0, 180, 0, [SEP] 54, Drawer, -4.916, 1.014, 4.311, 0, 180, 0, [SEP] 55, Drawer, -3.166, 1.014, 4.311, 0, 180, 0, [SEP] 56, Cabinet, -5.196, 0.561, 4.212, 0, 180, 0, [SEP] 57, Sofa, -0.705, -0.002, 2.753, 0, 270, 0, [SEP] 58, NorthWall, , , , , , , [SEP] 59, SouthWall, , , , , , , [SEP] 60, SouthWall, , , , , , , ", "output": ["STEP 1: Head forward to the couch, at the couch take a right and walk to the white shelf ahead of you, then take a step to the left and continue to face the white shelf, the one directly to the left of the white safe | STEP 2: Pick up the golden vase that is sitting on the shelf | STEP 3: Turn around and cross the room to the blue armchair, then turn right to face the tall floor lamp | STEP 4: Lift up the vase and turn on the lamp | END"]} +{"id": "trial_T20190908_071731_613441-1", "input": "Pick up a vase 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, -3.5, 0.901, 2.0, 0, 90, 0, [SEP] 1, Newspaper, -1.709, 0.596, 4.211, 0, 0, 0, 47 [SEP] 2, Vase, -2.404, 0.037, 0.369, 0, 90, 0, 36 [SEP] 3, Vase, -1.094, 1.105, 0.192, 0, 0, 0, 39 [SEP] 4, Watch, -4.157, 0.996, 4.290, 0, 90, 0, 48 [SEP] 5, KeyChain, -1.835, 0.590, 4.470, 0, 90, 0, 47 [SEP] 6, KeyChain, -5.318, 1.976, 0.066, 0, 0, 0, 26 [SEP] 7, RemoteControl, -0.870, 0.611, 3.281, 0, 0, 0, 57 [SEP] 8, Box, -3.052, 0.421, 4.404, 0, 180, 0, 52 [SEP] 9, Box, -3.222, 1.329, 4.490, 0, 90, 0, 53 [SEP] 10, Watch, -4.505, 1.108, 4.588, 0, 90, 0, 53 [SEP] 11, Pillow, -2.031, 0.668, 4.421, 0, 0, 0, 47 [SEP] 12, TissueBox, -4.154, 0.201, 4.404, 0, 90, 0, 50 [SEP] 13, Newspaper, -5.534, 1.045, 0.372, 0, 0, 0, 35 [SEP] 14, CreditCard, -2.901, 1.111, 4.885, 0, 90, 0, 53 [SEP] 15, KeyChain, -0.870, 0.609, 2.224, 0, 0, 0, 57 [SEP] 16, CellPhone, -0.787, 0.617, 2.753, 0, 0, 0, 57 [SEP] 17, Statue, -0.192, 1.107, 1.192, 0, 270, 0, 44 [SEP] 18, Laptop, -3.864, 1.105, 4.687, 0, 90, 0, 53 [SEP] 19, RemoteControl, -1.035, 0.611, 3.545, 0, 0, 0, 57 [SEP] 20, Vase, -2.191, 0.037, 0.265, 0, 90, 0, 36 [SEP] 21, DeskLamp, -4.649, 1.051, 0.268, 0, 0, 0, [SEP] 22, DeskLamp, -2.992, 1.107, 4.522, 0, 0, 0, [SEP] 23, FloorLamp, -0.650, 0.007, 4.431, 0, 0, 0, [SEP] 24, FloorLamp, -5.607, 0.007, 4.641, 0, 0, 0, [SEP] 25, Shelf, -5.237, 1.776, 0.070, 0, 0, 0, [SEP] 26, Shelf, -5.238, 1.968, 0.085, 0, 0, 0, [SEP] 27, Shelf, -5.242, 1.391, 0.086, 0, 0, 0, [SEP] 28, Shelf, -5.241, 1.582, 0.065, 0, 0, 0, [SEP] 29, LightSwitch, -6.002, 1.353, 3.404, 0, 90, 0, [SEP] 30, GarbageCan, -5.794, -0.033, 4.073, 0, 90, 0, [SEP] 31, Painting, -6.017, 1.802, 4.177, 90, 270, 0, [SEP] 32, HousePlant, -3.966, 1.625, 0.135, 0, 315, 0, [SEP] 33, Television, -3.355, 0.833, 0.027, 0, 0, 0, [SEP] 34, Drawer, -5.024, 0.903, 0.370, 0, 0, 0, [SEP] 35, SideTable, -5.024, 0.008, 0.267, 0, 0, 0, [SEP] 36, Safe, -2.298, 5.778, 0.268, 0, 90, 0, [SEP] 37, Shelf, -0.253, 0.781, 1.058, 0, 270, 0, [SEP] 38, Shelf, -0.283, 0.274, 1.066, 0, 270, 0, [SEP] 39, Shelf, -1.224, 1.288, 0.270, 0, 0, 0, [SEP] 40, Shelf, -1.218, 1.810, 0.275, 0, 0, 0, [SEP] 41, Shelf, -0.280, 1.810, 1.057, 0, 270, 0, [SEP] 42, Shelf, -1.218, 0.274, 0.262, 0, 0, 0, [SEP] 43, Shelf, -1.223, 0.782, 0.237, 0, 0, 0, [SEP] 44, Shelf, -0.280, 1.288, 1.055, 0, 270, 0, [SEP] 45, ShelvingUnit, -0.268, 0.004, 1.067, 0, 270, 0, [SEP] 46, ShelvingUnit, -1.218, 0.004, 0.244, 0, 0, 0, [SEP] 47, ArmChair, -2.027, 0.001, 4.422, 0, 178.692, 0, [SEP] 48, Drawer, -4.329, 1.014, 4.311, 0, 180, 0, [SEP] 49, Drawer, -3.750, 1.014, 4.311, 0, 180, 0, [SEP] 50, Cabinet, -4.049, 0.561, 4.212, 0, 180, 0, [SEP] 51, Cabinet, -4.032, 0.561, 4.212, 0, 180, 0, [SEP] 52, Cabinet, -2.884, 0.561, 4.212, 0, 180, 0, [SEP] 53, Dresser, -4.041, -0.000, 4.589, 0, 180, 0, [SEP] 54, Drawer, -4.916, 1.014, 4.311, 0, 180, 0, [SEP] 55, Drawer, -3.166, 1.014, 4.311, 0, 180, 0, [SEP] 56, Cabinet, -5.196, 0.561, 4.212, 0, 180, 0, [SEP] 57, Sofa, -0.705, -0.002, 2.753, 0, 270, 0, [SEP] 58, NorthWall, , , , , , , [SEP] 59, SouthWall, , , , , , , [SEP] 60, SouthWall, , , , , , , ", "output": ["STEP 1: Go forward and the to the right to face the white shelves with the gold vase. | STEP 2: Pick the vase up from the shelf. | STEP 3: Turn around and cross the room to face the lamp to the right of the blue chair. | STEP 4: Turn the lamp on. | END"]} +{"id": "trial_T20190908_071731_613441-2", "input": "Turn on the living room 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, 0.901, 2.0, 0, 90, 0, [SEP] 1, Newspaper, -1.709, 0.596, 4.211, 0, 0, 0, 47 [SEP] 2, Vase, -2.404, 0.037, 0.369, 0, 90, 0, 36 [SEP] 3, Vase, -1.094, 1.105, 0.192, 0, 0, 0, 39 [SEP] 4, Watch, -4.157, 0.996, 4.290, 0, 90, 0, 48 [SEP] 5, KeyChain, -1.835, 0.590, 4.470, 0, 90, 0, 47 [SEP] 6, KeyChain, -5.318, 1.976, 0.066, 0, 0, 0, 26 [SEP] 7, RemoteControl, -0.870, 0.611, 3.281, 0, 0, 0, 57 [SEP] 8, Box, -3.052, 0.421, 4.404, 0, 180, 0, 52 [SEP] 9, Box, -3.222, 1.329, 4.490, 0, 90, 0, 53 [SEP] 10, Watch, -4.505, 1.108, 4.588, 0, 90, 0, 53 [SEP] 11, Pillow, -2.031, 0.668, 4.421, 0, 0, 0, 47 [SEP] 12, TissueBox, -4.154, 0.201, 4.404, 0, 90, 0, 50 [SEP] 13, Newspaper, -5.534, 1.045, 0.372, 0, 0, 0, 35 [SEP] 14, CreditCard, -2.901, 1.111, 4.885, 0, 90, 0, 53 [SEP] 15, KeyChain, -0.870, 0.609, 2.224, 0, 0, 0, 57 [SEP] 16, CellPhone, -0.787, 0.617, 2.753, 0, 0, 0, 57 [SEP] 17, Statue, -0.192, 1.107, 1.192, 0, 270, 0, 44 [SEP] 18, Laptop, -3.864, 1.105, 4.687, 0, 90, 0, 53 [SEP] 19, RemoteControl, -1.035, 0.611, 3.545, 0, 0, 0, 57 [SEP] 20, Vase, -2.191, 0.037, 0.265, 0, 90, 0, 36 [SEP] 21, DeskLamp, -4.649, 1.051, 0.268, 0, 0, 0, [SEP] 22, DeskLamp, -2.992, 1.107, 4.522, 0, 0, 0, [SEP] 23, FloorLamp, -0.650, 0.007, 4.431, 0, 0, 0, [SEP] 24, FloorLamp, -5.607, 0.007, 4.641, 0, 0, 0, [SEP] 25, Shelf, -5.237, 1.776, 0.070, 0, 0, 0, [SEP] 26, Shelf, -5.238, 1.968, 0.085, 0, 0, 0, [SEP] 27, Shelf, -5.242, 1.391, 0.086, 0, 0, 0, [SEP] 28, Shelf, -5.241, 1.582, 0.065, 0, 0, 0, [SEP] 29, LightSwitch, -6.002, 1.353, 3.404, 0, 90, 0, [SEP] 30, GarbageCan, -5.794, -0.033, 4.073, 0, 90, 0, [SEP] 31, Painting, -6.017, 1.802, 4.177, 90, 270, 0, [SEP] 32, HousePlant, -3.966, 1.625, 0.135, 0, 315, 0, [SEP] 33, Television, -3.355, 0.833, 0.027, 0, 0, 0, [SEP] 34, Drawer, -5.024, 0.903, 0.370, 0, 0, 0, [SEP] 35, SideTable, -5.024, 0.008, 0.267, 0, 0, 0, [SEP] 36, Safe, -2.298, 5.778, 0.268, 0, 90, 0, [SEP] 37, Shelf, -0.253, 0.781, 1.058, 0, 270, 0, [SEP] 38, Shelf, -0.283, 0.274, 1.066, 0, 270, 0, [SEP] 39, Shelf, -1.224, 1.288, 0.270, 0, 0, 0, [SEP] 40, Shelf, -1.218, 1.810, 0.275, 0, 0, 0, [SEP] 41, Shelf, -0.280, 1.810, 1.057, 0, 270, 0, [SEP] 42, Shelf, -1.218, 0.274, 0.262, 0, 0, 0, [SEP] 43, Shelf, -1.223, 0.782, 0.237, 0, 0, 0, [SEP] 44, Shelf, -0.280, 1.288, 1.055, 0, 270, 0, [SEP] 45, ShelvingUnit, -0.268, 0.004, 1.067, 0, 270, 0, [SEP] 46, ShelvingUnit, -1.218, 0.004, 0.244, 0, 0, 0, [SEP] 47, ArmChair, -2.027, 0.001, 4.422, 0, 178.692, 0, [SEP] 48, Drawer, -4.329, 1.014, 4.311, 0, 180, 0, [SEP] 49, Drawer, -3.750, 1.014, 4.311, 0, 180, 0, [SEP] 50, Cabinet, -4.049, 0.561, 4.212, 0, 180, 0, [SEP] 51, Cabinet, -4.032, 0.561, 4.212, 0, 180, 0, [SEP] 52, Cabinet, -2.884, 0.561, 4.212, 0, 180, 0, [SEP] 53, Dresser, -4.041, -0.000, 4.589, 0, 180, 0, [SEP] 54, Drawer, -4.916, 1.014, 4.311, 0, 180, 0, [SEP] 55, Drawer, -3.166, 1.014, 4.311, 0, 180, 0, [SEP] 56, Cabinet, -5.196, 0.561, 4.212, 0, 180, 0, [SEP] 57, Sofa, -0.705, -0.002, 2.753, 0, 270, 0, [SEP] 58, NorthWall, , , , , , , [SEP] 59, SouthWall, , , , , , , [SEP] 60, SouthWall, , , , , , , ", "output": ["STEP 1: Walk straight to the couch, in front of you, then turn to your right and go to the white, book shelf in front of you. | STEP 2: Pick up the gold vase on the left side of the white shelf. | STEP 3: Turn around and walk across the room to the lamp between the blue and white couch. | STEP 4: Turn on the lamp in the corner of the room. | END"]} +{"id": "trial_T20190906_184021_215264-0", "input": "Put a salt shaker 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, -3.5, 0.900, 1.25, 0, 270, 0, [SEP] 1, Pan, 1.077, 0.950, -1.098, 0, 0, 0, 59 [SEP] 2, Vase, -0.698, 0.934, -1.463, 0, 0, 0, 57 [SEP] 3, CreditCard, -1.363, 0.551, 2.615, 0, 0, 0, 83 [SEP] 4, CreditCard, 0.688, 0.908, -1.965, 0, 0, 0, 63 [SEP] 5, DishSponge, 0.915, 0.493, -0.565, 0, 270, 0, 61 [SEP] 6, DishSponge, -0.808, 0.780, -0.745, 0, 90, 0, 78 [SEP] 7, ButterKnife, -1.229, 0.933, -0.905, 0, 0, 0, 57 [SEP] 8, Glassbottle, 1.148, 1.667, -1.961, 0, 270, 0, 56 [SEP] 9, Glassbottle, 0.761, 0.109, -2.212, 0, 0, 0, 62 [SEP] 10, Spoon, -0.697, 0.781, -0.745, 0, 90, 0, 78 [SEP] 11, Knife, -0.550, 0.957, -0.143, 0, 0, 0, 57 [SEP] 12, Knife, -0.624, 0.957, 0.162, 0, 180, 0, 57 [SEP] 13, Egg, 0.995, 1.833, -1.339, 0, 270, 0, 79 [SEP] 14, Cup, 1.010, 1.663, -0.657, 0, 270, 0, 66 [SEP] 15, Plate, 0.844, 1.138, 1.349, 0, 270, 0, 80 [SEP] 16, Tomato, 1.087, 1.175, 0.967, 0, 270, 0, 80 [SEP] 17, Tomato, 0.905, 1.442, 1.158, 0, 270, 0, 80 [SEP] 18, SaltShaker, -1.674, 0.550, 2.874, 0, 0, 0, 83 [SEP] 19, SaltShaker, 0.713, 0.150, -0.650, 0, 270, 0, 60 [SEP] 20, Lettuce, 1.026, 0.940, 1.444, 0, 270, 0, 80 [SEP] 21, Lettuce, -0.912, 0.254, 0.543, 0, 90, 0, 77 [SEP] 22, Mug, 1.148, 1.661, -0.337, 0, 270, 0, 66 [SEP] 23, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 57 [SEP] 24, Glassbottle, 0.862, 0.121, 0.349, 0, 270, 0, 52 [SEP] 25, Bread, -1.292, 1.014, -0.643, 0, 0, 0, 57 [SEP] 26, CreditCard, -1.674, 0.878, 2.719, 0, 0, 0, 84 [SEP] 27, CellPhone, 0.859, 0.908, -0.381, 0, 0, 0, 58 [SEP] 28, Potato, 1.093, 1.814, -1.236, 0, 270, 0, 79 [SEP] 29, Knife, 0.859, 0.934, -0.034, 0, 180, 0, 58 [SEP] 30, Fork, 0.773, 0.911, 0.139, 0, 0, 0, 58 [SEP] 31, Pan, -1.292, 0.931, 0.144, 0, 0, 0, 57 [SEP] 32, Lettuce, 1.029, 0.988, -0.381, 0, 0, 0, 58 [SEP] 33, Plate, 1.148, 1.669, -2.166, 0, 270, 0, 56 [SEP] 34, Apple, -0.550, 0.983, -1.540, 0, 0, 0, 57 [SEP] 35, Pot, 0.842, 0.950, -1.504, 0, 0, 0, 54 [SEP] 36, Spatula, -0.587, 0.795, -0.486, 0, 0, 0, 78 [SEP] 37, PaperTowelRoll, -1.778, 0.658, 2.718, 0, 0, 0, 83 [SEP] 38, Tomato, 0.688, 0.952, -1.793, 0, 0, 0, 63 [SEP] 39, Egg, -0.624, 0.971, -1.308, 0, 0, 0, 57 [SEP] 40, SaltShaker, 0.688, 0.907, 0.139, 0, 0, 0, 58 [SEP] 41, PepperShaker, -0.920, 0.929, -1.386, 0, 0, 0, 57 [SEP] 42, Vase, 1.082, 2.207, -0.973, 0, 270, 0, 64 [SEP] 43, ButterKnife, -1.325, 0.919, -0.884, 0, 10.678, 0, 57 [SEP] 44, SoapBottle, 0.859, 0.911, 0.139, 0, 0, 0, 58 [SEP] 45, Vase, 1.194, 1.667, -0.529, 0, 270, 0, 66 [SEP] 46, Bowl, 0.905, 1.646, 1.349, 0, 270, 0, 80 [SEP] 47, DishSponge, 0.875, 0.701, -0.607, 0, 270, 0, 55 [SEP] 48, Spoon, 0.794, 0.704, -0.690, 0, 270, 0, 55 [SEP] 49, Cup, -1.229, 0.930, -1.430, 0, 0, 0, 57 [SEP] 50, Mug, 1.026, 1.396, 1.063, 0, 270, 0, 80 [SEP] 51, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 52, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 53, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 54, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 55, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 56, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 57, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 58, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 59, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 60, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 61, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 62, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 63, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 64, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 65, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 66, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 67, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 68, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 69, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 70, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 71, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 72, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 73, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 74, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 75, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 76, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 77, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 78, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 79, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 80, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 81, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 82, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 83, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 84, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 85, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 86, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 87, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 88, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 89, NorthWall, , , , , , , [SEP] 90, EastWall, , , , , , , [SEP] 91, SouthWall, , , , , , , [SEP] 92, WestWall, , , , , , , ", "output": ["STEP 1: Go left to the wall and then left again before turning left to face the end of the counter of the island. | STEP 2: Pick up the salt shaker from the counter. | STEP 3: Turn right and then left and stand at the drawer to the left of the stove. | STEP 4: Open the middle drawer and put the shaker in and shut the drawer. | END"]} +{"id": "trial_T20190906_184021_215264-1", "input": "Put the salt shaker in the middle drawer 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, -3.5, 0.900, 1.25, 0, 270, 0, [SEP] 1, Pan, 1.077, 0.950, -1.098, 0, 0, 0, 59 [SEP] 2, Vase, -0.698, 0.934, -1.463, 0, 0, 0, 57 [SEP] 3, CreditCard, -1.363, 0.551, 2.615, 0, 0, 0, 83 [SEP] 4, CreditCard, 0.688, 0.908, -1.965, 0, 0, 0, 63 [SEP] 5, DishSponge, 0.915, 0.493, -0.565, 0, 270, 0, 61 [SEP] 6, DishSponge, -0.808, 0.780, -0.745, 0, 90, 0, 78 [SEP] 7, ButterKnife, -1.229, 0.933, -0.905, 0, 0, 0, 57 [SEP] 8, Glassbottle, 1.148, 1.667, -1.961, 0, 270, 0, 56 [SEP] 9, Glassbottle, 0.761, 0.109, -2.212, 0, 0, 0, 62 [SEP] 10, Spoon, -0.697, 0.781, -0.745, 0, 90, 0, 78 [SEP] 11, Knife, -0.550, 0.957, -0.143, 0, 0, 0, 57 [SEP] 12, Knife, -0.624, 0.957, 0.162, 0, 180, 0, 57 [SEP] 13, Egg, 0.995, 1.833, -1.339, 0, 270, 0, 79 [SEP] 14, Cup, 1.010, 1.663, -0.657, 0, 270, 0, 66 [SEP] 15, Plate, 0.844, 1.138, 1.349, 0, 270, 0, 80 [SEP] 16, Tomato, 1.087, 1.175, 0.967, 0, 270, 0, 80 [SEP] 17, Tomato, 0.905, 1.442, 1.158, 0, 270, 0, 80 [SEP] 18, SaltShaker, -1.674, 0.550, 2.874, 0, 0, 0, 83 [SEP] 19, SaltShaker, 0.713, 0.150, -0.650, 0, 270, 0, 60 [SEP] 20, Lettuce, 1.026, 0.940, 1.444, 0, 270, 0, 80 [SEP] 21, Lettuce, -0.912, 0.254, 0.543, 0, 90, 0, 77 [SEP] 22, Mug, 1.148, 1.661, -0.337, 0, 270, 0, 66 [SEP] 23, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 57 [SEP] 24, Glassbottle, 0.862, 0.121, 0.349, 0, 270, 0, 52 [SEP] 25, Bread, -1.292, 1.014, -0.643, 0, 0, 0, 57 [SEP] 26, CreditCard, -1.674, 0.878, 2.719, 0, 0, 0, 84 [SEP] 27, CellPhone, 0.859, 0.908, -0.381, 0, 0, 0, 58 [SEP] 28, Potato, 1.093, 1.814, -1.236, 0, 270, 0, 79 [SEP] 29, Knife, 0.859, 0.934, -0.034, 0, 180, 0, 58 [SEP] 30, Fork, 0.773, 0.911, 0.139, 0, 0, 0, 58 [SEP] 31, Pan, -1.292, 0.931, 0.144, 0, 0, 0, 57 [SEP] 32, Lettuce, 1.029, 0.988, -0.381, 0, 0, 0, 58 [SEP] 33, Plate, 1.148, 1.669, -2.166, 0, 270, 0, 56 [SEP] 34, Apple, -0.550, 0.983, -1.540, 0, 0, 0, 57 [SEP] 35, Pot, 0.842, 0.950, -1.504, 0, 0, 0, 54 [SEP] 36, Spatula, -0.587, 0.795, -0.486, 0, 0, 0, 78 [SEP] 37, PaperTowelRoll, -1.778, 0.658, 2.718, 0, 0, 0, 83 [SEP] 38, Tomato, 0.688, 0.952, -1.793, 0, 0, 0, 63 [SEP] 39, Egg, -0.624, 0.971, -1.308, 0, 0, 0, 57 [SEP] 40, SaltShaker, 0.688, 0.907, 0.139, 0, 0, 0, 58 [SEP] 41, PepperShaker, -0.920, 0.929, -1.386, 0, 0, 0, 57 [SEP] 42, Vase, 1.082, 2.207, -0.973, 0, 270, 0, 64 [SEP] 43, ButterKnife, -1.325, 0.919, -0.884, 0, 10.678, 0, 57 [SEP] 44, SoapBottle, 0.859, 0.911, 0.139, 0, 0, 0, 58 [SEP] 45, Vase, 1.194, 1.667, -0.529, 0, 270, 0, 66 [SEP] 46, Bowl, 0.905, 1.646, 1.349, 0, 270, 0, 80 [SEP] 47, DishSponge, 0.875, 0.701, -0.607, 0, 270, 0, 55 [SEP] 48, Spoon, 0.794, 0.704, -0.690, 0, 270, 0, 55 [SEP] 49, Cup, -1.229, 0.930, -1.430, 0, 0, 0, 57 [SEP] 50, Mug, 1.026, 1.396, 1.063, 0, 270, 0, 80 [SEP] 51, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 52, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 53, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 54, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 55, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 56, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 57, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 58, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 59, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 60, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 61, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 62, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 63, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 64, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 65, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 66, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 67, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 68, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 69, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 70, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 71, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 72, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 73, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 74, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 75, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 76, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 77, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 78, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 79, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 80, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 81, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 82, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 83, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 84, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 85, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 86, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 87, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 88, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 89, NorthWall, , , , , , , [SEP] 90, EastWall, , , , , , , [SEP] 91, SouthWall, , , , , , , [SEP] 92, WestWall, , , , , , , ", "output": ["STEP 1: Turn to the left and go to the door, then turn left and go to kitchen island. | STEP 2: Pick up the salt shaker in the middle of the kitchen island. | STEP 3: Turn right towards cabinets and go to the drawers next to stove. | STEP 4: Open the middle drawer and place the salt shaker in the corner then close the drawer. | END"]} +{"id": "trial_T20190906_184021_215264-2", "input": "move the salt bottle from the counter to the second drawer 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, 1.25, 0, 270, 0, [SEP] 1, Pan, 1.077, 0.950, -1.098, 0, 0, 0, 59 [SEP] 2, Vase, -0.698, 0.934, -1.463, 0, 0, 0, 57 [SEP] 3, CreditCard, -1.363, 0.551, 2.615, 0, 0, 0, 83 [SEP] 4, CreditCard, 0.688, 0.908, -1.965, 0, 0, 0, 63 [SEP] 5, DishSponge, 0.915, 0.493, -0.565, 0, 270, 0, 61 [SEP] 6, DishSponge, -0.808, 0.780, -0.745, 0, 90, 0, 78 [SEP] 7, ButterKnife, -1.229, 0.933, -0.905, 0, 0, 0, 57 [SEP] 8, Glassbottle, 1.148, 1.667, -1.961, 0, 270, 0, 56 [SEP] 9, Glassbottle, 0.761, 0.109, -2.212, 0, 0, 0, 62 [SEP] 10, Spoon, -0.697, 0.781, -0.745, 0, 90, 0, 78 [SEP] 11, Knife, -0.550, 0.957, -0.143, 0, 0, 0, 57 [SEP] 12, Knife, -0.624, 0.957, 0.162, 0, 180, 0, 57 [SEP] 13, Egg, 0.995, 1.833, -1.339, 0, 270, 0, 79 [SEP] 14, Cup, 1.010, 1.663, -0.657, 0, 270, 0, 66 [SEP] 15, Plate, 0.844, 1.138, 1.349, 0, 270, 0, 80 [SEP] 16, Tomato, 1.087, 1.175, 0.967, 0, 270, 0, 80 [SEP] 17, Tomato, 0.905, 1.442, 1.158, 0, 270, 0, 80 [SEP] 18, SaltShaker, -1.674, 0.550, 2.874, 0, 0, 0, 83 [SEP] 19, SaltShaker, 0.713, 0.150, -0.650, 0, 270, 0, 60 [SEP] 20, Lettuce, 1.026, 0.940, 1.444, 0, 270, 0, 80 [SEP] 21, Lettuce, -0.912, 0.254, 0.543, 0, 90, 0, 77 [SEP] 22, Mug, 1.148, 1.661, -0.337, 0, 270, 0, 66 [SEP] 23, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 57 [SEP] 24, Glassbottle, 0.862, 0.121, 0.349, 0, 270, 0, 52 [SEP] 25, Bread, -1.292, 1.014, -0.643, 0, 0, 0, 57 [SEP] 26, CreditCard, -1.674, 0.878, 2.719, 0, 0, 0, 84 [SEP] 27, CellPhone, 0.859, 0.908, -0.381, 0, 0, 0, 58 [SEP] 28, Potato, 1.093, 1.814, -1.236, 0, 270, 0, 79 [SEP] 29, Knife, 0.859, 0.934, -0.034, 0, 180, 0, 58 [SEP] 30, Fork, 0.773, 0.911, 0.139, 0, 0, 0, 58 [SEP] 31, Pan, -1.292, 0.931, 0.144, 0, 0, 0, 57 [SEP] 32, Lettuce, 1.029, 0.988, -0.381, 0, 0, 0, 58 [SEP] 33, Plate, 1.148, 1.669, -2.166, 0, 270, 0, 56 [SEP] 34, Apple, -0.550, 0.983, -1.540, 0, 0, 0, 57 [SEP] 35, Pot, 0.842, 0.950, -1.504, 0, 0, 0, 54 [SEP] 36, Spatula, -0.587, 0.795, -0.486, 0, 0, 0, 78 [SEP] 37, PaperTowelRoll, -1.778, 0.658, 2.718, 0, 0, 0, 83 [SEP] 38, Tomato, 0.688, 0.952, -1.793, 0, 0, 0, 63 [SEP] 39, Egg, -0.624, 0.971, -1.308, 0, 0, 0, 57 [SEP] 40, SaltShaker, 0.688, 0.907, 0.139, 0, 0, 0, 58 [SEP] 41, PepperShaker, -0.920, 0.929, -1.386, 0, 0, 0, 57 [SEP] 42, Vase, 1.082, 2.207, -0.973, 0, 270, 0, 64 [SEP] 43, ButterKnife, -1.325, 0.919, -0.884, 0, 10.678, 0, 57 [SEP] 44, SoapBottle, 0.859, 0.911, 0.139, 0, 0, 0, 58 [SEP] 45, Vase, 1.194, 1.667, -0.529, 0, 270, 0, 66 [SEP] 46, Bowl, 0.905, 1.646, 1.349, 0, 270, 0, 80 [SEP] 47, DishSponge, 0.875, 0.701, -0.607, 0, 270, 0, 55 [SEP] 48, Spoon, 0.794, 0.704, -0.690, 0, 270, 0, 55 [SEP] 49, Cup, -1.229, 0.930, -1.430, 0, 0, 0, 57 [SEP] 50, Mug, 1.026, 1.396, 1.063, 0, 270, 0, 80 [SEP] 51, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 52, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 53, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 54, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 55, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 56, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 57, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 58, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 59, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 60, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 61, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 62, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 63, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 64, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 65, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 66, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 67, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 68, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 69, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 70, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 71, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 72, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 73, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 74, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 75, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 76, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 77, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 78, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 79, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 80, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 81, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 82, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 83, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 84, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 85, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 86, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 87, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 88, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 89, NorthWall, , , , , , , [SEP] 90, EastWall, , , , , , , [SEP] 91, SouthWall, , , , , , , [SEP] 92, WestWall, , , , , , , ", "output": ["STEP 1: turn left, walk to the window, turn left, walk to the side of the counter | STEP 2: grab the salt bottle on the counter | STEP 3: turn right, turn left, walk to the drawers on the left side of the over | STEP 4: open the second drawer, put the salt in | END"]} +{"id": "trial_T20190906_184021_215264-3", "input": "Put the salt shaker into the kitchen drawer 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, 1.25, 0, 270, 0, [SEP] 1, Pan, 1.077, 0.950, -1.098, 0, 0, 0, 59 [SEP] 2, Vase, -0.698, 0.934, -1.463, 0, 0, 0, 57 [SEP] 3, CreditCard, -1.363, 0.551, 2.615, 0, 0, 0, 83 [SEP] 4, CreditCard, 0.688, 0.908, -1.965, 0, 0, 0, 63 [SEP] 5, DishSponge, 0.915, 0.493, -0.565, 0, 270, 0, 61 [SEP] 6, DishSponge, -0.808, 0.780, -0.745, 0, 90, 0, 78 [SEP] 7, ButterKnife, -1.229, 0.933, -0.905, 0, 0, 0, 57 [SEP] 8, Glassbottle, 1.148, 1.667, -1.961, 0, 270, 0, 56 [SEP] 9, Glassbottle, 0.761, 0.109, -2.212, 0, 0, 0, 62 [SEP] 10, Spoon, -0.697, 0.781, -0.745, 0, 90, 0, 78 [SEP] 11, Knife, -0.550, 0.957, -0.143, 0, 0, 0, 57 [SEP] 12, Knife, -0.624, 0.957, 0.162, 0, 180, 0, 57 [SEP] 13, Egg, 0.995, 1.833, -1.339, 0, 270, 0, 79 [SEP] 14, Cup, 1.010, 1.663, -0.657, 0, 270, 0, 66 [SEP] 15, Plate, 0.844, 1.138, 1.349, 0, 270, 0, 80 [SEP] 16, Tomato, 1.087, 1.175, 0.967, 0, 270, 0, 80 [SEP] 17, Tomato, 0.905, 1.442, 1.158, 0, 270, 0, 80 [SEP] 18, SaltShaker, -1.674, 0.550, 2.874, 0, 0, 0, 83 [SEP] 19, SaltShaker, 0.713, 0.150, -0.650, 0, 270, 0, 60 [SEP] 20, Lettuce, 1.026, 0.940, 1.444, 0, 270, 0, 80 [SEP] 21, Lettuce, -0.912, 0.254, 0.543, 0, 90, 0, 77 [SEP] 22, Mug, 1.148, 1.661, -0.337, 0, 270, 0, 66 [SEP] 23, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 57 [SEP] 24, Glassbottle, 0.862, 0.121, 0.349, 0, 270, 0, 52 [SEP] 25, Bread, -1.292, 1.014, -0.643, 0, 0, 0, 57 [SEP] 26, CreditCard, -1.674, 0.878, 2.719, 0, 0, 0, 84 [SEP] 27, CellPhone, 0.859, 0.908, -0.381, 0, 0, 0, 58 [SEP] 28, Potato, 1.093, 1.814, -1.236, 0, 270, 0, 79 [SEP] 29, Knife, 0.859, 0.934, -0.034, 0, 180, 0, 58 [SEP] 30, Fork, 0.773, 0.911, 0.139, 0, 0, 0, 58 [SEP] 31, Pan, -1.292, 0.931, 0.144, 0, 0, 0, 57 [SEP] 32, Lettuce, 1.029, 0.988, -0.381, 0, 0, 0, 58 [SEP] 33, Plate, 1.148, 1.669, -2.166, 0, 270, 0, 56 [SEP] 34, Apple, -0.550, 0.983, -1.540, 0, 0, 0, 57 [SEP] 35, Pot, 0.842, 0.950, -1.504, 0, 0, 0, 54 [SEP] 36, Spatula, -0.587, 0.795, -0.486, 0, 0, 0, 78 [SEP] 37, PaperTowelRoll, -1.778, 0.658, 2.718, 0, 0, 0, 83 [SEP] 38, Tomato, 0.688, 0.952, -1.793, 0, 0, 0, 63 [SEP] 39, Egg, -0.624, 0.971, -1.308, 0, 0, 0, 57 [SEP] 40, SaltShaker, 0.688, 0.907, 0.139, 0, 0, 0, 58 [SEP] 41, PepperShaker, -0.920, 0.929, -1.386, 0, 0, 0, 57 [SEP] 42, Vase, 1.082, 2.207, -0.973, 0, 270, 0, 64 [SEP] 43, ButterKnife, -1.325, 0.919, -0.884, 0, 10.678, 0, 57 [SEP] 44, SoapBottle, 0.859, 0.911, 0.139, 0, 0, 0, 58 [SEP] 45, Vase, 1.194, 1.667, -0.529, 0, 270, 0, 66 [SEP] 46, Bowl, 0.905, 1.646, 1.349, 0, 270, 0, 80 [SEP] 47, DishSponge, 0.875, 0.701, -0.607, 0, 270, 0, 55 [SEP] 48, Spoon, 0.794, 0.704, -0.690, 0, 270, 0, 55 [SEP] 49, Cup, -1.229, 0.930, -1.430, 0, 0, 0, 57 [SEP] 50, Mug, 1.026, 1.396, 1.063, 0, 270, 0, 80 [SEP] 51, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 52, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 53, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 54, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 55, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 56, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 57, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 58, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 59, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 60, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 61, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 62, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 63, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 64, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 65, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 66, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 67, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 68, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 69, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 70, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 71, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 72, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 73, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 74, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 75, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 76, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 77, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 78, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 79, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 80, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 81, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 82, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 83, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 84, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 85, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 86, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 87, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 88, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 89, NorthWall, , , , , , , [SEP] 90, EastWall, , , , , , , [SEP] 91, SouthWall, , , , , , , [SEP] 92, WestWall, , , , , , , ", "output": ["STEP 1: Turn and walk to the far side of the kitchen island by the windows | STEP 2: Pick up the salt shaker from the kitchen island | STEP 3: Continue around the island and walk into the kitchen just past the oven | STEP 4: Open the top drawer left of the oven and put the salt shaker in it | END"]} +{"id": "trial_T20190906_184021_215264-4", "input": "Move the salt shaker from the counter to the middle drawer. 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, 1.25, 0, 270, 0, [SEP] 1, Pan, 1.077, 0.950, -1.098, 0, 0, 0, 59 [SEP] 2, Vase, -0.698, 0.934, -1.463, 0, 0, 0, 57 [SEP] 3, CreditCard, -1.363, 0.551, 2.615, 0, 0, 0, 83 [SEP] 4, CreditCard, 0.688, 0.908, -1.965, 0, 0, 0, 63 [SEP] 5, DishSponge, 0.915, 0.493, -0.565, 0, 270, 0, 61 [SEP] 6, DishSponge, -0.808, 0.780, -0.745, 0, 90, 0, 78 [SEP] 7, ButterKnife, -1.229, 0.933, -0.905, 0, 0, 0, 57 [SEP] 8, Glassbottle, 1.148, 1.667, -1.961, 0, 270, 0, 56 [SEP] 9, Glassbottle, 0.761, 0.109, -2.212, 0, 0, 0, 62 [SEP] 10, Spoon, -0.697, 0.781, -0.745, 0, 90, 0, 78 [SEP] 11, Knife, -0.550, 0.957, -0.143, 0, 0, 0, 57 [SEP] 12, Knife, -0.624, 0.957, 0.162, 0, 180, 0, 57 [SEP] 13, Egg, 0.995, 1.833, -1.339, 0, 270, 0, 79 [SEP] 14, Cup, 1.010, 1.663, -0.657, 0, 270, 0, 66 [SEP] 15, Plate, 0.844, 1.138, 1.349, 0, 270, 0, 80 [SEP] 16, Tomato, 1.087, 1.175, 0.967, 0, 270, 0, 80 [SEP] 17, Tomato, 0.905, 1.442, 1.158, 0, 270, 0, 80 [SEP] 18, SaltShaker, -1.674, 0.550, 2.874, 0, 0, 0, 83 [SEP] 19, SaltShaker, 0.713, 0.150, -0.650, 0, 270, 0, 60 [SEP] 20, Lettuce, 1.026, 0.940, 1.444, 0, 270, 0, 80 [SEP] 21, Lettuce, -0.912, 0.254, 0.543, 0, 90, 0, 77 [SEP] 22, Mug, 1.148, 1.661, -0.337, 0, 270, 0, 66 [SEP] 23, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 57 [SEP] 24, Glassbottle, 0.862, 0.121, 0.349, 0, 270, 0, 52 [SEP] 25, Bread, -1.292, 1.014, -0.643, 0, 0, 0, 57 [SEP] 26, CreditCard, -1.674, 0.878, 2.719, 0, 0, 0, 84 [SEP] 27, CellPhone, 0.859, 0.908, -0.381, 0, 0, 0, 58 [SEP] 28, Potato, 1.093, 1.814, -1.236, 0, 270, 0, 79 [SEP] 29, Knife, 0.859, 0.934, -0.034, 0, 180, 0, 58 [SEP] 30, Fork, 0.773, 0.911, 0.139, 0, 0, 0, 58 [SEP] 31, Pan, -1.292, 0.931, 0.144, 0, 0, 0, 57 [SEP] 32, Lettuce, 1.029, 0.988, -0.381, 0, 0, 0, 58 [SEP] 33, Plate, 1.148, 1.669, -2.166, 0, 270, 0, 56 [SEP] 34, Apple, -0.550, 0.983, -1.540, 0, 0, 0, 57 [SEP] 35, Pot, 0.842, 0.950, -1.504, 0, 0, 0, 54 [SEP] 36, Spatula, -0.587, 0.795, -0.486, 0, 0, 0, 78 [SEP] 37, PaperTowelRoll, -1.778, 0.658, 2.718, 0, 0, 0, 83 [SEP] 38, Tomato, 0.688, 0.952, -1.793, 0, 0, 0, 63 [SEP] 39, Egg, -0.624, 0.971, -1.308, 0, 0, 0, 57 [SEP] 40, SaltShaker, 0.688, 0.907, 0.139, 0, 0, 0, 58 [SEP] 41, PepperShaker, -0.920, 0.929, -1.386, 0, 0, 0, 57 [SEP] 42, Vase, 1.082, 2.207, -0.973, 0, 270, 0, 64 [SEP] 43, ButterKnife, -1.325, 0.919, -0.884, 0, 10.678, 0, 57 [SEP] 44, SoapBottle, 0.859, 0.911, 0.139, 0, 0, 0, 58 [SEP] 45, Vase, 1.194, 1.667, -0.529, 0, 270, 0, 66 [SEP] 46, Bowl, 0.905, 1.646, 1.349, 0, 270, 0, 80 [SEP] 47, DishSponge, 0.875, 0.701, -0.607, 0, 270, 0, 55 [SEP] 48, Spoon, 0.794, 0.704, -0.690, 0, 270, 0, 55 [SEP] 49, Cup, -1.229, 0.930, -1.430, 0, 0, 0, 57 [SEP] 50, Mug, 1.026, 1.396, 1.063, 0, 270, 0, 80 [SEP] 51, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 52, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 53, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 54, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 55, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 56, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 57, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 58, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 59, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 60, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 61, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 62, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 63, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 64, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 65, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 66, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 67, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 68, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 69, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 70, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 71, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 72, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 73, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 74, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 75, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 76, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 77, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 78, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 79, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 80, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 81, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 82, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 83, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 84, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 85, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 86, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 87, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 88, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 89, NorthWall, , , , , , , [SEP] 90, EastWall, , , , , , , [SEP] 91, SouthWall, , , , , , , [SEP] 92, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and cross the room, turn left again at the windows and stop at the counter to your left. | STEP 2: Pick up the salt shaker from the counter. | STEP 3: Turn right, then turn left at the counter with the coffee maker and walk to the drawers on your right. | STEP 4: Open the middle drawer and place the salt shaker inside. | END"]} +{"id": "trial_T20190906_184021_215264-5", "input": "Walk towards the kitchen island, grab the salt, store it inside the second kitchen drawer. 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, 1.25, 0, 270, 0, [SEP] 1, Pan, 1.077, 0.950, -1.098, 0, 0, 0, 59 [SEP] 2, Vase, -0.698, 0.934, -1.463, 0, 0, 0, 57 [SEP] 3, CreditCard, -1.363, 0.551, 2.615, 0, 0, 0, 83 [SEP] 4, CreditCard, 0.688, 0.908, -1.965, 0, 0, 0, 63 [SEP] 5, DishSponge, 0.915, 0.493, -0.565, 0, 270, 0, 61 [SEP] 6, DishSponge, -0.808, 0.780, -0.745, 0, 90, 0, 78 [SEP] 7, ButterKnife, -1.229, 0.933, -0.905, 0, 0, 0, 57 [SEP] 8, Glassbottle, 1.148, 1.667, -1.961, 0, 270, 0, 56 [SEP] 9, Glassbottle, 0.761, 0.109, -2.212, 0, 0, 0, 62 [SEP] 10, Spoon, -0.697, 0.781, -0.745, 0, 90, 0, 78 [SEP] 11, Knife, -0.550, 0.957, -0.143, 0, 0, 0, 57 [SEP] 12, Knife, -0.624, 0.957, 0.162, 0, 180, 0, 57 [SEP] 13, Egg, 0.995, 1.833, -1.339, 0, 270, 0, 79 [SEP] 14, Cup, 1.010, 1.663, -0.657, 0, 270, 0, 66 [SEP] 15, Plate, 0.844, 1.138, 1.349, 0, 270, 0, 80 [SEP] 16, Tomato, 1.087, 1.175, 0.967, 0, 270, 0, 80 [SEP] 17, Tomato, 0.905, 1.442, 1.158, 0, 270, 0, 80 [SEP] 18, SaltShaker, -1.674, 0.550, 2.874, 0, 0, 0, 83 [SEP] 19, SaltShaker, 0.713, 0.150, -0.650, 0, 270, 0, 60 [SEP] 20, Lettuce, 1.026, 0.940, 1.444, 0, 270, 0, 80 [SEP] 21, Lettuce, -0.912, 0.254, 0.543, 0, 90, 0, 77 [SEP] 22, Mug, 1.148, 1.661, -0.337, 0, 270, 0, 66 [SEP] 23, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 57 [SEP] 24, Glassbottle, 0.862, 0.121, 0.349, 0, 270, 0, 52 [SEP] 25, Bread, -1.292, 1.014, -0.643, 0, 0, 0, 57 [SEP] 26, CreditCard, -1.674, 0.878, 2.719, 0, 0, 0, 84 [SEP] 27, CellPhone, 0.859, 0.908, -0.381, 0, 0, 0, 58 [SEP] 28, Potato, 1.093, 1.814, -1.236, 0, 270, 0, 79 [SEP] 29, Knife, 0.859, 0.934, -0.034, 0, 180, 0, 58 [SEP] 30, Fork, 0.773, 0.911, 0.139, 0, 0, 0, 58 [SEP] 31, Pan, -1.292, 0.931, 0.144, 0, 0, 0, 57 [SEP] 32, Lettuce, 1.029, 0.988, -0.381, 0, 0, 0, 58 [SEP] 33, Plate, 1.148, 1.669, -2.166, 0, 270, 0, 56 [SEP] 34, Apple, -0.550, 0.983, -1.540, 0, 0, 0, 57 [SEP] 35, Pot, 0.842, 0.950, -1.504, 0, 0, 0, 54 [SEP] 36, Spatula, -0.587, 0.795, -0.486, 0, 0, 0, 78 [SEP] 37, PaperTowelRoll, -1.778, 0.658, 2.718, 0, 0, 0, 83 [SEP] 38, Tomato, 0.688, 0.952, -1.793, 0, 0, 0, 63 [SEP] 39, Egg, -0.624, 0.971, -1.308, 0, 0, 0, 57 [SEP] 40, SaltShaker, 0.688, 0.907, 0.139, 0, 0, 0, 58 [SEP] 41, PepperShaker, -0.920, 0.929, -1.386, 0, 0, 0, 57 [SEP] 42, Vase, 1.082, 2.207, -0.973, 0, 270, 0, 64 [SEP] 43, ButterKnife, -1.325, 0.919, -0.884, 0, 10.678, 0, 57 [SEP] 44, SoapBottle, 0.859, 0.911, 0.139, 0, 0, 0, 58 [SEP] 45, Vase, 1.194, 1.667, -0.529, 0, 270, 0, 66 [SEP] 46, Bowl, 0.905, 1.646, 1.349, 0, 270, 0, 80 [SEP] 47, DishSponge, 0.875, 0.701, -0.607, 0, 270, 0, 55 [SEP] 48, Spoon, 0.794, 0.704, -0.690, 0, 270, 0, 55 [SEP] 49, Cup, -1.229, 0.930, -1.430, 0, 0, 0, 57 [SEP] 50, Mug, 1.026, 1.396, 1.063, 0, 270, 0, 80 [SEP] 51, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 52, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 53, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 54, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 55, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 56, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 57, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 58, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 59, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 60, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 61, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 62, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 63, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 64, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 65, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 66, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 67, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 68, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 69, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 70, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 71, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 72, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 73, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 74, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 75, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 76, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 77, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 78, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 79, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 80, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 81, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 82, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 83, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 84, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 85, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 86, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 87, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 88, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 89, NorthWall, , , , , , , [SEP] 90, EastWall, , , , , , , [SEP] 91, SouthWall, , , , , , , [SEP] 92, WestWall, , , , , , , ", "output": ["STEP 1: Turn to the left and walk towards the end of the room then turn to the left and walk to the kitchen island to face it. | STEP 2: Grab the salt that is to the left of the red vase. | STEP 3: Turn to the right walk to the end of the room then turn left and walk forward. stopping before the kitchen drawers. | STEP 4: Open the second drawer from the top , place the salt inside and then close the drawer. | END"]} +{"id": "trial_T20190908_122154_042763-0", "input": "Move the pencil to a different area 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, 270, 0, [SEP] 1, Mug, -0.483, 0.855, -1.183, 0, 0, 0, 36 [SEP] 2, CD, -0.785, 0.202, -0.310, 0, 0, 0, 29 [SEP] 3, CD, -2.155, 0.104, 0.759, 0, 0, 0, 49 [SEP] 4, CellPhone, -2.083, 0.040, 2.682, 0, 180, 0, 51 [SEP] 5, CellPhone, -2.031, 0.040, 2.522, 0, 180, 0, 51 [SEP] 6, Pen, -0.483, 0.863, -1.356, 0, 0, 0, 36 [SEP] 7, Pen, -1.914, 0.110, 0.683, 0, 0, 0, 49 [SEP] 8, KeyChain, -0.511, 0.365, -0.692, 0, 0, 0, 37 [SEP] 9, KeyChain, -2.344, 0.039, 2.736, 0, 270, 0, 54 [SEP] 10, Book, -0.819, 0.857, -0.836, 0, 0, 0, 36 [SEP] 11, Laptop, 1.409, 0.781, 1.945, 0, 0, 0, 27 [SEP] 12, AlarmClock, -0.819, 0.858, -1.010, 0, 0, 0, 36 [SEP] 13, Book, 1.003, 0.783, 2.524, 0, 0, 0, 27 [SEP] 14, AlarmClock, -1.233, 1.724, 0.448, 0, 0, 0, 40 [SEP] 15, BasketBall, 1.976, 0.120, 0.211, 0, 331.076, 0, [SEP] 16, Pen, -0.483, 0.863, -1.529, 0, 0, 0, 36 [SEP] 17, Laptop, 1.612, 0.781, 1.366, 0, 0, 0, 27 [SEP] 18, BaseballBat, 1.953, 0.659, -1.81, 346.388, 0, 0, [SEP] 19, Bowl, -0.567, 0.861, -0.836, 0, 0, 0, 36 [SEP] 20, Pillow, 1.206, 0.918, 1.076, 0, 0, 0, 27 [SEP] 21, KeyChain, -2.135, 0.039, 2.415, 0, 180, 0, 51 [SEP] 22, CreditCard, -0.473, 0.364, -1.013, 0, 0, 0, 35 [SEP] 23, CellPhone, -1.994, 0.387, 0.721, 0, 0, 0, 48 [SEP] 24, CD, -0.651, 0.857, -1.356, 0, 0, 0, 36 [SEP] 25, Pencil, -1.571, 0.882, 0.832, 0, 0, 0, 46 [SEP] 26, Mug, -2.045, 1.347, 0.407, 0, 0, 0, 46 [SEP] 27, Bed, 1.227, -0.002, 1.664, 0, 0, 0, [SEP] 28, LightSwitch, 2.151, 1.233, -0.518, 0, 270, 0, [SEP] 29, GarbageCan, -0.747, 0.014, -0.327, 0, 0, 0, [SEP] 30, Mirror, -1.358, 1.427, 2.855, 0, 0, 0, [SEP] 31, DeskLamp, -2.296, 0.858, 0.750, 0, 0, 0, [SEP] 32, Window, -0.421, 1.534, -1.947, 90, 0, 0, [SEP] 33, Window, 0.579, 1.534, -1.947, 90, 0, 0, [SEP] 34, Drawer, -0.491, 0.739, -0.855, 0, 90, 0, [SEP] 35, Drawer, -0.491, 0.204, -0.855, 0, 90, 0, [SEP] 36, Desk, -0.639, 0.009, -1.187, 0, 90, 0, [SEP] 37, Drawer, -0.491, 0.487, -0.855, 0, 90, 0, [SEP] 38, Shelf, -1.965, 1.514, 0.416, 0, 0, 0, [SEP] 39, Shelf, -1.965, 1.092, 0.416, 0, 0, 0, [SEP] 40, Shelf, -1.312, 1.888, 0.416, 0, 0, 0, [SEP] 41, Shelf, -1.965, 1.888, 0.416, 0, 0, 0, [SEP] 42, Shelf, -1.312, 1.092, 0.416, 0, 0, 0, [SEP] 43, Shelf, -1.312, 1.514, 0.416, 0, 0, 0, [SEP] 44, Blinds, 0.601, 2.161, -1.916, 0, 0, 0, [SEP] 45, Blinds, -0.402, 2.161, -1.916, 0, 0, 0, [SEP] 46, Desk, -1.726, 0.001, 0.575, 0, 0, 0, [SEP] 47, Drawer, -2.058, 0.733, 0.734, 0, 0, 0, [SEP] 48, Drawer, -2.058, 0.482, 0.734, 0, 0, 0, [SEP] 49, Drawer, -2.058, 0.198, 0.735, 0, 0, 0, [SEP] 50, Chair, -0.137, 0.000, -1.587, 0, 315, 0, [SEP] 51, Safe, -2.183, -7.748, 2.576, 0, 180, 0, [SEP] 52, Chair, -1.433, 0.009, 0.780, 357.672, 206.726, 0, [SEP] 53, LaundryHamper, 0.163, 0.003, 2.635, 0, 86.390, 0, [SEP] 54, , , , , , , , [SEP] 55, NorthWall, , , , , , , [SEP] 56, EastWall, , , , , , , [SEP] 57, SouthWall, , , , , , , [SEP] 58, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and take one step, then turn left and walk across the room, then turn left to face the desk. | STEP 2: Pick up the pencil near the edge of the desk. | STEP 3: Turn around and take one step, then turn back around to face the desk. | STEP 4: Put the pencil down directly in front of the set of books on the left. | END"]} +{"id": "trial_T20190908_122154_042763-1", "input": "Pick up the white pencil on the desk and put it on another spot 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, 270, 0, [SEP] 1, Mug, -0.483, 0.855, -1.183, 0, 0, 0, 36 [SEP] 2, CD, -0.785, 0.202, -0.310, 0, 0, 0, 29 [SEP] 3, CD, -2.155, 0.104, 0.759, 0, 0, 0, 49 [SEP] 4, CellPhone, -2.083, 0.040, 2.682, 0, 180, 0, 51 [SEP] 5, CellPhone, -2.031, 0.040, 2.522, 0, 180, 0, 51 [SEP] 6, Pen, -0.483, 0.863, -1.356, 0, 0, 0, 36 [SEP] 7, Pen, -1.914, 0.110, 0.683, 0, 0, 0, 49 [SEP] 8, KeyChain, -0.511, 0.365, -0.692, 0, 0, 0, 37 [SEP] 9, KeyChain, -2.344, 0.039, 2.736, 0, 270, 0, 54 [SEP] 10, Book, -0.819, 0.857, -0.836, 0, 0, 0, 36 [SEP] 11, Laptop, 1.409, 0.781, 1.945, 0, 0, 0, 27 [SEP] 12, AlarmClock, -0.819, 0.858, -1.010, 0, 0, 0, 36 [SEP] 13, Book, 1.003, 0.783, 2.524, 0, 0, 0, 27 [SEP] 14, AlarmClock, -1.233, 1.724, 0.448, 0, 0, 0, 40 [SEP] 15, BasketBall, 1.976, 0.120, 0.211, 0, 331.076, 0, [SEP] 16, Pen, -0.483, 0.863, -1.529, 0, 0, 0, 36 [SEP] 17, Laptop, 1.612, 0.781, 1.366, 0, 0, 0, 27 [SEP] 18, BaseballBat, 1.953, 0.659, -1.81, 346.388, 0, 0, [SEP] 19, Bowl, -0.567, 0.861, -0.836, 0, 0, 0, 36 [SEP] 20, Pillow, 1.206, 0.918, 1.076, 0, 0, 0, 27 [SEP] 21, KeyChain, -2.135, 0.039, 2.415, 0, 180, 0, 51 [SEP] 22, CreditCard, -0.473, 0.364, -1.013, 0, 0, 0, 35 [SEP] 23, CellPhone, -1.994, 0.387, 0.721, 0, 0, 0, 48 [SEP] 24, CD, -0.651, 0.857, -1.356, 0, 0, 0, 36 [SEP] 25, Pencil, -1.571, 0.882, 0.832, 0, 0, 0, 46 [SEP] 26, Mug, -2.045, 1.347, 0.407, 0, 0, 0, 46 [SEP] 27, Bed, 1.227, -0.002, 1.664, 0, 0, 0, [SEP] 28, LightSwitch, 2.151, 1.233, -0.518, 0, 270, 0, [SEP] 29, GarbageCan, -0.747, 0.014, -0.327, 0, 0, 0, [SEP] 30, Mirror, -1.358, 1.427, 2.855, 0, 0, 0, [SEP] 31, DeskLamp, -2.296, 0.858, 0.750, 0, 0, 0, [SEP] 32, Window, -0.421, 1.534, -1.947, 90, 0, 0, [SEP] 33, Window, 0.579, 1.534, -1.947, 90, 0, 0, [SEP] 34, Drawer, -0.491, 0.739, -0.855, 0, 90, 0, [SEP] 35, Drawer, -0.491, 0.204, -0.855, 0, 90, 0, [SEP] 36, Desk, -0.639, 0.009, -1.187, 0, 90, 0, [SEP] 37, Drawer, -0.491, 0.487, -0.855, 0, 90, 0, [SEP] 38, Shelf, -1.965, 1.514, 0.416, 0, 0, 0, [SEP] 39, Shelf, -1.965, 1.092, 0.416, 0, 0, 0, [SEP] 40, Shelf, -1.312, 1.888, 0.416, 0, 0, 0, [SEP] 41, Shelf, -1.965, 1.888, 0.416, 0, 0, 0, [SEP] 42, Shelf, -1.312, 1.092, 0.416, 0, 0, 0, [SEP] 43, Shelf, -1.312, 1.514, 0.416, 0, 0, 0, [SEP] 44, Blinds, 0.601, 2.161, -1.916, 0, 0, 0, [SEP] 45, Blinds, -0.402, 2.161, -1.916, 0, 0, 0, [SEP] 46, Desk, -1.726, 0.001, 0.575, 0, 0, 0, [SEP] 47, Drawer, -2.058, 0.733, 0.734, 0, 0, 0, [SEP] 48, Drawer, -2.058, 0.482, 0.734, 0, 0, 0, [SEP] 49, Drawer, -2.058, 0.198, 0.735, 0, 0, 0, [SEP] 50, Chair, -0.137, 0.000, -1.587, 0, 315, 0, [SEP] 51, Safe, -2.183, -7.748, 2.576, 0, 180, 0, [SEP] 52, Chair, -1.433, 0.009, 0.780, 357.672, 206.726, 0, [SEP] 53, LaundryHamper, 0.163, 0.003, 2.635, 0, 86.390, 0, [SEP] 54, , , , , , , , [SEP] 55, NorthWall, , , , , , , [SEP] 56, EastWall, , , , , , , [SEP] 57, SouthWall, , , , , , , [SEP] 58, WestWall, , , , , , , ", "output": ["STEP 1: Go to the right side of the wooden desk in front of you. | STEP 2: Pick up the white pencil on the desk. | STEP 3: Turn around and look behind you and then turn back around. | STEP 4: Place the white pencil on the desk near the books. | END"]} +{"id": "trial_T20190908_122154_042763-2", "input": "Move a pencil farther back 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, 270, 0, [SEP] 1, Mug, -0.483, 0.855, -1.183, 0, 0, 0, 36 [SEP] 2, CD, -0.785, 0.202, -0.310, 0, 0, 0, 29 [SEP] 3, CD, -2.155, 0.104, 0.759, 0, 0, 0, 49 [SEP] 4, CellPhone, -2.083, 0.040, 2.682, 0, 180, 0, 51 [SEP] 5, CellPhone, -2.031, 0.040, 2.522, 0, 180, 0, 51 [SEP] 6, Pen, -0.483, 0.863, -1.356, 0, 0, 0, 36 [SEP] 7, Pen, -1.914, 0.110, 0.683, 0, 0, 0, 49 [SEP] 8, KeyChain, -0.511, 0.365, -0.692, 0, 0, 0, 37 [SEP] 9, KeyChain, -2.344, 0.039, 2.736, 0, 270, 0, 54 [SEP] 10, Book, -0.819, 0.857, -0.836, 0, 0, 0, 36 [SEP] 11, Laptop, 1.409, 0.781, 1.945, 0, 0, 0, 27 [SEP] 12, AlarmClock, -0.819, 0.858, -1.010, 0, 0, 0, 36 [SEP] 13, Book, 1.003, 0.783, 2.524, 0, 0, 0, 27 [SEP] 14, AlarmClock, -1.233, 1.724, 0.448, 0, 0, 0, 40 [SEP] 15, BasketBall, 1.976, 0.120, 0.211, 0, 331.076, 0, [SEP] 16, Pen, -0.483, 0.863, -1.529, 0, 0, 0, 36 [SEP] 17, Laptop, 1.612, 0.781, 1.366, 0, 0, 0, 27 [SEP] 18, BaseballBat, 1.953, 0.659, -1.81, 346.388, 0, 0, [SEP] 19, Bowl, -0.567, 0.861, -0.836, 0, 0, 0, 36 [SEP] 20, Pillow, 1.206, 0.918, 1.076, 0, 0, 0, 27 [SEP] 21, KeyChain, -2.135, 0.039, 2.415, 0, 180, 0, 51 [SEP] 22, CreditCard, -0.473, 0.364, -1.013, 0, 0, 0, 35 [SEP] 23, CellPhone, -1.994, 0.387, 0.721, 0, 0, 0, 48 [SEP] 24, CD, -0.651, 0.857, -1.356, 0, 0, 0, 36 [SEP] 25, Pencil, -1.571, 0.882, 0.832, 0, 0, 0, 46 [SEP] 26, Mug, -2.045, 1.347, 0.407, 0, 0, 0, 46 [SEP] 27, Bed, 1.227, -0.002, 1.664, 0, 0, 0, [SEP] 28, LightSwitch, 2.151, 1.233, -0.518, 0, 270, 0, [SEP] 29, GarbageCan, -0.747, 0.014, -0.327, 0, 0, 0, [SEP] 30, Mirror, -1.358, 1.427, 2.855, 0, 0, 0, [SEP] 31, DeskLamp, -2.296, 0.858, 0.750, 0, 0, 0, [SEP] 32, Window, -0.421, 1.534, -1.947, 90, 0, 0, [SEP] 33, Window, 0.579, 1.534, -1.947, 90, 0, 0, [SEP] 34, Drawer, -0.491, 0.739, -0.855, 0, 90, 0, [SEP] 35, Drawer, -0.491, 0.204, -0.855, 0, 90, 0, [SEP] 36, Desk, -0.639, 0.009, -1.187, 0, 90, 0, [SEP] 37, Drawer, -0.491, 0.487, -0.855, 0, 90, 0, [SEP] 38, Shelf, -1.965, 1.514, 0.416, 0, 0, 0, [SEP] 39, Shelf, -1.965, 1.092, 0.416, 0, 0, 0, [SEP] 40, Shelf, -1.312, 1.888, 0.416, 0, 0, 0, [SEP] 41, Shelf, -1.965, 1.888, 0.416, 0, 0, 0, [SEP] 42, Shelf, -1.312, 1.092, 0.416, 0, 0, 0, [SEP] 43, Shelf, -1.312, 1.514, 0.416, 0, 0, 0, [SEP] 44, Blinds, 0.601, 2.161, -1.916, 0, 0, 0, [SEP] 45, Blinds, -0.402, 2.161, -1.916, 0, 0, 0, [SEP] 46, Desk, -1.726, 0.001, 0.575, 0, 0, 0, [SEP] 47, Drawer, -2.058, 0.733, 0.734, 0, 0, 0, [SEP] 48, Drawer, -2.058, 0.482, 0.734, 0, 0, 0, [SEP] 49, Drawer, -2.058, 0.198, 0.735, 0, 0, 0, [SEP] 50, Chair, -0.137, 0.000, -1.587, 0, 315, 0, [SEP] 51, Safe, -2.183, -7.748, 2.576, 0, 180, 0, [SEP] 52, Chair, -1.433, 0.009, 0.780, 357.672, 206.726, 0, [SEP] 53, LaundryHamper, 0.163, 0.003, 2.635, 0, 86.390, 0, [SEP] 54, , , , , , , , [SEP] 55, NorthWall, , , , , , , [SEP] 56, EastWall, , , , , , , [SEP] 57, SouthWall, , , , , , , [SEP] 58, WestWall, , , , , , , ", "output": ["STEP 1: Walk forward and left to face the desk. | STEP 2: Pick up the white pencil from the desk. | STEP 3: Turn to face the desk. | STEP 4: Put the white pencil down on the desk close to the standing books on the lower left side. | END"]} +{"id": "trial_T20190909_032740_934457-0", "input": "pick up the remote 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, -5.5, 0.901, 1.75, 0, 180, 0, [SEP] 1, TissueBox, -1.458, 0.075, 0.262, 0, 0, 0, 48 [SEP] 2, TissueBox, -5.364, 1.040, 0.372, 0, 0, 0, 41 [SEP] 3, Newspaper, -1.184, 0.079, 0.213, 0, 180, 0, 48 [SEP] 4, CellPhone, -1.117, 0.609, 3.545, 0, 0, 0, 63 [SEP] 5, CellPhone, -1.960, 0.590, 4.124, 0, 0, 0, 53 [SEP] 6, Statue, -3.864, 1.117, 4.687, 0, 90, 0, 59 [SEP] 7, Statue, -5.534, 1.044, 0.306, 0, 0, 0, 41 [SEP] 8, Vase, -2.901, 1.115, 4.786, 0, 90, 0, 59 [SEP] 9, Vase, -4.291, 0.203, 4.404, 0, 90, 0, 56 [SEP] 10, Watch, -5.534, 1.039, 0.504, 0, 0, 0, 41 [SEP] 11, Watch, -0.295, 0.593, 1.284, 0, 270, 0, 43 [SEP] 12, CreditCard, -1.960, 0.589, 4.557, 0, 0, 0, 53 [SEP] 13, RemoteControl, -1.117, 0.611, 2.488, 0, 0, 0, 63 [SEP] 14, RemoteControl, -2.210, 0.592, 4.557, 0, 0, 0, 53 [SEP] 15, Box, -3.222, 1.332, 4.589, 0, 180, 0, 59 [SEP] 16, Watch, -4.826, 1.111, 4.687, 0, 90, 0, 59 [SEP] 17, Pillow, -1.584, 0.668, 4.211, 0, 0, 0, 53 [SEP] 18, TissueBox, -4.673, 0.205, 4.331, 0, 90, 0, 62 [SEP] 19, Newspaper, -3.503, 0.210, 4.459, 0, 90, 0, 57 [SEP] 20, CreditCard, -1.459, 0.589, 4.124, 0, 0, 0, 53 [SEP] 21, KeyChain, -2.297, 0.034, 0.265, 0, 90, 0, 42 [SEP] 22, CellPhone, -3.863, 1.111, 4.490, 0, 90, 0, 59 [SEP] 23, Statue, -3.543, 1.113, 4.589, 0, 90, 0, 59 [SEP] 24, Laptop, -4.184, 1.109, 4.490, 0, 90, 0, 59 [SEP] 25, RemoteControl, -0.705, 0.611, 3.281, 0, 0, 0, 63 [SEP] 26, Vase, -2.404, 0.037, 0.160, 0, 90, 0, 42 [SEP] 27, DeskLamp, -4.649, 1.051, 0.268, 0, 0, 0, [SEP] 28, DeskLamp, -2.992, 1.107, 4.522, 0, 0, 0, [SEP] 29, FloorLamp, -0.650, 0.007, 4.431, 0, 0, 0, [SEP] 30, FloorLamp, -5.607, 0.007, 4.641, 0, 0, 0, [SEP] 31, Shelf, -5.237, 1.776, 0.070, 0, 0, 0, [SEP] 32, Shelf, -5.238, 1.968, 0.085, 0, 0, 0, [SEP] 33, Shelf, -5.242, 1.391, 0.086, 0, 0, 0, [SEP] 34, Shelf, -5.241, 1.582, 0.065, 0, 0, 0, [SEP] 35, LightSwitch, -6.002, 1.353, 3.404, 0, 90, 0, [SEP] 36, GarbageCan, -5.794, -0.033, 4.073, 0, 90, 0, [SEP] 37, Painting, -6.017, 1.802, 4.177, 90, 270, 0, [SEP] 38, HousePlant, -3.966, 1.625, 0.135, 0, 315, 0, [SEP] 39, Television, -3.355, 0.833, 0.027, 0, 0, 0, [SEP] 40, Drawer, -5.024, 0.903, 0.370, 0, 0, 0, [SEP] 41, SideTable, -5.024, 0.008, 0.267, 0, 0, 0, [SEP] 42, Safe, -2.298, 5.778, 0.268, 0, 90, 0, [SEP] 43, Shelf, -0.253, 0.781, 1.058, 0, 270, 0, [SEP] 44, Shelf, -0.283, 0.274, 1.066, 0, 270, 0, [SEP] 45, Shelf, -1.224, 1.288, 0.270, 0, 0, 0, [SEP] 46, Shelf, -1.218, 1.810, 0.275, 0, 0, 0, [SEP] 47, Shelf, -0.280, 1.810, 1.057, 0, 270, 0, [SEP] 48, Shelf, -1.218, 0.274, 0.262, 0, 0, 0, [SEP] 49, Shelf, -1.223, 0.782, 0.237, 0, 0, 0, [SEP] 50, Shelf, -0.280, 1.288, 1.055, 0, 270, 0, [SEP] 51, ShelvingUnit, -0.268, 0.004, 1.067, 0, 270, 0, [SEP] 52, ShelvingUnit, -1.218, 0.004, 0.244, 0, 0, 0, [SEP] 53, ArmChair, -2.027, 0.001, 4.422, 0, 178.692, 0, [SEP] 54, Drawer, -4.329, 1.014, 4.311, 0, 180, 0, [SEP] 55, Drawer, -3.750, 1.014, 4.311, 0, 180, 0, [SEP] 56, Cabinet, -4.049, 0.561, 4.212, 0, 180, 0, [SEP] 57, Cabinet, -4.032, 0.561, 4.212, 0, 180, 0, [SEP] 58, Cabinet, -2.884, 0.561, 4.212, 0, 180, 0, [SEP] 59, Dresser, -4.041, -0.000, 4.589, 0, 180, 0, [SEP] 60, Drawer, -4.916, 1.014, 4.311, 0, 180, 0, [SEP] 61, Drawer, -3.166, 1.014, 4.311, 0, 180, 0, [SEP] 62, Cabinet, -5.196, 0.561, 4.212, 0, 180, 0, [SEP] 63, Sofa, -0.705, -0.002, 2.753, 0, 270, 0, [SEP] 64, NorthWall, , , , , , , [SEP] 65, SouthWall, , , , , , , [SEP] 66, SouthWall, , , , , , , ", "output": ["STEP 1: look at the cabinet and then turn left walk forward to the couch then turn left walk towards the blue chair | STEP 2: pick up the remote that is on the blue chair | STEP 3: turn right towards the tan couch then point the remote at the wall | STEP 4: turn on the lamp | END"]} +{"id": "trial_T20190909_032740_934457-1", "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, -5.5, 0.901, 1.75, 0, 180, 0, [SEP] 1, TissueBox, -1.458, 0.075, 0.262, 0, 0, 0, 48 [SEP] 2, TissueBox, -5.364, 1.040, 0.372, 0, 0, 0, 41 [SEP] 3, Newspaper, -1.184, 0.079, 0.213, 0, 180, 0, 48 [SEP] 4, CellPhone, -1.117, 0.609, 3.545, 0, 0, 0, 63 [SEP] 5, CellPhone, -1.960, 0.590, 4.124, 0, 0, 0, 53 [SEP] 6, Statue, -3.864, 1.117, 4.687, 0, 90, 0, 59 [SEP] 7, Statue, -5.534, 1.044, 0.306, 0, 0, 0, 41 [SEP] 8, Vase, -2.901, 1.115, 4.786, 0, 90, 0, 59 [SEP] 9, Vase, -4.291, 0.203, 4.404, 0, 90, 0, 56 [SEP] 10, Watch, -5.534, 1.039, 0.504, 0, 0, 0, 41 [SEP] 11, Watch, -0.295, 0.593, 1.284, 0, 270, 0, 43 [SEP] 12, CreditCard, -1.960, 0.589, 4.557, 0, 0, 0, 53 [SEP] 13, RemoteControl, -1.117, 0.611, 2.488, 0, 0, 0, 63 [SEP] 14, RemoteControl, -2.210, 0.592, 4.557, 0, 0, 0, 53 [SEP] 15, Box, -3.222, 1.332, 4.589, 0, 180, 0, 59 [SEP] 16, Watch, -4.826, 1.111, 4.687, 0, 90, 0, 59 [SEP] 17, Pillow, -1.584, 0.668, 4.211, 0, 0, 0, 53 [SEP] 18, TissueBox, -4.673, 0.205, 4.331, 0, 90, 0, 62 [SEP] 19, Newspaper, -3.503, 0.210, 4.459, 0, 90, 0, 57 [SEP] 20, CreditCard, -1.459, 0.589, 4.124, 0, 0, 0, 53 [SEP] 21, KeyChain, -2.297, 0.034, 0.265, 0, 90, 0, 42 [SEP] 22, CellPhone, -3.863, 1.111, 4.490, 0, 90, 0, 59 [SEP] 23, Statue, -3.543, 1.113, 4.589, 0, 90, 0, 59 [SEP] 24, Laptop, -4.184, 1.109, 4.490, 0, 90, 0, 59 [SEP] 25, RemoteControl, -0.705, 0.611, 3.281, 0, 0, 0, 63 [SEP] 26, Vase, -2.404, 0.037, 0.160, 0, 90, 0, 42 [SEP] 27, DeskLamp, -4.649, 1.051, 0.268, 0, 0, 0, [SEP] 28, DeskLamp, -2.992, 1.107, 4.522, 0, 0, 0, [SEP] 29, FloorLamp, -0.650, 0.007, 4.431, 0, 0, 0, [SEP] 30, FloorLamp, -5.607, 0.007, 4.641, 0, 0, 0, [SEP] 31, Shelf, -5.237, 1.776, 0.070, 0, 0, 0, [SEP] 32, Shelf, -5.238, 1.968, 0.085, 0, 0, 0, [SEP] 33, Shelf, -5.242, 1.391, 0.086, 0, 0, 0, [SEP] 34, Shelf, -5.241, 1.582, 0.065, 0, 0, 0, [SEP] 35, LightSwitch, -6.002, 1.353, 3.404, 0, 90, 0, [SEP] 36, GarbageCan, -5.794, -0.033, 4.073, 0, 90, 0, [SEP] 37, Painting, -6.017, 1.802, 4.177, 90, 270, 0, [SEP] 38, HousePlant, -3.966, 1.625, 0.135, 0, 315, 0, [SEP] 39, Television, -3.355, 0.833, 0.027, 0, 0, 0, [SEP] 40, Drawer, -5.024, 0.903, 0.370, 0, 0, 0, [SEP] 41, SideTable, -5.024, 0.008, 0.267, 0, 0, 0, [SEP] 42, Safe, -2.298, 5.778, 0.268, 0, 90, 0, [SEP] 43, Shelf, -0.253, 0.781, 1.058, 0, 270, 0, [SEP] 44, Shelf, -0.283, 0.274, 1.066, 0, 270, 0, [SEP] 45, Shelf, -1.224, 1.288, 0.270, 0, 0, 0, [SEP] 46, Shelf, -1.218, 1.810, 0.275, 0, 0, 0, [SEP] 47, Shelf, -0.280, 1.810, 1.057, 0, 270, 0, [SEP] 48, Shelf, -1.218, 0.274, 0.262, 0, 0, 0, [SEP] 49, Shelf, -1.223, 0.782, 0.237, 0, 0, 0, [SEP] 50, Shelf, -0.280, 1.288, 1.055, 0, 270, 0, [SEP] 51, ShelvingUnit, -0.268, 0.004, 1.067, 0, 270, 0, [SEP] 52, ShelvingUnit, -1.218, 0.004, 0.244, 0, 0, 0, [SEP] 53, ArmChair, -2.027, 0.001, 4.422, 0, 178.692, 0, [SEP] 54, Drawer, -4.329, 1.014, 4.311, 0, 180, 0, [SEP] 55, Drawer, -3.750, 1.014, 4.311, 0, 180, 0, [SEP] 56, Cabinet, -4.049, 0.561, 4.212, 0, 180, 0, [SEP] 57, Cabinet, -4.032, 0.561, 4.212, 0, 180, 0, [SEP] 58, Cabinet, -2.884, 0.561, 4.212, 0, 180, 0, [SEP] 59, Dresser, -4.041, -0.000, 4.589, 0, 180, 0, [SEP] 60, Drawer, -4.916, 1.014, 4.311, 0, 180, 0, [SEP] 61, Drawer, -3.166, 1.014, 4.311, 0, 180, 0, [SEP] 62, Cabinet, -5.196, 0.561, 4.212, 0, 180, 0, [SEP] 63, Sofa, -0.705, -0.002, 2.753, 0, 270, 0, [SEP] 64, NorthWall, , , , , , , [SEP] 65, SouthWall, , , , , , , [SEP] 66, SouthWall, , , , , , , ", "output": ["STEP 1: Turn left, hang a left at the couch and walk to the blue chair ahead. | STEP 2: Pick up the remote control from the back left corner of the cushion on the chair. | STEP 3: Turn left and walk to the end of the couch ahead. | STEP 4: Turn on the tall lamp to the left of the couch. | END"]} +{"id": "trial_T20190909_032740_934457-2", "input": "Look at a remote 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, -5.5, 0.901, 1.75, 0, 180, 0, [SEP] 1, TissueBox, -1.458, 0.075, 0.262, 0, 0, 0, 48 [SEP] 2, TissueBox, -5.364, 1.040, 0.372, 0, 0, 0, 41 [SEP] 3, Newspaper, -1.184, 0.079, 0.213, 0, 180, 0, 48 [SEP] 4, CellPhone, -1.117, 0.609, 3.545, 0, 0, 0, 63 [SEP] 5, CellPhone, -1.960, 0.590, 4.124, 0, 0, 0, 53 [SEP] 6, Statue, -3.864, 1.117, 4.687, 0, 90, 0, 59 [SEP] 7, Statue, -5.534, 1.044, 0.306, 0, 0, 0, 41 [SEP] 8, Vase, -2.901, 1.115, 4.786, 0, 90, 0, 59 [SEP] 9, Vase, -4.291, 0.203, 4.404, 0, 90, 0, 56 [SEP] 10, Watch, -5.534, 1.039, 0.504, 0, 0, 0, 41 [SEP] 11, Watch, -0.295, 0.593, 1.284, 0, 270, 0, 43 [SEP] 12, CreditCard, -1.960, 0.589, 4.557, 0, 0, 0, 53 [SEP] 13, RemoteControl, -1.117, 0.611, 2.488, 0, 0, 0, 63 [SEP] 14, RemoteControl, -2.210, 0.592, 4.557, 0, 0, 0, 53 [SEP] 15, Box, -3.222, 1.332, 4.589, 0, 180, 0, 59 [SEP] 16, Watch, -4.826, 1.111, 4.687, 0, 90, 0, 59 [SEP] 17, Pillow, -1.584, 0.668, 4.211, 0, 0, 0, 53 [SEP] 18, TissueBox, -4.673, 0.205, 4.331, 0, 90, 0, 62 [SEP] 19, Newspaper, -3.503, 0.210, 4.459, 0, 90, 0, 57 [SEP] 20, CreditCard, -1.459, 0.589, 4.124, 0, 0, 0, 53 [SEP] 21, KeyChain, -2.297, 0.034, 0.265, 0, 90, 0, 42 [SEP] 22, CellPhone, -3.863, 1.111, 4.490, 0, 90, 0, 59 [SEP] 23, Statue, -3.543, 1.113, 4.589, 0, 90, 0, 59 [SEP] 24, Laptop, -4.184, 1.109, 4.490, 0, 90, 0, 59 [SEP] 25, RemoteControl, -0.705, 0.611, 3.281, 0, 0, 0, 63 [SEP] 26, Vase, -2.404, 0.037, 0.160, 0, 90, 0, 42 [SEP] 27, DeskLamp, -4.649, 1.051, 0.268, 0, 0, 0, [SEP] 28, DeskLamp, -2.992, 1.107, 4.522, 0, 0, 0, [SEP] 29, FloorLamp, -0.650, 0.007, 4.431, 0, 0, 0, [SEP] 30, FloorLamp, -5.607, 0.007, 4.641, 0, 0, 0, [SEP] 31, Shelf, -5.237, 1.776, 0.070, 0, 0, 0, [SEP] 32, Shelf, -5.238, 1.968, 0.085, 0, 0, 0, [SEP] 33, Shelf, -5.242, 1.391, 0.086, 0, 0, 0, [SEP] 34, Shelf, -5.241, 1.582, 0.065, 0, 0, 0, [SEP] 35, LightSwitch, -6.002, 1.353, 3.404, 0, 90, 0, [SEP] 36, GarbageCan, -5.794, -0.033, 4.073, 0, 90, 0, [SEP] 37, Painting, -6.017, 1.802, 4.177, 90, 270, 0, [SEP] 38, HousePlant, -3.966, 1.625, 0.135, 0, 315, 0, [SEP] 39, Television, -3.355, 0.833, 0.027, 0, 0, 0, [SEP] 40, Drawer, -5.024, 0.903, 0.370, 0, 0, 0, [SEP] 41, SideTable, -5.024, 0.008, 0.267, 0, 0, 0, [SEP] 42, Safe, -2.298, 5.778, 0.268, 0, 90, 0, [SEP] 43, Shelf, -0.253, 0.781, 1.058, 0, 270, 0, [SEP] 44, Shelf, -0.283, 0.274, 1.066, 0, 270, 0, [SEP] 45, Shelf, -1.224, 1.288, 0.270, 0, 0, 0, [SEP] 46, Shelf, -1.218, 1.810, 0.275, 0, 0, 0, [SEP] 47, Shelf, -0.280, 1.810, 1.057, 0, 270, 0, [SEP] 48, Shelf, -1.218, 0.274, 0.262, 0, 0, 0, [SEP] 49, Shelf, -1.223, 0.782, 0.237, 0, 0, 0, [SEP] 50, Shelf, -0.280, 1.288, 1.055, 0, 270, 0, [SEP] 51, ShelvingUnit, -0.268, 0.004, 1.067, 0, 270, 0, [SEP] 52, ShelvingUnit, -1.218, 0.004, 0.244, 0, 0, 0, [SEP] 53, ArmChair, -2.027, 0.001, 4.422, 0, 178.692, 0, [SEP] 54, Drawer, -4.329, 1.014, 4.311, 0, 180, 0, [SEP] 55, Drawer, -3.750, 1.014, 4.311, 0, 180, 0, [SEP] 56, Cabinet, -4.049, 0.561, 4.212, 0, 180, 0, [SEP] 57, Cabinet, -4.032, 0.561, 4.212, 0, 180, 0, [SEP] 58, Cabinet, -2.884, 0.561, 4.212, 0, 180, 0, [SEP] 59, Dresser, -4.041, -0.000, 4.589, 0, 180, 0, [SEP] 60, Drawer, -4.916, 1.014, 4.311, 0, 180, 0, [SEP] 61, Drawer, -3.166, 1.014, 4.311, 0, 180, 0, [SEP] 62, Cabinet, -5.196, 0.561, 4.212, 0, 180, 0, [SEP] 63, Sofa, -0.705, -0.002, 2.753, 0, 270, 0, [SEP] 64, NorthWall, , , , , , , [SEP] 65, SouthWall, , , , , , , [SEP] 66, SouthWall, , , , , , , ", "output": ["STEP 1: Turn left and walk ahead, veering left to the blue chair in the corner. | STEP 2: Pick up the remote on the chair. | STEP 3: Turn right and walk to the lamp in the corner of the room. | STEP 4: Turn the lamp on. | END"]} +{"id": "trial_T20190908_201421_021646-0", "input": "Turn on the desk 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, 2.25, 0, 270, 0, [SEP] 1, Mug, -1.233, 1.721, 0.448, 0, 0, 0, 41 [SEP] 2, Mug, -2.091, 0.876, 0.581, 0, 0, 0, 47 [SEP] 3, CD, -0.587, 0.364, -0.692, 0, 0, 0, 36 [SEP] 4, CD, -0.672, 0.202, -0.365, 0, 0, 0, 30 [SEP] 5, Pen, -2.091, 0.884, 0.749, 0, 0, 0, 47 [SEP] 6, Pencil, -1.224, 0.882, 0.665, 0, 0, 0, 47 [SEP] 7, Pencil, -0.567, 0.861, -1.183, 0, 0, 0, 37 [SEP] 8, CreditCard, -1.918, 0.878, 0.330, 0, 0, 0, 40 [SEP] 9, CreditCard, -1.994, 0.104, 0.683, 0, 0, 0, 50 [SEP] 10, KeyChain, -0.473, 0.083, -0.692, 0, 0, 0, 36 [SEP] 11, Book, -0.511, 0.364, -0.933, 0, 0, 0, 36 [SEP] 12, Book, 0.598, 0.783, 1.655, 0, 0, 0, 28 [SEP] 13, Laptop, 1.003, 0.781, 0.787, 0, 0, 0, 28 [SEP] 14, Book, 1.815, 0.783, 1.655, 0, 0, 0, 28 [SEP] 15, AlarmClock, -0.514, 0.851, -0.619, 0, 56.206, 0, 37 [SEP] 16, BasketBall, 1.976, 0.120, 0.211, 0, 331.076, 0, [SEP] 17, Pen, -2.045, 1.355, 0.448, 0, 0, 0, 39 [SEP] 18, Laptop, -1.783, 0.871, 0.732, 0, 0, 0, 47 [SEP] 19, BaseballBat, 1.953, 0.659, -1.81, 346.388, 0, 0, [SEP] 20, Bowl, -0.827, 0.850, -1.641, 0, 0, 0, 37 [SEP] 21, Pillow, 1.118, 0.867, 2.464, 0, 0, 0, 28 [SEP] 22, KeyChain, -2.292, 0.039, 2.469, 0, 180, 0, 55 [SEP] 23, CreditCard, -1.939, 1.349, 0.530, 0, 0, 0, 39 [SEP] 24, CellPhone, -2.155, 0.105, 0.721, 0, 0, 0, 50 [SEP] 25, CD, -1.392, 1.723, 0.489, 0, 0, 0, 41 [SEP] 26, Pencil, -0.483, 0.861, -1.356, 0, 0, 0, 37 [SEP] 27, Mug, -0.399, 0.855, -1.529, 0, 0, 0, 37 [SEP] 28, Bed, 1.227, -0.002, 1.664, 0, 0, 0, [SEP] 29, LightSwitch, 2.151, 1.233, -0.518, 0, 270, 0, [SEP] 30, GarbageCan, -0.747, 0.014, -0.327, 0, 0, 0, [SEP] 31, Mirror, -1.358, 1.427, 2.855, 0, 0, 0, [SEP] 32, DeskLamp, -2.296, 0.858, 0.750, 0, 0, 0, [SEP] 33, Window, -0.421, 1.534, -1.947, 90, 0, 0, [SEP] 34, Window, 0.579, 1.534, -1.947, 90, 0, 0, [SEP] 35, Drawer, -0.491, 0.739, -0.855, 0, 90, 0, [SEP] 36, Drawer, -0.491, 0.204, -0.855, 0, 90, 0, [SEP] 37, Desk, -0.639, 0.009, -1.187, 0, 90, 0, [SEP] 38, Drawer, -0.491, 0.487, -0.855, 0, 90, 0, [SEP] 39, Shelf, -1.965, 1.514, 0.416, 0, 0, 0, [SEP] 40, Shelf, -1.965, 1.092, 0.416, 0, 0, 0, [SEP] 41, Shelf, -1.312, 1.888, 0.416, 0, 0, 0, [SEP] 42, Shelf, -1.965, 1.888, 0.416, 0, 0, 0, [SEP] 43, Shelf, -1.312, 1.092, 0.416, 0, 0, 0, [SEP] 44, Shelf, -1.312, 1.514, 0.416, 0, 0, 0, [SEP] 45, Blinds, 0.601, 2.161, -1.916, 0, 0, 0, [SEP] 46, Blinds, -0.402, 2.161, -1.916, 0, 0, 0, [SEP] 47, Desk, -1.726, 0.001, 0.575, 0, 0, 0, [SEP] 48, Drawer, -2.058, 0.733, 0.734, 0, 0, 0, [SEP] 49, Drawer, -2.058, 0.482, 0.734, 0, 0, 0, [SEP] 50, Drawer, -2.058, 0.198, 0.735, 0, 0, 0, [SEP] 51, Chair, -0.137, 0.000, -1.587, 0, 315, 0, [SEP] 52, Safe, -2.183, -7.748, 2.576, 0, 180, 0, [SEP] 53, Chair, -1.433, 0.009, 0.780, 357.672, 206.726, 0, [SEP] 54, LaundryHamper, 0.163, 0.003, 2.635, 0, 86.390, 0, [SEP] 55, , , , , , , , [SEP] 56, NorthWall, , , , , , , [SEP] 57, EastWall, , , , , , , [SEP] 58, SouthWall, , , , , , , [SEP] 59, WestWall, , , , , , , ", "output": ["STEP 1: Turn to your left and go to the desk in front of you. | STEP 2: Pick up the white coffee cup, between the computer and the lamp, on the desk. | STEP 3: Move over to your right so that you are at the right end of the desk. | STEP 4: Turn on the lamp on the front, right corner of the desk. | END"]} +{"id": "trial_T20190908_201421_021646-1", "input": "turn on a desk lamp with a mug in hand SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.5, 0.900, 2.25, 0, 270, 0, [SEP] 1, Mug, -1.233, 1.721, 0.448, 0, 0, 0, 41 [SEP] 2, Mug, -2.091, 0.876, 0.581, 0, 0, 0, 47 [SEP] 3, CD, -0.587, 0.364, -0.692, 0, 0, 0, 36 [SEP] 4, CD, -0.672, 0.202, -0.365, 0, 0, 0, 30 [SEP] 5, Pen, -2.091, 0.884, 0.749, 0, 0, 0, 47 [SEP] 6, Pencil, -1.224, 0.882, 0.665, 0, 0, 0, 47 [SEP] 7, Pencil, -0.567, 0.861, -1.183, 0, 0, 0, 37 [SEP] 8, CreditCard, -1.918, 0.878, 0.330, 0, 0, 0, 40 [SEP] 9, CreditCard, -1.994, 0.104, 0.683, 0, 0, 0, 50 [SEP] 10, KeyChain, -0.473, 0.083, -0.692, 0, 0, 0, 36 [SEP] 11, Book, -0.511, 0.364, -0.933, 0, 0, 0, 36 [SEP] 12, Book, 0.598, 0.783, 1.655, 0, 0, 0, 28 [SEP] 13, Laptop, 1.003, 0.781, 0.787, 0, 0, 0, 28 [SEP] 14, Book, 1.815, 0.783, 1.655, 0, 0, 0, 28 [SEP] 15, AlarmClock, -0.514, 0.851, -0.619, 0, 56.206, 0, 37 [SEP] 16, BasketBall, 1.976, 0.120, 0.211, 0, 331.076, 0, [SEP] 17, Pen, -2.045, 1.355, 0.448, 0, 0, 0, 39 [SEP] 18, Laptop, -1.783, 0.871, 0.732, 0, 0, 0, 47 [SEP] 19, BaseballBat, 1.953, 0.659, -1.81, 346.388, 0, 0, [SEP] 20, Bowl, -0.827, 0.850, -1.641, 0, 0, 0, 37 [SEP] 21, Pillow, 1.118, 0.867, 2.464, 0, 0, 0, 28 [SEP] 22, KeyChain, -2.292, 0.039, 2.469, 0, 180, 0, 55 [SEP] 23, CreditCard, -1.939, 1.349, 0.530, 0, 0, 0, 39 [SEP] 24, CellPhone, -2.155, 0.105, 0.721, 0, 0, 0, 50 [SEP] 25, CD, -1.392, 1.723, 0.489, 0, 0, 0, 41 [SEP] 26, Pencil, -0.483, 0.861, -1.356, 0, 0, 0, 37 [SEP] 27, Mug, -0.399, 0.855, -1.529, 0, 0, 0, 37 [SEP] 28, Bed, 1.227, -0.002, 1.664, 0, 0, 0, [SEP] 29, LightSwitch, 2.151, 1.233, -0.518, 0, 270, 0, [SEP] 30, GarbageCan, -0.747, 0.014, -0.327, 0, 0, 0, [SEP] 31, Mirror, -1.358, 1.427, 2.855, 0, 0, 0, [SEP] 32, DeskLamp, -2.296, 0.858, 0.750, 0, 0, 0, [SEP] 33, Window, -0.421, 1.534, -1.947, 90, 0, 0, [SEP] 34, Window, 0.579, 1.534, -1.947, 90, 0, 0, [SEP] 35, Drawer, -0.491, 0.739, -0.855, 0, 90, 0, [SEP] 36, Drawer, -0.491, 0.204, -0.855, 0, 90, 0, [SEP] 37, Desk, -0.639, 0.009, -1.187, 0, 90, 0, [SEP] 38, Drawer, -0.491, 0.487, -0.855, 0, 90, 0, [SEP] 39, Shelf, -1.965, 1.514, 0.416, 0, 0, 0, [SEP] 40, Shelf, -1.965, 1.092, 0.416, 0, 0, 0, [SEP] 41, Shelf, -1.312, 1.888, 0.416, 0, 0, 0, [SEP] 42, Shelf, -1.965, 1.888, 0.416, 0, 0, 0, [SEP] 43, Shelf, -1.312, 1.092, 0.416, 0, 0, 0, [SEP] 44, Shelf, -1.312, 1.514, 0.416, 0, 0, 0, [SEP] 45, Blinds, 0.601, 2.161, -1.916, 0, 0, 0, [SEP] 46, Blinds, -0.402, 2.161, -1.916, 0, 0, 0, [SEP] 47, Desk, -1.726, 0.001, 0.575, 0, 0, 0, [SEP] 48, Drawer, -2.058, 0.733, 0.734, 0, 0, 0, [SEP] 49, Drawer, -2.058, 0.482, 0.734, 0, 0, 0, [SEP] 50, Drawer, -2.058, 0.198, 0.735, 0, 0, 0, [SEP] 51, Chair, -0.137, 0.000, -1.587, 0, 315, 0, [SEP] 52, Safe, -2.183, -7.748, 2.576, 0, 180, 0, [SEP] 53, Chair, -1.433, 0.009, 0.780, 357.672, 206.726, 0, [SEP] 54, LaundryHamper, 0.163, 0.003, 2.635, 0, 86.390, 0, [SEP] 55, , , , , , , , [SEP] 56, NorthWall, , , , , , , [SEP] 57, EastWall, , , , , , , [SEP] 58, SouthWall, , , , , , , [SEP] 59, WestWall, , , , , , , ", "output": ["STEP 1: walk to face the desk | STEP 2: pick up the white mug from the desk | STEP 3: step back slightly to continue to face desk | STEP 4: turn on desk lamp on the desk | END"]} +{"id": "trial_T20190908_201421_021646-2", "input": "Pick up a mug 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, -1.5, 0.900, 2.25, 0, 270, 0, [SEP] 1, Mug, -1.233, 1.721, 0.448, 0, 0, 0, 41 [SEP] 2, Mug, -2.091, 0.876, 0.581, 0, 0, 0, 47 [SEP] 3, CD, -0.587, 0.364, -0.692, 0, 0, 0, 36 [SEP] 4, CD, -0.672, 0.202, -0.365, 0, 0, 0, 30 [SEP] 5, Pen, -2.091, 0.884, 0.749, 0, 0, 0, 47 [SEP] 6, Pencil, -1.224, 0.882, 0.665, 0, 0, 0, 47 [SEP] 7, Pencil, -0.567, 0.861, -1.183, 0, 0, 0, 37 [SEP] 8, CreditCard, -1.918, 0.878, 0.330, 0, 0, 0, 40 [SEP] 9, CreditCard, -1.994, 0.104, 0.683, 0, 0, 0, 50 [SEP] 10, KeyChain, -0.473, 0.083, -0.692, 0, 0, 0, 36 [SEP] 11, Book, -0.511, 0.364, -0.933, 0, 0, 0, 36 [SEP] 12, Book, 0.598, 0.783, 1.655, 0, 0, 0, 28 [SEP] 13, Laptop, 1.003, 0.781, 0.787, 0, 0, 0, 28 [SEP] 14, Book, 1.815, 0.783, 1.655, 0, 0, 0, 28 [SEP] 15, AlarmClock, -0.514, 0.851, -0.619, 0, 56.206, 0, 37 [SEP] 16, BasketBall, 1.976, 0.120, 0.211, 0, 331.076, 0, [SEP] 17, Pen, -2.045, 1.355, 0.448, 0, 0, 0, 39 [SEP] 18, Laptop, -1.783, 0.871, 0.732, 0, 0, 0, 47 [SEP] 19, BaseballBat, 1.953, 0.659, -1.81, 346.388, 0, 0, [SEP] 20, Bowl, -0.827, 0.850, -1.641, 0, 0, 0, 37 [SEP] 21, Pillow, 1.118, 0.867, 2.464, 0, 0, 0, 28 [SEP] 22, KeyChain, -2.292, 0.039, 2.469, 0, 180, 0, 55 [SEP] 23, CreditCard, -1.939, 1.349, 0.530, 0, 0, 0, 39 [SEP] 24, CellPhone, -2.155, 0.105, 0.721, 0, 0, 0, 50 [SEP] 25, CD, -1.392, 1.723, 0.489, 0, 0, 0, 41 [SEP] 26, Pencil, -0.483, 0.861, -1.356, 0, 0, 0, 37 [SEP] 27, Mug, -0.399, 0.855, -1.529, 0, 0, 0, 37 [SEP] 28, Bed, 1.227, -0.002, 1.664, 0, 0, 0, [SEP] 29, LightSwitch, 2.151, 1.233, -0.518, 0, 270, 0, [SEP] 30, GarbageCan, -0.747, 0.014, -0.327, 0, 0, 0, [SEP] 31, Mirror, -1.358, 1.427, 2.855, 0, 0, 0, [SEP] 32, DeskLamp, -2.296, 0.858, 0.750, 0, 0, 0, [SEP] 33, Window, -0.421, 1.534, -1.947, 90, 0, 0, [SEP] 34, Window, 0.579, 1.534, -1.947, 90, 0, 0, [SEP] 35, Drawer, -0.491, 0.739, -0.855, 0, 90, 0, [SEP] 36, Drawer, -0.491, 0.204, -0.855, 0, 90, 0, [SEP] 37, Desk, -0.639, 0.009, -1.187, 0, 90, 0, [SEP] 38, Drawer, -0.491, 0.487, -0.855, 0, 90, 0, [SEP] 39, Shelf, -1.965, 1.514, 0.416, 0, 0, 0, [SEP] 40, Shelf, -1.965, 1.092, 0.416, 0, 0, 0, [SEP] 41, Shelf, -1.312, 1.888, 0.416, 0, 0, 0, [SEP] 42, Shelf, -1.965, 1.888, 0.416, 0, 0, 0, [SEP] 43, Shelf, -1.312, 1.092, 0.416, 0, 0, 0, [SEP] 44, Shelf, -1.312, 1.514, 0.416, 0, 0, 0, [SEP] 45, Blinds, 0.601, 2.161, -1.916, 0, 0, 0, [SEP] 46, Blinds, -0.402, 2.161, -1.916, 0, 0, 0, [SEP] 47, Desk, -1.726, 0.001, 0.575, 0, 0, 0, [SEP] 48, Drawer, -2.058, 0.733, 0.734, 0, 0, 0, [SEP] 49, Drawer, -2.058, 0.482, 0.734, 0, 0, 0, [SEP] 50, Drawer, -2.058, 0.198, 0.735, 0, 0, 0, [SEP] 51, Chair, -0.137, 0.000, -1.587, 0, 315, 0, [SEP] 52, Safe, -2.183, -7.748, 2.576, 0, 180, 0, [SEP] 53, Chair, -1.433, 0.009, 0.780, 357.672, 206.726, 0, [SEP] 54, LaundryHamper, 0.163, 0.003, 2.635, 0, 86.390, 0, [SEP] 55, , , , , , , , [SEP] 56, NorthWall, , , , , , , [SEP] 57, EastWall, , , , , , , [SEP] 58, SouthWall, , , , , , , [SEP] 59, WestWall, , , , , , , ", "output": ["STEP 1: Turn to your left and walk to the desk. | STEP 2: Pick up the white mug sitting behind the blue pencil between the laptop and the lamp. | STEP 3: Move to your right and stand in front of the lamp. | STEP 4: Turn the lamp on. | END"]} +{"id": "trial_T20190907_163240_345855-0", "input": "Put two pillows 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, -5.75, 0.901, 1.25, 0, 180, 0, [SEP] 1, TissueBox, -4.673, 0.205, 4.459, 0, 90, 0, 57 [SEP] 2, Newspaper, -5.534, 1.045, 0.173, 0, 0, 0, 36 [SEP] 3, Statue, -4.505, 1.117, 4.490, 0, 90, 0, 54 [SEP] 4, Watch, -1.185, 0.593, 0.258, 0, 0, 0, 44 [SEP] 5, Watch, -3.864, 1.108, 4.687, 0, 90, 0, 54 [SEP] 6, KeyChain, -5.364, 1.039, 0.504, 0, 0, 0, 36 [SEP] 7, Box, -4.223, 0.421, 4.342, 0, 180, 0, 51 [SEP] 8, Box, -3.863, 1.332, 4.490, 0, 90, 0, 54 [SEP] 9, Pillow, -1.584, 0.668, 4.211, 0, 0, 0, 48 [SEP] 10, Box, -3.570, 0.425, 4.587, 0, 0, 0, 52 [SEP] 11, Watch, -4.184, 1.111, 4.391, 0, 90, 0, 49 [SEP] 12, Pillow, -2.031, 0.668, 4.421, 0, 0, 0, 48 [SEP] 13, TissueBox, -3.706, 0.205, 4.395, 0, 90, 0, 52 [SEP] 14, Newspaper, -1.097, 1.597, 0.376, 0, 0, 0, 41 [SEP] 15, CreditCard, -5.194, 1.038, 0.173, 0, 0, 0, 36 [SEP] 16, KeyChain, -1.835, 0.590, 4.211, 0, 0, 0, 48 [SEP] 17, CellPhone, -0.258, 0.593, 1.010, 0, 270, 0, 38 [SEP] 18, Statue, -2.351, 0.039, 0.369, 0, 90, 0, 37 [SEP] 19, Laptop, -3.393, 1.104, 4.492, 0, 191.867, 0, 54 [SEP] 20, RemoteControl, -2.085, 0.592, 4.211, 0, 0, 0, 48 [SEP] 21, Vase, -2.351, 0.037, 0.160, 0, 90, 0, 37 [SEP] 22, DeskLamp, -4.649, 1.051, 0.268, 0, 0, 0, [SEP] 23, DeskLamp, -2.992, 1.107, 4.522, 0, 0, 0, [SEP] 24, FloorLamp, -0.650, 0.007, 4.431, 0, 0, 0, [SEP] 25, FloorLamp, -5.607, 0.007, 4.641, 0, 0, 0, [SEP] 26, Shelf, -5.237, 1.776, 0.070, 0, 0, 0, [SEP] 27, Shelf, -5.238, 1.968, 0.085, 0, 0, 0, [SEP] 28, Shelf, -5.242, 1.391, 0.086, 0, 0, 0, [SEP] 29, Shelf, -5.241, 1.582, 0.065, 0, 0, 0, [SEP] 30, LightSwitch, -6.002, 1.353, 3.404, 0, 90, 0, [SEP] 31, GarbageCan, -5.794, -0.033, 4.073, 0, 90, 0, [SEP] 32, Painting, -6.017, 1.802, 4.177, 90, 270, 0, [SEP] 33, HousePlant, -3.966, 1.625, 0.135, 0, 315, 0, [SEP] 34, Television, -3.355, 0.833, 0.027, 0, 0, 0, [SEP] 35, Drawer, -5.024, 0.903, 0.370, 0, 0, 0, [SEP] 36, SideTable, -5.024, 0.008, 0.267, 0, 0, 0, [SEP] 37, Safe, -2.298, 5.778, 0.268, 0, 90, 0, [SEP] 38, Shelf, -0.253, 0.781, 1.058, 0, 270, 0, [SEP] 39, Shelf, -0.283, 0.274, 1.066, 0, 270, 0, [SEP] 40, Shelf, -1.224, 1.288, 0.270, 0, 0, 0, [SEP] 41, Shelf, -1.218, 1.810, 0.275, 0, 0, 0, [SEP] 42, Shelf, -0.280, 1.810, 1.057, 0, 270, 0, [SEP] 43, Shelf, -1.218, 0.274, 0.262, 0, 0, 0, [SEP] 44, Shelf, -1.223, 0.782, 0.237, 0, 0, 0, [SEP] 45, Shelf, -0.280, 1.288, 1.055, 0, 270, 0, [SEP] 46, ShelvingUnit, -0.268, 0.004, 1.067, 0, 270, 0, [SEP] 47, ShelvingUnit, -1.218, 0.004, 0.244, 0, 0, 0, [SEP] 48, ArmChair, -2.027, 0.001, 4.422, 0, 178.692, 0, [SEP] 49, Drawer, -4.329, 1.014, 4.311, 0, 180, 0, [SEP] 50, Drawer, -3.750, 1.014, 4.311, 0, 180, 0, [SEP] 51, Cabinet, -4.049, 0.561, 4.212, 0, 180, 0, [SEP] 52, Cabinet, -4.032, 0.561, 4.212, 0, 180, 0, [SEP] 53, Cabinet, -2.884, 0.561, 4.212, 0, 180, 0, [SEP] 54, Dresser, -4.041, -0.000, 4.589, 0, 180, 0, [SEP] 55, Drawer, -4.916, 1.014, 4.311, 0, 180, 0, [SEP] 56, Drawer, -3.166, 1.014, 4.311, 0, 180, 0, [SEP] 57, Cabinet, -5.196, 0.561, 4.212, 0, 180, 0, [SEP] 58, Sofa, -0.705, -0.002, 2.753, 0, 270, 0, [SEP] 59, NorthWall, , , , , , , [SEP] 60, SouthWall, , , , , , , [SEP] 61, SouthWall, , , , , , , ", "output": ["STEP 1: Turn left, go straight, turn left, to face the blue chair. | STEP 2: Pick up the left most pillow on the blue chair. | STEP 3: Turn around, move forward, then turn left to face the sofa. | STEP 4: Put the pillow on the center of the sofa. | STEP 5: Turn left to return to the blue chair. | STEP 6: Pick up the pillow on the blue chair. | STEP 7: Turn around, move forward, then turn left to face the sofa. | STEP 8: Put the pillow on the right cushion of the sofa. | END"]} +{"id": "trial_T20190907_163240_345855-1", "input": "Put two pillows 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, -5.75, 0.901, 1.25, 0, 180, 0, [SEP] 1, TissueBox, -4.673, 0.205, 4.459, 0, 90, 0, 57 [SEP] 2, Newspaper, -5.534, 1.045, 0.173, 0, 0, 0, 36 [SEP] 3, Statue, -4.505, 1.117, 4.490, 0, 90, 0, 54 [SEP] 4, Watch, -1.185, 0.593, 0.258, 0, 0, 0, 44 [SEP] 5, Watch, -3.864, 1.108, 4.687, 0, 90, 0, 54 [SEP] 6, KeyChain, -5.364, 1.039, 0.504, 0, 0, 0, 36 [SEP] 7, Box, -4.223, 0.421, 4.342, 0, 180, 0, 51 [SEP] 8, Box, -3.863, 1.332, 4.490, 0, 90, 0, 54 [SEP] 9, Pillow, -1.584, 0.668, 4.211, 0, 0, 0, 48 [SEP] 10, Box, -3.570, 0.425, 4.587, 0, 0, 0, 52 [SEP] 11, Watch, -4.184, 1.111, 4.391, 0, 90, 0, 49 [SEP] 12, Pillow, -2.031, 0.668, 4.421, 0, 0, 0, 48 [SEP] 13, TissueBox, -3.706, 0.205, 4.395, 0, 90, 0, 52 [SEP] 14, Newspaper, -1.097, 1.597, 0.376, 0, 0, 0, 41 [SEP] 15, CreditCard, -5.194, 1.038, 0.173, 0, 0, 0, 36 [SEP] 16, KeyChain, -1.835, 0.590, 4.211, 0, 0, 0, 48 [SEP] 17, CellPhone, -0.258, 0.593, 1.010, 0, 270, 0, 38 [SEP] 18, Statue, -2.351, 0.039, 0.369, 0, 90, 0, 37 [SEP] 19, Laptop, -3.393, 1.104, 4.492, 0, 191.867, 0, 54 [SEP] 20, RemoteControl, -2.085, 0.592, 4.211, 0, 0, 0, 48 [SEP] 21, Vase, -2.351, 0.037, 0.160, 0, 90, 0, 37 [SEP] 22, DeskLamp, -4.649, 1.051, 0.268, 0, 0, 0, [SEP] 23, DeskLamp, -2.992, 1.107, 4.522, 0, 0, 0, [SEP] 24, FloorLamp, -0.650, 0.007, 4.431, 0, 0, 0, [SEP] 25, FloorLamp, -5.607, 0.007, 4.641, 0, 0, 0, [SEP] 26, Shelf, -5.237, 1.776, 0.070, 0, 0, 0, [SEP] 27, Shelf, -5.238, 1.968, 0.085, 0, 0, 0, [SEP] 28, Shelf, -5.242, 1.391, 0.086, 0, 0, 0, [SEP] 29, Shelf, -5.241, 1.582, 0.065, 0, 0, 0, [SEP] 30, LightSwitch, -6.002, 1.353, 3.404, 0, 90, 0, [SEP] 31, GarbageCan, -5.794, -0.033, 4.073, 0, 90, 0, [SEP] 32, Painting, -6.017, 1.802, 4.177, 90, 270, 0, [SEP] 33, HousePlant, -3.966, 1.625, 0.135, 0, 315, 0, [SEP] 34, Television, -3.355, 0.833, 0.027, 0, 0, 0, [SEP] 35, Drawer, -5.024, 0.903, 0.370, 0, 0, 0, [SEP] 36, SideTable, -5.024, 0.008, 0.267, 0, 0, 0, [SEP] 37, Safe, -2.298, 5.778, 0.268, 0, 90, 0, [SEP] 38, Shelf, -0.253, 0.781, 1.058, 0, 270, 0, [SEP] 39, Shelf, -0.283, 0.274, 1.066, 0, 270, 0, [SEP] 40, Shelf, -1.224, 1.288, 0.270, 0, 0, 0, [SEP] 41, Shelf, -1.218, 1.810, 0.275, 0, 0, 0, [SEP] 42, Shelf, -0.280, 1.810, 1.057, 0, 270, 0, [SEP] 43, Shelf, -1.218, 0.274, 0.262, 0, 0, 0, [SEP] 44, Shelf, -1.223, 0.782, 0.237, 0, 0, 0, [SEP] 45, Shelf, -0.280, 1.288, 1.055, 0, 270, 0, [SEP] 46, ShelvingUnit, -0.268, 0.004, 1.067, 0, 270, 0, [SEP] 47, ShelvingUnit, -1.218, 0.004, 0.244, 0, 0, 0, [SEP] 48, ArmChair, -2.027, 0.001, 4.422, 0, 178.692, 0, [SEP] 49, Drawer, -4.329, 1.014, 4.311, 0, 180, 0, [SEP] 50, Drawer, -3.750, 1.014, 4.311, 0, 180, 0, [SEP] 51, Cabinet, -4.049, 0.561, 4.212, 0, 180, 0, [SEP] 52, Cabinet, -4.032, 0.561, 4.212, 0, 180, 0, [SEP] 53, Cabinet, -2.884, 0.561, 4.212, 0, 180, 0, [SEP] 54, Dresser, -4.041, -0.000, 4.589, 0, 180, 0, [SEP] 55, Drawer, -4.916, 1.014, 4.311, 0, 180, 0, [SEP] 56, Drawer, -3.166, 1.014, 4.311, 0, 180, 0, [SEP] 57, Cabinet, -5.196, 0.561, 4.212, 0, 180, 0, [SEP] 58, Sofa, -0.705, -0.002, 2.753, 0, 270, 0, [SEP] 59, NorthWall, , , , , , , [SEP] 60, SouthWall, , , , , , , [SEP] 61, SouthWall, , , , , , , ", "output": ["STEP 1: Move to the arm chair to the left of the couch | STEP 2: Pick up a pillow from the chair | STEP 3: Move to the middle of the couch | STEP 4: Put the pillow on the couch | STEP 5: Move to the arm chair to the left of the couch | STEP 6: Pick up a pillow from the chair | STEP 7: Move to the middle of the couch | STEP 8: Put the pillow on the couch | END"]} +{"id": "trial_T20190907_163240_345855-2", "input": "place the two pillows 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, -5.75, 0.901, 1.25, 0, 180, 0, [SEP] 1, TissueBox, -4.673, 0.205, 4.459, 0, 90, 0, 57 [SEP] 2, Newspaper, -5.534, 1.045, 0.173, 0, 0, 0, 36 [SEP] 3, Statue, -4.505, 1.117, 4.490, 0, 90, 0, 54 [SEP] 4, Watch, -1.185, 0.593, 0.258, 0, 0, 0, 44 [SEP] 5, Watch, -3.864, 1.108, 4.687, 0, 90, 0, 54 [SEP] 6, KeyChain, -5.364, 1.039, 0.504, 0, 0, 0, 36 [SEP] 7, Box, -4.223, 0.421, 4.342, 0, 180, 0, 51 [SEP] 8, Box, -3.863, 1.332, 4.490, 0, 90, 0, 54 [SEP] 9, Pillow, -1.584, 0.668, 4.211, 0, 0, 0, 48 [SEP] 10, Box, -3.570, 0.425, 4.587, 0, 0, 0, 52 [SEP] 11, Watch, -4.184, 1.111, 4.391, 0, 90, 0, 49 [SEP] 12, Pillow, -2.031, 0.668, 4.421, 0, 0, 0, 48 [SEP] 13, TissueBox, -3.706, 0.205, 4.395, 0, 90, 0, 52 [SEP] 14, Newspaper, -1.097, 1.597, 0.376, 0, 0, 0, 41 [SEP] 15, CreditCard, -5.194, 1.038, 0.173, 0, 0, 0, 36 [SEP] 16, KeyChain, -1.835, 0.590, 4.211, 0, 0, 0, 48 [SEP] 17, CellPhone, -0.258, 0.593, 1.010, 0, 270, 0, 38 [SEP] 18, Statue, -2.351, 0.039, 0.369, 0, 90, 0, 37 [SEP] 19, Laptop, -3.393, 1.104, 4.492, 0, 191.867, 0, 54 [SEP] 20, RemoteControl, -2.085, 0.592, 4.211, 0, 0, 0, 48 [SEP] 21, Vase, -2.351, 0.037, 0.160, 0, 90, 0, 37 [SEP] 22, DeskLamp, -4.649, 1.051, 0.268, 0, 0, 0, [SEP] 23, DeskLamp, -2.992, 1.107, 4.522, 0, 0, 0, [SEP] 24, FloorLamp, -0.650, 0.007, 4.431, 0, 0, 0, [SEP] 25, FloorLamp, -5.607, 0.007, 4.641, 0, 0, 0, [SEP] 26, Shelf, -5.237, 1.776, 0.070, 0, 0, 0, [SEP] 27, Shelf, -5.238, 1.968, 0.085, 0, 0, 0, [SEP] 28, Shelf, -5.242, 1.391, 0.086, 0, 0, 0, [SEP] 29, Shelf, -5.241, 1.582, 0.065, 0, 0, 0, [SEP] 30, LightSwitch, -6.002, 1.353, 3.404, 0, 90, 0, [SEP] 31, GarbageCan, -5.794, -0.033, 4.073, 0, 90, 0, [SEP] 32, Painting, -6.017, 1.802, 4.177, 90, 270, 0, [SEP] 33, HousePlant, -3.966, 1.625, 0.135, 0, 315, 0, [SEP] 34, Television, -3.355, 0.833, 0.027, 0, 0, 0, [SEP] 35, Drawer, -5.024, 0.903, 0.370, 0, 0, 0, [SEP] 36, SideTable, -5.024, 0.008, 0.267, 0, 0, 0, [SEP] 37, Safe, -2.298, 5.778, 0.268, 0, 90, 0, [SEP] 38, Shelf, -0.253, 0.781, 1.058, 0, 270, 0, [SEP] 39, Shelf, -0.283, 0.274, 1.066, 0, 270, 0, [SEP] 40, Shelf, -1.224, 1.288, 0.270, 0, 0, 0, [SEP] 41, Shelf, -1.218, 1.810, 0.275, 0, 0, 0, [SEP] 42, Shelf, -0.280, 1.810, 1.057, 0, 270, 0, [SEP] 43, Shelf, -1.218, 0.274, 0.262, 0, 0, 0, [SEP] 44, Shelf, -1.223, 0.782, 0.237, 0, 0, 0, [SEP] 45, Shelf, -0.280, 1.288, 1.055, 0, 270, 0, [SEP] 46, ShelvingUnit, -0.268, 0.004, 1.067, 0, 270, 0, [SEP] 47, ShelvingUnit, -1.218, 0.004, 0.244, 0, 0, 0, [SEP] 48, ArmChair, -2.027, 0.001, 4.422, 0, 178.692, 0, [SEP] 49, Drawer, -4.329, 1.014, 4.311, 0, 180, 0, [SEP] 50, Drawer, -3.750, 1.014, 4.311, 0, 180, 0, [SEP] 51, Cabinet, -4.049, 0.561, 4.212, 0, 180, 0, [SEP] 52, Cabinet, -4.032, 0.561, 4.212, 0, 180, 0, [SEP] 53, Cabinet, -2.884, 0.561, 4.212, 0, 180, 0, [SEP] 54, Dresser, -4.041, -0.000, 4.589, 0, 180, 0, [SEP] 55, Drawer, -4.916, 1.014, 4.311, 0, 180, 0, [SEP] 56, Drawer, -3.166, 1.014, 4.311, 0, 180, 0, [SEP] 57, Cabinet, -5.196, 0.561, 4.212, 0, 180, 0, [SEP] 58, Sofa, -0.705, -0.002, 2.753, 0, 270, 0, [SEP] 59, NorthWall, , , , , , , [SEP] 60, SouthWall, , , , , , , [SEP] 61, SouthWall, , , , , , , ", "output": ["STEP 1: turn around and locate the chair | STEP 2: pick up the pillow from the chair | STEP 3: turn right and head for the sofa | STEP 4: drop the pillow on the sofa | STEP 5: turn left and head for the chair | STEP 6: pick up the other pillow | STEP 7: turn right towards the sofa | STEP 8: place the pillow on the sofa | END"]} +{"id": "trial_T20190908_141958_463362-0", "input": "Turn on the desk 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, 270, 0, [SEP] 1, CD, -0.672, 0.202, -0.365, 0, 0, 0, 23 [SEP] 2, CD, -0.651, 0.857, -0.663, 0, 0, 0, 30 [SEP] 3, CellPhone, -2.155, 0.387, 0.683, 0, 0, 0, 42 [SEP] 4, CreditCard, -0.511, 0.083, -0.612, 0, 0, 0, 29 [SEP] 5, Book, 0.800, 0.783, 1.655, 0, 0, 0, 21 [SEP] 6, AlarmClock, -1.179, 1.724, 0.489, 0, 0, 0, 34 [SEP] 7, Book, 1.206, 0.783, 1.366, 0, 0, 0, 21 [SEP] 8, AlarmClock, -1.392, 1.724, 0.489, 0, 0, 0, 34 [SEP] 9, BasketBall, 1.976, 0.120, 0.211, 0, 331.076, 0, [SEP] 10, Pen, -0.511, 0.654, -0.772, 0, 0, 0, 28 [SEP] 11, Laptop, 1.003, 0.781, 1.945, 0, 0, 0, 21 [SEP] 12, BaseballBat, 1.953, 0.659, -1.81, 346.388, 0, 0, [SEP] 13, Bowl, -0.567, 0.861, -1.529, 0, 0, 0, 30 [SEP] 14, Pillow, 1.118, 0.867, 2.464, 0, 0, 0, 21 [SEP] 15, KeyChain, -2.083, 0.039, 2.682, 0, 180, 0, 45 [SEP] 16, CreditCard, -2.155, 0.386, 0.797, 0, 0, 0, 42 [SEP] 17, CellPhone, 1.612, 0.784, 0.787, 0, 0, 0, 21 [SEP] 18, CD, -2.135, 0.039, 2.469, 0, 180, 0, 45 [SEP] 19, Pencil, -1.571, 0.882, 0.581, 0, 0, 0, 40 [SEP] 20, Mug, -0.399, 0.855, -1.010, 0, 0, 0, 30 [SEP] 21, Bed, 1.227, -0.002, 1.664, 0, 0, 0, [SEP] 22, LightSwitch, 2.151, 1.233, -0.518, 0, 270, 0, [SEP] 23, GarbageCan, -0.747, 0.014, -0.327, 0, 0, 0, [SEP] 24, Mirror, -1.358, 1.427, 2.855, 0, 0, 0, [SEP] 25, DeskLamp, -2.296, 0.858, 0.750, 0, 0, 0, [SEP] 26, Window, -0.421, 1.534, -1.947, 90, 0, 0, [SEP] 27, Window, 0.579, 1.534, -1.947, 90, 0, 0, [SEP] 28, Drawer, -0.491, 0.739, -0.855, 0, 90, 0, [SEP] 29, Drawer, -0.491, 0.204, -0.855, 0, 90, 0, [SEP] 30, Desk, -0.639, 0.009, -1.187, 0, 90, 0, [SEP] 31, Drawer, -0.491, 0.487, -0.855, 0, 90, 0, [SEP] 32, Shelf, -1.965, 1.514, 0.416, 0, 0, 0, [SEP] 33, Shelf, -1.965, 1.092, 0.416, 0, 0, 0, [SEP] 34, Shelf, -1.312, 1.888, 0.416, 0, 0, 0, [SEP] 35, Shelf, -1.965, 1.888, 0.416, 0, 0, 0, [SEP] 36, Shelf, -1.312, 1.092, 0.416, 0, 0, 0, [SEP] 37, Shelf, -1.312, 1.514, 0.416, 0, 0, 0, [SEP] 38, Blinds, 0.601, 2.161, -1.916, 0, 0, 0, [SEP] 39, Blinds, -0.402, 2.161, -1.916, 0, 0, 0, [SEP] 40, Desk, -1.726, 0.001, 0.575, 0, 0, 0, [SEP] 41, Drawer, -2.058, 0.733, 0.734, 0, 0, 0, [SEP] 42, Drawer, -2.058, 0.482, 0.734, 0, 0, 0, [SEP] 43, Drawer, -2.058, 0.198, 0.735, 0, 0, 0, [SEP] 44, Chair, -0.137, 0.000, -1.587, 0, 315, 0, [SEP] 45, Safe, -2.183, -7.748, 2.576, 0, 180, 0, [SEP] 46, Chair, -1.433, 0.009, 0.780, 357.672, 206.726, 0, [SEP] 47, LaundryHamper, 0.163, 0.003, 2.635, 0, 86.390, 0, [SEP] 48, NorthWall, , , , , , , [SEP] 49, EastWall, , , , , , , [SEP] 50, SouthWall, , , , , , , [SEP] 51, WestWall, , , , , , , ", "output": ["STEP 1: Go to the garbage can on the floor, to the right of the desk, in front of you. | STEP 2: Remove the CD from the garbage bin. | STEP 3: Turn to your right and walk across the room, turn right at the wall and go to the end of the desk on your left. | STEP 4: Turn on the lamp on the front, far, right corner of the desk. | END"]} +{"id": "trial_T20190908_141958_463362-1", "input": "examine a CD with 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, 0.900, -0.25, 0, 270, 0, [SEP] 1, CD, -0.672, 0.202, -0.365, 0, 0, 0, 23 [SEP] 2, CD, -0.651, 0.857, -0.663, 0, 0, 0, 30 [SEP] 3, CellPhone, -2.155, 0.387, 0.683, 0, 0, 0, 42 [SEP] 4, CreditCard, -0.511, 0.083, -0.612, 0, 0, 0, 29 [SEP] 5, Book, 0.800, 0.783, 1.655, 0, 0, 0, 21 [SEP] 6, AlarmClock, -1.179, 1.724, 0.489, 0, 0, 0, 34 [SEP] 7, Book, 1.206, 0.783, 1.366, 0, 0, 0, 21 [SEP] 8, AlarmClock, -1.392, 1.724, 0.489, 0, 0, 0, 34 [SEP] 9, BasketBall, 1.976, 0.120, 0.211, 0, 331.076, 0, [SEP] 10, Pen, -0.511, 0.654, -0.772, 0, 0, 0, 28 [SEP] 11, Laptop, 1.003, 0.781, 1.945, 0, 0, 0, 21 [SEP] 12, BaseballBat, 1.953, 0.659, -1.81, 346.388, 0, 0, [SEP] 13, Bowl, -0.567, 0.861, -1.529, 0, 0, 0, 30 [SEP] 14, Pillow, 1.118, 0.867, 2.464, 0, 0, 0, 21 [SEP] 15, KeyChain, -2.083, 0.039, 2.682, 0, 180, 0, 45 [SEP] 16, CreditCard, -2.155, 0.386, 0.797, 0, 0, 0, 42 [SEP] 17, CellPhone, 1.612, 0.784, 0.787, 0, 0, 0, 21 [SEP] 18, CD, -2.135, 0.039, 2.469, 0, 180, 0, 45 [SEP] 19, Pencil, -1.571, 0.882, 0.581, 0, 0, 0, 40 [SEP] 20, Mug, -0.399, 0.855, -1.010, 0, 0, 0, 30 [SEP] 21, Bed, 1.227, -0.002, 1.664, 0, 0, 0, [SEP] 22, LightSwitch, 2.151, 1.233, -0.518, 0, 270, 0, [SEP] 23, GarbageCan, -0.747, 0.014, -0.327, 0, 0, 0, [SEP] 24, Mirror, -1.358, 1.427, 2.855, 0, 0, 0, [SEP] 25, DeskLamp, -2.296, 0.858, 0.750, 0, 0, 0, [SEP] 26, Window, -0.421, 1.534, -1.947, 90, 0, 0, [SEP] 27, Window, 0.579, 1.534, -1.947, 90, 0, 0, [SEP] 28, Drawer, -0.491, 0.739, -0.855, 0, 90, 0, [SEP] 29, Drawer, -0.491, 0.204, -0.855, 0, 90, 0, [SEP] 30, Desk, -0.639, 0.009, -1.187, 0, 90, 0, [SEP] 31, Drawer, -0.491, 0.487, -0.855, 0, 90, 0, [SEP] 32, Shelf, -1.965, 1.514, 0.416, 0, 0, 0, [SEP] 33, Shelf, -1.965, 1.092, 0.416, 0, 0, 0, [SEP] 34, Shelf, -1.312, 1.888, 0.416, 0, 0, 0, [SEP] 35, Shelf, -1.965, 1.888, 0.416, 0, 0, 0, [SEP] 36, Shelf, -1.312, 1.092, 0.416, 0, 0, 0, [SEP] 37, Shelf, -1.312, 1.514, 0.416, 0, 0, 0, [SEP] 38, Blinds, 0.601, 2.161, -1.916, 0, 0, 0, [SEP] 39, Blinds, -0.402, 2.161, -1.916, 0, 0, 0, [SEP] 40, Desk, -1.726, 0.001, 0.575, 0, 0, 0, [SEP] 41, Drawer, -2.058, 0.733, 0.734, 0, 0, 0, [SEP] 42, Drawer, -2.058, 0.482, 0.734, 0, 0, 0, [SEP] 43, Drawer, -2.058, 0.198, 0.735, 0, 0, 0, [SEP] 44, Chair, -0.137, 0.000, -1.587, 0, 315, 0, [SEP] 45, Safe, -2.183, -7.748, 2.576, 0, 180, 0, [SEP] 46, Chair, -1.433, 0.009, 0.780, 357.672, 206.726, 0, [SEP] 47, LaundryHamper, 0.163, 0.003, 2.635, 0, 86.390, 0, [SEP] 48, NorthWall, , , , , , , [SEP] 49, EastWall, , , , , , , [SEP] 50, SouthWall, , , , , , , [SEP] 51, WestWall, , , , , , , ", "output": ["STEP 1: walk forward to the gray trash can | STEP 2: take the CD out of the gray trash can | STEP 3: turn right, walk across the room, turn left, walk to the wall, turn left to face the lamp on the desk | STEP 4: turn the lamp on | END"]} +{"id": "trial_T20190908_141958_463362-2", "input": "Look at the CD in the light. 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, 270, 0, [SEP] 1, CD, -0.672, 0.202, -0.365, 0, 0, 0, 23 [SEP] 2, CD, -0.651, 0.857, -0.663, 0, 0, 0, 30 [SEP] 3, CellPhone, -2.155, 0.387, 0.683, 0, 0, 0, 42 [SEP] 4, CreditCard, -0.511, 0.083, -0.612, 0, 0, 0, 29 [SEP] 5, Book, 0.800, 0.783, 1.655, 0, 0, 0, 21 [SEP] 6, AlarmClock, -1.179, 1.724, 0.489, 0, 0, 0, 34 [SEP] 7, Book, 1.206, 0.783, 1.366, 0, 0, 0, 21 [SEP] 8, AlarmClock, -1.392, 1.724, 0.489, 0, 0, 0, 34 [SEP] 9, BasketBall, 1.976, 0.120, 0.211, 0, 331.076, 0, [SEP] 10, Pen, -0.511, 0.654, -0.772, 0, 0, 0, 28 [SEP] 11, Laptop, 1.003, 0.781, 1.945, 0, 0, 0, 21 [SEP] 12, BaseballBat, 1.953, 0.659, -1.81, 346.388, 0, 0, [SEP] 13, Bowl, -0.567, 0.861, -1.529, 0, 0, 0, 30 [SEP] 14, Pillow, 1.118, 0.867, 2.464, 0, 0, 0, 21 [SEP] 15, KeyChain, -2.083, 0.039, 2.682, 0, 180, 0, 45 [SEP] 16, CreditCard, -2.155, 0.386, 0.797, 0, 0, 0, 42 [SEP] 17, CellPhone, 1.612, 0.784, 0.787, 0, 0, 0, 21 [SEP] 18, CD, -2.135, 0.039, 2.469, 0, 180, 0, 45 [SEP] 19, Pencil, -1.571, 0.882, 0.581, 0, 0, 0, 40 [SEP] 20, Mug, -0.399, 0.855, -1.010, 0, 0, 0, 30 [SEP] 21, Bed, 1.227, -0.002, 1.664, 0, 0, 0, [SEP] 22, LightSwitch, 2.151, 1.233, -0.518, 0, 270, 0, [SEP] 23, GarbageCan, -0.747, 0.014, -0.327, 0, 0, 0, [SEP] 24, Mirror, -1.358, 1.427, 2.855, 0, 0, 0, [SEP] 25, DeskLamp, -2.296, 0.858, 0.750, 0, 0, 0, [SEP] 26, Window, -0.421, 1.534, -1.947, 90, 0, 0, [SEP] 27, Window, 0.579, 1.534, -1.947, 90, 0, 0, [SEP] 28, Drawer, -0.491, 0.739, -0.855, 0, 90, 0, [SEP] 29, Drawer, -0.491, 0.204, -0.855, 0, 90, 0, [SEP] 30, Desk, -0.639, 0.009, -1.187, 0, 90, 0, [SEP] 31, Drawer, -0.491, 0.487, -0.855, 0, 90, 0, [SEP] 32, Shelf, -1.965, 1.514, 0.416, 0, 0, 0, [SEP] 33, Shelf, -1.965, 1.092, 0.416, 0, 0, 0, [SEP] 34, Shelf, -1.312, 1.888, 0.416, 0, 0, 0, [SEP] 35, Shelf, -1.965, 1.888, 0.416, 0, 0, 0, [SEP] 36, Shelf, -1.312, 1.092, 0.416, 0, 0, 0, [SEP] 37, Shelf, -1.312, 1.514, 0.416, 0, 0, 0, [SEP] 38, Blinds, 0.601, 2.161, -1.916, 0, 0, 0, [SEP] 39, Blinds, -0.402, 2.161, -1.916, 0, 0, 0, [SEP] 40, Desk, -1.726, 0.001, 0.575, 0, 0, 0, [SEP] 41, Drawer, -2.058, 0.733, 0.734, 0, 0, 0, [SEP] 42, Drawer, -2.058, 0.482, 0.734, 0, 0, 0, [SEP] 43, Drawer, -2.058, 0.198, 0.735, 0, 0, 0, [SEP] 44, Chair, -0.137, 0.000, -1.587, 0, 315, 0, [SEP] 45, Safe, -2.183, -7.748, 2.576, 0, 180, 0, [SEP] 46, Chair, -1.433, 0.009, 0.780, 357.672, 206.726, 0, [SEP] 47, LaundryHamper, 0.163, 0.003, 2.635, 0, 86.390, 0, [SEP] 48, NorthWall, , , , , , , [SEP] 49, EastWall, , , , , , , [SEP] 50, SouthWall, , , , , , , [SEP] 51, WestWall, , , , , , , ", "output": ["STEP 1: Walk across the room. | STEP 2: Pick up the CD that is in the bin on the floor. | STEP 3: Turn right and take three steps, then turn left and walk across the room, then turn left to face the desk. | STEP 4: Turn on the lamp. | END"]} +{"id": "trial_T20190906_214631_761426-0", "input": "turn on a lamp while holding a baseball bat 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, Mug, -0.567, 0.855, -1.183, 0, 0, 0, 37 [SEP] 2, CD, -0.586, 0.648, -0.772, 0, 0, 0, 35 [SEP] 3, CD, -0.651, 0.857, -1.356, 0, 0, 0, 37 [SEP] 4, CellPhone, -0.483, 0.858, -1.529, 0, 0, 0, 37 [SEP] 5, CellPhone, 0.598, 0.784, 1.655, 0, 0, 0, 28 [SEP] 6, Pen, -2.091, 0.884, 0.749, 0, 0, 0, 47 [SEP] 7, Pencil, -1.939, 1.727, 0.407, 0, 0, 0, 42 [SEP] 8, CreditCard, -1.914, 0.386, 0.759, 0, 0, 0, 49 [SEP] 9, KeyChain, -0.735, 0.857, -1.010, 0, 0, 0, 37 [SEP] 10, KeyChain, -2.135, 0.039, 2.736, 0, 270, 0, 52 [SEP] 11, Book, 1.003, 0.783, 0.787, 0, 0, 0, 28 [SEP] 12, AlarmClock, -0.735, 0.858, -0.663, 0, 0, 0, 37 [SEP] 13, AlarmClock, -1.179, 1.724, 0.448, 0, 0, 0, 41 [SEP] 14, Book, 1.409, 0.783, 1.655, 0, 0, 0, 28 [SEP] 15, AlarmClock, -1.834, 1.724, 0.407, 0, 0, 0, 41 [SEP] 16, BasketBall, 1.976, 0.120, 0.211, 0, 331.076, 0, [SEP] 17, Pen, -0.473, 0.370, -0.692, 0, 0, 0, 38 [SEP] 18, Laptop, -1.783, 0.871, 0.732, 0, 0, 0, 47 [SEP] 19, BaseballBat, 1.953, 0.659, -1.81, 346.388, 0, 0, [SEP] 20, Bowl, -0.827, 0.850, -1.641, 0, 0, 0, 37 [SEP] 21, Pillow, 1.612, 0.918, 2.234, 0, 0, 0, 28 [SEP] 22, KeyChain, -0.511, 0.083, -0.772, 0, 0, 0, 36 [SEP] 23, CreditCard, -0.587, 0.364, -1.093, 0, 0, 0, 36 [SEP] 24, CellPhone, -0.399, 0.858, -1.183, 0, 0, 0, 37 [SEP] 25, CD, -2.083, 0.039, 2.469, 0, 180, 0, 55 [SEP] 26, Pencil, -0.567, 0.861, -0.663, 0, 0, 0, 37 [SEP] 27, Mug, -0.651, 0.855, -1.529, 0, 0, 0, 37 [SEP] 28, Bed, 1.227, -0.002, 1.664, 0, 0, 0, [SEP] 29, LightSwitch, 2.151, 1.233, -0.518, 0, 270, 0, [SEP] 30, GarbageCan, -0.747, 0.014, -0.327, 0, 0, 0, [SEP] 31, Mirror, -1.358, 1.427, 2.855, 0, 0, 0, [SEP] 32, DeskLamp, -2.296, 0.858, 0.750, 0, 0, 0, [SEP] 33, Window, -0.421, 1.534, -1.947, 90, 0, 0, [SEP] 34, Window, 0.579, 1.534, -1.947, 90, 0, 0, [SEP] 35, Drawer, -0.491, 0.739, -0.855, 0, 90, 0, [SEP] 36, Drawer, -0.491, 0.204, -0.855, 0, 90, 0, [SEP] 37, Desk, -0.639, 0.009, -1.187, 0, 90, 0, [SEP] 38, Drawer, -0.491, 0.487, -0.855, 0, 90, 0, [SEP] 39, Shelf, -1.965, 1.514, 0.416, 0, 0, 0, [SEP] 40, Shelf, -1.965, 1.092, 0.416, 0, 0, 0, [SEP] 41, Shelf, -1.312, 1.888, 0.416, 0, 0, 0, [SEP] 42, Shelf, -1.965, 1.888, 0.416, 0, 0, 0, [SEP] 43, Shelf, -1.312, 1.092, 0.416, 0, 0, 0, [SEP] 44, Shelf, -1.312, 1.514, 0.416, 0, 0, 0, [SEP] 45, Blinds, 0.601, 2.161, -1.916, 0, 0, 0, [SEP] 46, Blinds, -0.402, 2.161, -1.916, 0, 0, 0, [SEP] 47, Desk, -1.726, 0.001, 0.575, 0, 0, 0, [SEP] 48, Drawer, -2.058, 0.733, 0.734, 0, 0, 0, [SEP] 49, Drawer, -2.058, 0.482, 0.734, 0, 0, 0, [SEP] 50, Drawer, -2.058, 0.198, 0.735, 0, 0, 0, [SEP] 51, Chair, -0.137, 0.000, -1.587, 0, 315, 0, [SEP] 52, Safe, -2.183, -7.748, 2.576, 0, 180, 0, [SEP] 53, Chair, -1.433, 0.009, 0.780, 357.672, 206.726, 0, [SEP] 54, LaundryHamper, 0.163, 0.003, 2.635, 0, 86.390, 0, [SEP] 55, , , , , , , , [SEP] 56, NorthWall, , , , , , , [SEP] 57, EastWall, , , , , , , [SEP] 58, SouthWall, , , , , , , [SEP] 59, WestWall, , , , , , , ", "output": ["STEP 1: walk forwards a bit towards the baseball bat | STEP 2: grab the baseball bat leading against the wall | STEP 3: turn and walk over to the right side of the computer desk | STEP 4: turn on the lamp on the computer desk | END"]} +{"id": "trial_T20190906_214631_761426-1", "input": "Examine a bat 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, 1.25, 0.900, -0.75, 0, 180, 0, [SEP] 1, Mug, -0.567, 0.855, -1.183, 0, 0, 0, 37 [SEP] 2, CD, -0.586, 0.648, -0.772, 0, 0, 0, 35 [SEP] 3, CD, -0.651, 0.857, -1.356, 0, 0, 0, 37 [SEP] 4, CellPhone, -0.483, 0.858, -1.529, 0, 0, 0, 37 [SEP] 5, CellPhone, 0.598, 0.784, 1.655, 0, 0, 0, 28 [SEP] 6, Pen, -2.091, 0.884, 0.749, 0, 0, 0, 47 [SEP] 7, Pencil, -1.939, 1.727, 0.407, 0, 0, 0, 42 [SEP] 8, CreditCard, -1.914, 0.386, 0.759, 0, 0, 0, 49 [SEP] 9, KeyChain, -0.735, 0.857, -1.010, 0, 0, 0, 37 [SEP] 10, KeyChain, -2.135, 0.039, 2.736, 0, 270, 0, 52 [SEP] 11, Book, 1.003, 0.783, 0.787, 0, 0, 0, 28 [SEP] 12, AlarmClock, -0.735, 0.858, -0.663, 0, 0, 0, 37 [SEP] 13, AlarmClock, -1.179, 1.724, 0.448, 0, 0, 0, 41 [SEP] 14, Book, 1.409, 0.783, 1.655, 0, 0, 0, 28 [SEP] 15, AlarmClock, -1.834, 1.724, 0.407, 0, 0, 0, 41 [SEP] 16, BasketBall, 1.976, 0.120, 0.211, 0, 331.076, 0, [SEP] 17, Pen, -0.473, 0.370, -0.692, 0, 0, 0, 38 [SEP] 18, Laptop, -1.783, 0.871, 0.732, 0, 0, 0, 47 [SEP] 19, BaseballBat, 1.953, 0.659, -1.81, 346.388, 0, 0, [SEP] 20, Bowl, -0.827, 0.850, -1.641, 0, 0, 0, 37 [SEP] 21, Pillow, 1.612, 0.918, 2.234, 0, 0, 0, 28 [SEP] 22, KeyChain, -0.511, 0.083, -0.772, 0, 0, 0, 36 [SEP] 23, CreditCard, -0.587, 0.364, -1.093, 0, 0, 0, 36 [SEP] 24, CellPhone, -0.399, 0.858, -1.183, 0, 0, 0, 37 [SEP] 25, CD, -2.083, 0.039, 2.469, 0, 180, 0, 55 [SEP] 26, Pencil, -0.567, 0.861, -0.663, 0, 0, 0, 37 [SEP] 27, Mug, -0.651, 0.855, -1.529, 0, 0, 0, 37 [SEP] 28, Bed, 1.227, -0.002, 1.664, 0, 0, 0, [SEP] 29, LightSwitch, 2.151, 1.233, -0.518, 0, 270, 0, [SEP] 30, GarbageCan, -0.747, 0.014, -0.327, 0, 0, 0, [SEP] 31, Mirror, -1.358, 1.427, 2.855, 0, 0, 0, [SEP] 32, DeskLamp, -2.296, 0.858, 0.750, 0, 0, 0, [SEP] 33, Window, -0.421, 1.534, -1.947, 90, 0, 0, [SEP] 34, Window, 0.579, 1.534, -1.947, 90, 0, 0, [SEP] 35, Drawer, -0.491, 0.739, -0.855, 0, 90, 0, [SEP] 36, Drawer, -0.491, 0.204, -0.855, 0, 90, 0, [SEP] 37, Desk, -0.639, 0.009, -1.187, 0, 90, 0, [SEP] 38, Drawer, -0.491, 0.487, -0.855, 0, 90, 0, [SEP] 39, Shelf, -1.965, 1.514, 0.416, 0, 0, 0, [SEP] 40, Shelf, -1.965, 1.092, 0.416, 0, 0, 0, [SEP] 41, Shelf, -1.312, 1.888, 0.416, 0, 0, 0, [SEP] 42, Shelf, -1.965, 1.888, 0.416, 0, 0, 0, [SEP] 43, Shelf, -1.312, 1.092, 0.416, 0, 0, 0, [SEP] 44, Shelf, -1.312, 1.514, 0.416, 0, 0, 0, [SEP] 45, Blinds, 0.601, 2.161, -1.916, 0, 0, 0, [SEP] 46, Blinds, -0.402, 2.161, -1.916, 0, 0, 0, [SEP] 47, Desk, -1.726, 0.001, 0.575, 0, 0, 0, [SEP] 48, Drawer, -2.058, 0.733, 0.734, 0, 0, 0, [SEP] 49, Drawer, -2.058, 0.482, 0.734, 0, 0, 0, [SEP] 50, Drawer, -2.058, 0.198, 0.735, 0, 0, 0, [SEP] 51, Chair, -0.137, 0.000, -1.587, 0, 315, 0, [SEP] 52, Safe, -2.183, -7.748, 2.576, 0, 180, 0, [SEP] 53, Chair, -1.433, 0.009, 0.780, 357.672, 206.726, 0, [SEP] 54, LaundryHamper, 0.163, 0.003, 2.635, 0, 86.390, 0, [SEP] 55, , , , , , , , [SEP] 56, NorthWall, , , , , , , [SEP] 57, EastWall, , , , , , , [SEP] 58, SouthWall, , , , , , , [SEP] 59, WestWall, , , , , , , ", "output": ["STEP 1: Head towards the bat on the floor in front of you. | STEP 2: Pick up the bat from the floor. | STEP 3: Turn around, head towards the bed, turn left towards the wall, and then turn left to face the lamp on the desk. | STEP 4: Turn on the lamp. | END"]} +{"id": "trial_T20190906_214631_761426-2", "input": "Examine the bad under the light 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, 1.25, 0.900, -0.75, 0, 180, 0, [SEP] 1, Mug, -0.567, 0.855, -1.183, 0, 0, 0, 37 [SEP] 2, CD, -0.586, 0.648, -0.772, 0, 0, 0, 35 [SEP] 3, CD, -0.651, 0.857, -1.356, 0, 0, 0, 37 [SEP] 4, CellPhone, -0.483, 0.858, -1.529, 0, 0, 0, 37 [SEP] 5, CellPhone, 0.598, 0.784, 1.655, 0, 0, 0, 28 [SEP] 6, Pen, -2.091, 0.884, 0.749, 0, 0, 0, 47 [SEP] 7, Pencil, -1.939, 1.727, 0.407, 0, 0, 0, 42 [SEP] 8, CreditCard, -1.914, 0.386, 0.759, 0, 0, 0, 49 [SEP] 9, KeyChain, -0.735, 0.857, -1.010, 0, 0, 0, 37 [SEP] 10, KeyChain, -2.135, 0.039, 2.736, 0, 270, 0, 52 [SEP] 11, Book, 1.003, 0.783, 0.787, 0, 0, 0, 28 [SEP] 12, AlarmClock, -0.735, 0.858, -0.663, 0, 0, 0, 37 [SEP] 13, AlarmClock, -1.179, 1.724, 0.448, 0, 0, 0, 41 [SEP] 14, Book, 1.409, 0.783, 1.655, 0, 0, 0, 28 [SEP] 15, AlarmClock, -1.834, 1.724, 0.407, 0, 0, 0, 41 [SEP] 16, BasketBall, 1.976, 0.120, 0.211, 0, 331.076, 0, [SEP] 17, Pen, -0.473, 0.370, -0.692, 0, 0, 0, 38 [SEP] 18, Laptop, -1.783, 0.871, 0.732, 0, 0, 0, 47 [SEP] 19, BaseballBat, 1.953, 0.659, -1.81, 346.388, 0, 0, [SEP] 20, Bowl, -0.827, 0.850, -1.641, 0, 0, 0, 37 [SEP] 21, Pillow, 1.612, 0.918, 2.234, 0, 0, 0, 28 [SEP] 22, KeyChain, -0.511, 0.083, -0.772, 0, 0, 0, 36 [SEP] 23, CreditCard, -0.587, 0.364, -1.093, 0, 0, 0, 36 [SEP] 24, CellPhone, -0.399, 0.858, -1.183, 0, 0, 0, 37 [SEP] 25, CD, -2.083, 0.039, 2.469, 0, 180, 0, 55 [SEP] 26, Pencil, -0.567, 0.861, -0.663, 0, 0, 0, 37 [SEP] 27, Mug, -0.651, 0.855, -1.529, 0, 0, 0, 37 [SEP] 28, Bed, 1.227, -0.002, 1.664, 0, 0, 0, [SEP] 29, LightSwitch, 2.151, 1.233, -0.518, 0, 270, 0, [SEP] 30, GarbageCan, -0.747, 0.014, -0.327, 0, 0, 0, [SEP] 31, Mirror, -1.358, 1.427, 2.855, 0, 0, 0, [SEP] 32, DeskLamp, -2.296, 0.858, 0.750, 0, 0, 0, [SEP] 33, Window, -0.421, 1.534, -1.947, 90, 0, 0, [SEP] 34, Window, 0.579, 1.534, -1.947, 90, 0, 0, [SEP] 35, Drawer, -0.491, 0.739, -0.855, 0, 90, 0, [SEP] 36, Drawer, -0.491, 0.204, -0.855, 0, 90, 0, [SEP] 37, Desk, -0.639, 0.009, -1.187, 0, 90, 0, [SEP] 38, Drawer, -0.491, 0.487, -0.855, 0, 90, 0, [SEP] 39, Shelf, -1.965, 1.514, 0.416, 0, 0, 0, [SEP] 40, Shelf, -1.965, 1.092, 0.416, 0, 0, 0, [SEP] 41, Shelf, -1.312, 1.888, 0.416, 0, 0, 0, [SEP] 42, Shelf, -1.965, 1.888, 0.416, 0, 0, 0, [SEP] 43, Shelf, -1.312, 1.092, 0.416, 0, 0, 0, [SEP] 44, Shelf, -1.312, 1.514, 0.416, 0, 0, 0, [SEP] 45, Blinds, 0.601, 2.161, -1.916, 0, 0, 0, [SEP] 46, Blinds, -0.402, 2.161, -1.916, 0, 0, 0, [SEP] 47, Desk, -1.726, 0.001, 0.575, 0, 0, 0, [SEP] 48, Drawer, -2.058, 0.733, 0.734, 0, 0, 0, [SEP] 49, Drawer, -2.058, 0.482, 0.734, 0, 0, 0, [SEP] 50, Drawer, -2.058, 0.198, 0.735, 0, 0, 0, [SEP] 51, Chair, -0.137, 0.000, -1.587, 0, 315, 0, [SEP] 52, Safe, -2.183, -7.748, 2.576, 0, 180, 0, [SEP] 53, Chair, -1.433, 0.009, 0.780, 357.672, 206.726, 0, [SEP] 54, LaundryHamper, 0.163, 0.003, 2.635, 0, 86.390, 0, [SEP] 55, , , , , , , , [SEP] 56, NorthWall, , , , , , , [SEP] 57, EastWall, , , , , , , [SEP] 58, SouthWall, , , , , , , [SEP] 59, WestWall, , , , , , , ", "output": ["STEP 1: Move to the corner near the door. | STEP 2: Pick up the bat from the floor. | STEP 3: Bring the bat to the desk | STEP 4: Turn on the lamp on the desk. | END"]} +{"id": "trial_T20190906_202903_584090-0", "input": "Put the toilet paper rolls inside 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, -0.75, 0.901, 2.0, 0, 90, 0, [SEP] 1, Cloth, -0.279, 0.075, 3.100, 0, 0, 0, 16 [SEP] 2, SoapBar, -0.051, 0.953, 1.356, 0, 0, 0, 28 [SEP] 3, HandTowel, -0.038, 1.619, 3.799, 0, 90, 0, 27 [SEP] 4, Towel, -1.082, 1.326, 1.302, 0, 0, 0, 23 [SEP] 5, SoapBar, -0.131, 0.953, 1.356, 0, 0, 0, 28 [SEP] 6, ToiletPaper, -0.117, 0.945, 1.629, 0, 0, 0, 28 [SEP] 7, Plunger, -0.112, -0.000, 1.848, 0, 0, 0, [SEP] 8, Candle, -0.131, 0.953, 1.481, 0, 0, 0, 28 [SEP] 9, ToiletPaper, -0.280, 0.654, 1.985, 0, 180, 90, 25 [SEP] 10, SprayBottle, -2.227, 0.018, 3.807, 0, 0, 0, 29 [SEP] 11, Cloth, -0.280, 0.076, 3.417, 0, 0, 0, 21 [SEP] 12, ScrubBrush, -0.322, 3.109, 1.950, 0, 0, 0, [SEP] 13, SoapBottle, -0.326, 0.955, 2.843, 0, 0, 0, 20 [SEP] 14, Mirror, -0.030, 1.544, 2.864, 0, 0, 0, [SEP] 15, Sink, -0.302, 0.799, 3.263, 0, 270, 0, [SEP] 16, Cabinet, -0.491, 0.404, 2.863, 0, 0, 0, [SEP] 17, Cabinet, -0.495, 0.384, 2.842, 0, 0, 0, [SEP] 18, ShowerDoor, -1.647, 1.017, 1.180, 0, 0, 0, [SEP] 19, ShowerGlass, -0.909, 0.788, 0.485, 0, 0, 0, [SEP] 20, CounterTop, -0.261, 0.927, 2.843, 0, 0, 0, [SEP] 21, Cabinet, -0.495, 0.384, 3.650, 0, 0, 0, [SEP] 22, Cabinet, -0.491, 0.404, 2.055, 0, 0, 0, [SEP] 23, TowelHolder, -1.082, 1.312, 1.195, 0, 0, 0, [SEP] 24, LightSwitch, -2.424, 1.447, 3.338, 0, 90, 0, [SEP] 25, ToiletPaperHanger, -0.266, 0.786, 2.043, 0, 180, 0, [SEP] 26, HandTowelHolder, 0.000, 1.721, 1.887, 0, 180, 0, [SEP] 27, HandTowelHolder, 0.000, 1.721, 3.799, 0, 180, 0, [SEP] 28, Toilet, -0.542, 3.109, 1.493, 0, 270, 0, [SEP] 29, GarbageCan, -2.159, -0.000, 3.756, 0, 0, 0, [SEP] 30, SinkBasin, -0.308, 0.820, 3.266, 0, 0, 0, [SEP] 31, ShowerHead, -0.134, 1.888, 0.564, 0, 90, 0, [SEP] 32, Faucet, 0.0, 1.009, 3.265, 0, 0, 0, [SEP] 33, Faucet, 0.0, 1.009, 2.421, 0, 0, 0, [SEP] 34, SinkBasin, -0.308, 0.820, 2.422, 0, 0, 0, [SEP] 35, Sink, -0.302, 0.799, 2.419, 0, 270, 0, [SEP] 36, NorthWall, , , , , , , [SEP] 37, SouthWall, , , , , , , [SEP] 38, SouthWall, , , , , , , ", "output": ["STEP 1: Move towards toilet to the right of the sink | STEP 2: Pick up toilet roll from off the toilet | STEP 3: Move away from the sink a few feet | STEP 4: Open sink cabinet and place roll inside before closing the door | STEP 5: Move closer to the right side of the sink | STEP 6: Pick up empty toilet paper roll from the ground | STEP 7: Move back away from the sink cabinet | STEP 8: Open cabinet and place roll inside and close door | END"]} +{"id": "trial_T20190906_202903_584090-1", "input": "Place the toilet paper roll and empty tube 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, -0.75, 0.901, 2.0, 0, 90, 0, [SEP] 1, Cloth, -0.279, 0.075, 3.100, 0, 0, 0, 16 [SEP] 2, SoapBar, -0.051, 0.953, 1.356, 0, 0, 0, 28 [SEP] 3, HandTowel, -0.038, 1.619, 3.799, 0, 90, 0, 27 [SEP] 4, Towel, -1.082, 1.326, 1.302, 0, 0, 0, 23 [SEP] 5, SoapBar, -0.131, 0.953, 1.356, 0, 0, 0, 28 [SEP] 6, ToiletPaper, -0.117, 0.945, 1.629, 0, 0, 0, 28 [SEP] 7, Plunger, -0.112, -0.000, 1.848, 0, 0, 0, [SEP] 8, Candle, -0.131, 0.953, 1.481, 0, 0, 0, 28 [SEP] 9, ToiletPaper, -0.280, 0.654, 1.985, 0, 180, 90, 25 [SEP] 10, SprayBottle, -2.227, 0.018, 3.807, 0, 0, 0, 29 [SEP] 11, Cloth, -0.280, 0.076, 3.417, 0, 0, 0, 21 [SEP] 12, ScrubBrush, -0.322, 3.109, 1.950, 0, 0, 0, [SEP] 13, SoapBottle, -0.326, 0.955, 2.843, 0, 0, 0, 20 [SEP] 14, Mirror, -0.030, 1.544, 2.864, 0, 0, 0, [SEP] 15, Sink, -0.302, 0.799, 3.263, 0, 270, 0, [SEP] 16, Cabinet, -0.491, 0.404, 2.863, 0, 0, 0, [SEP] 17, Cabinet, -0.495, 0.384, 2.842, 0, 0, 0, [SEP] 18, ShowerDoor, -1.647, 1.017, 1.180, 0, 0, 0, [SEP] 19, ShowerGlass, -0.909, 0.788, 0.485, 0, 0, 0, [SEP] 20, CounterTop, -0.261, 0.927, 2.843, 0, 0, 0, [SEP] 21, Cabinet, -0.495, 0.384, 3.650, 0, 0, 0, [SEP] 22, Cabinet, -0.491, 0.404, 2.055, 0, 0, 0, [SEP] 23, TowelHolder, -1.082, 1.312, 1.195, 0, 0, 0, [SEP] 24, LightSwitch, -2.424, 1.447, 3.338, 0, 90, 0, [SEP] 25, ToiletPaperHanger, -0.266, 0.786, 2.043, 0, 180, 0, [SEP] 26, HandTowelHolder, 0.000, 1.721, 1.887, 0, 180, 0, [SEP] 27, HandTowelHolder, 0.000, 1.721, 3.799, 0, 180, 0, [SEP] 28, Toilet, -0.542, 3.109, 1.493, 0, 270, 0, [SEP] 29, GarbageCan, -2.159, -0.000, 3.756, 0, 0, 0, [SEP] 30, SinkBasin, -0.308, 0.820, 3.266, 0, 0, 0, [SEP] 31, ShowerHead, -0.134, 1.888, 0.564, 0, 90, 0, [SEP] 32, Faucet, 0.0, 1.009, 3.265, 0, 0, 0, [SEP] 33, Faucet, 0.0, 1.009, 2.421, 0, 0, 0, [SEP] 34, SinkBasin, -0.308, 0.820, 2.422, 0, 0, 0, [SEP] 35, Sink, -0.302, 0.799, 2.419, 0, 270, 0, [SEP] 36, NorthWall, , , , , , , [SEP] 37, SouthWall, , , , , , , [SEP] 38, SouthWall, , , , , , , ", "output": ["STEP 1: Locate the toilet, find the toilet paper roll on the back of the toilet. | STEP 2: Pick the toilet paper roll up. | STEP 3: Go to the cabinets to the left of the toilet. | STEP 4: Open the second cabinet door from the right. | STEP 5: Place the toilet paper roll upright near the middle of the cabinet, close the the cabinet door. | STEP 6: Go to the area between the cabinets and the toilet, pick up the empty toilet paper tube behind the toilet brush. | STEP 7: Go to the cabinets to the left of the toilet, open the second cabinet door from the right. | STEP 8: Place the toilet paper tube upright to the left of the full toilet paper roll, close the cabinet door. | END"]} +{"id": "trial_T20190906_202903_584090-2", "input": "place the toilet paper roll with the toilet paper in the bathroom sink 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, 0.901, 2.0, 0, 90, 0, [SEP] 1, Cloth, -0.279, 0.075, 3.100, 0, 0, 0, 16 [SEP] 2, SoapBar, -0.051, 0.953, 1.356, 0, 0, 0, 28 [SEP] 3, HandTowel, -0.038, 1.619, 3.799, 0, 90, 0, 27 [SEP] 4, Towel, -1.082, 1.326, 1.302, 0, 0, 0, 23 [SEP] 5, SoapBar, -0.131, 0.953, 1.356, 0, 0, 0, 28 [SEP] 6, ToiletPaper, -0.117, 0.945, 1.629, 0, 0, 0, 28 [SEP] 7, Plunger, -0.112, -0.000, 1.848, 0, 0, 0, [SEP] 8, Candle, -0.131, 0.953, 1.481, 0, 0, 0, 28 [SEP] 9, ToiletPaper, -0.280, 0.654, 1.985, 0, 180, 90, 25 [SEP] 10, SprayBottle, -2.227, 0.018, 3.807, 0, 0, 0, 29 [SEP] 11, Cloth, -0.280, 0.076, 3.417, 0, 0, 0, 21 [SEP] 12, ScrubBrush, -0.322, 3.109, 1.950, 0, 0, 0, [SEP] 13, SoapBottle, -0.326, 0.955, 2.843, 0, 0, 0, 20 [SEP] 14, Mirror, -0.030, 1.544, 2.864, 0, 0, 0, [SEP] 15, Sink, -0.302, 0.799, 3.263, 0, 270, 0, [SEP] 16, Cabinet, -0.491, 0.404, 2.863, 0, 0, 0, [SEP] 17, Cabinet, -0.495, 0.384, 2.842, 0, 0, 0, [SEP] 18, ShowerDoor, -1.647, 1.017, 1.180, 0, 0, 0, [SEP] 19, ShowerGlass, -0.909, 0.788, 0.485, 0, 0, 0, [SEP] 20, CounterTop, -0.261, 0.927, 2.843, 0, 0, 0, [SEP] 21, Cabinet, -0.495, 0.384, 3.650, 0, 0, 0, [SEP] 22, Cabinet, -0.491, 0.404, 2.055, 0, 0, 0, [SEP] 23, TowelHolder, -1.082, 1.312, 1.195, 0, 0, 0, [SEP] 24, LightSwitch, -2.424, 1.447, 3.338, 0, 90, 0, [SEP] 25, ToiletPaperHanger, -0.266, 0.786, 2.043, 0, 180, 0, [SEP] 26, HandTowelHolder, 0.000, 1.721, 1.887, 0, 180, 0, [SEP] 27, HandTowelHolder, 0.000, 1.721, 3.799, 0, 180, 0, [SEP] 28, Toilet, -0.542, 3.109, 1.493, 0, 270, 0, [SEP] 29, GarbageCan, -2.159, -0.000, 3.756, 0, 0, 0, [SEP] 30, SinkBasin, -0.308, 0.820, 3.266, 0, 0, 0, [SEP] 31, ShowerHead, -0.134, 1.888, 0.564, 0, 90, 0, [SEP] 32, Faucet, 0.0, 1.009, 3.265, 0, 0, 0, [SEP] 33, Faucet, 0.0, 1.009, 2.421, 0, 0, 0, [SEP] 34, SinkBasin, -0.308, 0.820, 2.422, 0, 0, 0, [SEP] 35, Sink, -0.302, 0.799, 2.419, 0, 270, 0, [SEP] 36, NorthWall, , , , , , , [SEP] 37, SouthWall, , , , , , , [SEP] 38, SouthWall, , , , , , , ", "output": ["STEP 1: look down at the toilet a bit | STEP 2: grab the toilet paper off the top of the toilet in front of you | STEP 3: back up a bit to then face the bathroom sink | STEP 4: place the toilet paper in the cabinet below the sink | STEP 5: move forwards a bit towards the toilet | STEP 6: grab the toilet paper tube off of the floor next to the toilet | STEP 7: back up a bit again to then face the bathroom sink again | STEP 8: place the yellow tube in the cabinet underneath the sink | END"]} +{"id": "trial_T20190909_042101_443154-0", "input": "Place a box with a set of keys 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, -4.25, 0.901, 2.5, 0, 180, 0, [SEP] 1, Vase, -4.184, 1.111, 4.490, 0, 90, 0, 53 [SEP] 2, Watch, -0.265, 1.102, 0.734, 0, 270, 0, 41 [SEP] 3, KeyChain, -2.298, 0.034, 0.369, 0, 90, 0, 36 [SEP] 4, KeyChain, -4.912, 0.997, 4.359, 0, 180, 0, 54 [SEP] 5, CreditCard, -3.863, 1.111, 4.391, 0, 90, 0, 49 [SEP] 6, CreditCard, -2.901, 1.111, 4.292, 0, 90, 0, 55 [SEP] 7, RemoteControl, -5.534, 1.041, 0.372, 0, 0, 0, 35 [SEP] 8, Laptop, -3.864, 1.109, 4.687, 0, 90, 0, 53 [SEP] 9, Box, -0.952, 0.843, 2.753, 0, 0, 0, 57 [SEP] 10, Watch, -2.458, 0.034, 0.108, 0, 90, 0, 36 [SEP] 11, Pillow, -1.584, 0.668, 4.211, 0, 0, 0, 47 [SEP] 12, TissueBox, -3.052, 0.201, 4.342, 0, 90, 0, 52 [SEP] 13, Newspaper, -0.229, 1.107, 1.100, 0, 270, 0, 44 [SEP] 14, CreditCard, -3.543, 1.107, 4.292, 0, 90, 0, 49 [SEP] 15, KeyChain, -4.505, 1.108, 4.786, 0, 90, 0, 53 [SEP] 16, CellPhone, -5.024, 1.039, 0.438, 0, 0, 0, 35 [SEP] 17, Statue, -0.221, 1.597, 1.189, 0, 270, 0, 41 [SEP] 18, Laptop, -3.393, 1.104, 4.492, 0, 191.867, 0, 53 [SEP] 19, RemoteControl, -0.221, 1.594, 1.006, 0, 270, 0, 40 [SEP] 20, Vase, -2.191, 0.037, 0.160, 0, 90, 0, 36 [SEP] 21, DeskLamp, -4.649, 1.051, 0.268, 0, 0, 0, [SEP] 22, DeskLamp, -2.992, 1.107, 4.522, 0, 0, 0, [SEP] 23, FloorLamp, -0.650, 0.007, 4.431, 0, 0, 0, [SEP] 24, FloorLamp, -5.607, 0.007, 4.641, 0, 0, 0, [SEP] 25, Shelf, -5.237, 1.776, 0.070, 0, 0, 0, [SEP] 26, Shelf, -5.238, 1.968, 0.085, 0, 0, 0, [SEP] 27, Shelf, -5.242, 1.391, 0.086, 0, 0, 0, [SEP] 28, Shelf, -5.241, 1.582, 0.065, 0, 0, 0, [SEP] 29, LightSwitch, -6.002, 1.353, 3.404, 0, 90, 0, [SEP] 30, GarbageCan, -5.794, -0.033, 4.073, 0, 90, 0, [SEP] 31, Painting, -6.017, 1.802, 4.177, 90, 270, 0, [SEP] 32, HousePlant, -3.966, 1.625, 0.135, 0, 315, 0, [SEP] 33, Television, -3.355, 0.833, 0.027, 0, 0, 0, [SEP] 34, Drawer, -5.024, 0.903, 0.370, 0, 0, 0, [SEP] 35, SideTable, -5.024, 0.008, 0.267, 0, 0, 0, [SEP] 36, Safe, -2.298, 5.778, 0.268, 0, 90, 0, [SEP] 37, Shelf, -0.253, 0.781, 1.058, 0, 270, 0, [SEP] 38, Shelf, -0.283, 0.274, 1.066, 0, 270, 0, [SEP] 39, Shelf, -1.224, 1.288, 0.270, 0, 0, 0, [SEP] 40, Shelf, -1.218, 1.810, 0.275, 0, 0, 0, [SEP] 41, Shelf, -0.280, 1.810, 1.057, 0, 270, 0, [SEP] 42, Shelf, -1.218, 0.274, 0.262, 0, 0, 0, [SEP] 43, Shelf, -1.223, 0.782, 0.237, 0, 0, 0, [SEP] 44, Shelf, -0.280, 1.288, 1.055, 0, 270, 0, [SEP] 45, ShelvingUnit, -0.268, 0.004, 1.067, 0, 270, 0, [SEP] 46, ShelvingUnit, -1.218, 0.004, 0.244, 0, 0, 0, [SEP] 47, ArmChair, -2.027, 0.001, 4.422, 0, 178.692, 0, [SEP] 48, Drawer, -4.329, 1.014, 4.311, 0, 180, 0, [SEP] 49, Drawer, -3.750, 1.014, 4.311, 0, 180, 0, [SEP] 50, Cabinet, -4.049, 0.561, 4.212, 0, 180, 0, [SEP] 51, Cabinet, -4.032, 0.561, 4.212, 0, 180, 0, [SEP] 52, Cabinet, -2.884, 0.561, 4.212, 0, 180, 0, [SEP] 53, Dresser, -4.041, -0.000, 4.589, 0, 180, 0, [SEP] 54, Drawer, -4.916, 1.014, 4.311, 0, 180, 0, [SEP] 55, Drawer, -3.166, 1.014, 4.311, 0, 180, 0, [SEP] 56, Cabinet, -5.196, 0.561, 4.212, 0, 180, 0, [SEP] 57, Sofa, -0.705, -0.002, 2.753, 0, 270, 0, [SEP] 58, NorthWall, , , , , , , [SEP] 59, SouthWall, , , , , , , [SEP] 60, SouthWall, , , , , , , ", "output": ["STEP 1: Turn around and walk to the wooden dresser ahead. | STEP 2: Pick up the set of keys from the back left side of the dresser. | STEP 3: Turn around and walk to the white couch on the left. | STEP 4: Put the set of keys inside the box on the middle of the couch. | STEP 5: Pick up the box with the keys inside from the couch. | STEP 6: Turn around and walk to the blue chair on the right. | STEP 7: Put the box with the keys inside on the left side of the chair. | END"]} +{"id": "trial_T20190909_042101_443154-1", "input": "Place a box with keys 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, -4.25, 0.901, 2.5, 0, 180, 0, [SEP] 1, Vase, -4.184, 1.111, 4.490, 0, 90, 0, 53 [SEP] 2, Watch, -0.265, 1.102, 0.734, 0, 270, 0, 41 [SEP] 3, KeyChain, -2.298, 0.034, 0.369, 0, 90, 0, 36 [SEP] 4, KeyChain, -4.912, 0.997, 4.359, 0, 180, 0, 54 [SEP] 5, CreditCard, -3.863, 1.111, 4.391, 0, 90, 0, 49 [SEP] 6, CreditCard, -2.901, 1.111, 4.292, 0, 90, 0, 55 [SEP] 7, RemoteControl, -5.534, 1.041, 0.372, 0, 0, 0, 35 [SEP] 8, Laptop, -3.864, 1.109, 4.687, 0, 90, 0, 53 [SEP] 9, Box, -0.952, 0.843, 2.753, 0, 0, 0, 57 [SEP] 10, Watch, -2.458, 0.034, 0.108, 0, 90, 0, 36 [SEP] 11, Pillow, -1.584, 0.668, 4.211, 0, 0, 0, 47 [SEP] 12, TissueBox, -3.052, 0.201, 4.342, 0, 90, 0, 52 [SEP] 13, Newspaper, -0.229, 1.107, 1.100, 0, 270, 0, 44 [SEP] 14, CreditCard, -3.543, 1.107, 4.292, 0, 90, 0, 49 [SEP] 15, KeyChain, -4.505, 1.108, 4.786, 0, 90, 0, 53 [SEP] 16, CellPhone, -5.024, 1.039, 0.438, 0, 0, 0, 35 [SEP] 17, Statue, -0.221, 1.597, 1.189, 0, 270, 0, 41 [SEP] 18, Laptop, -3.393, 1.104, 4.492, 0, 191.867, 0, 53 [SEP] 19, RemoteControl, -0.221, 1.594, 1.006, 0, 270, 0, 40 [SEP] 20, Vase, -2.191, 0.037, 0.160, 0, 90, 0, 36 [SEP] 21, DeskLamp, -4.649, 1.051, 0.268, 0, 0, 0, [SEP] 22, DeskLamp, -2.992, 1.107, 4.522, 0, 0, 0, [SEP] 23, FloorLamp, -0.650, 0.007, 4.431, 0, 0, 0, [SEP] 24, FloorLamp, -5.607, 0.007, 4.641, 0, 0, 0, [SEP] 25, Shelf, -5.237, 1.776, 0.070, 0, 0, 0, [SEP] 26, Shelf, -5.238, 1.968, 0.085, 0, 0, 0, [SEP] 27, Shelf, -5.242, 1.391, 0.086, 0, 0, 0, [SEP] 28, Shelf, -5.241, 1.582, 0.065, 0, 0, 0, [SEP] 29, LightSwitch, -6.002, 1.353, 3.404, 0, 90, 0, [SEP] 30, GarbageCan, -5.794, -0.033, 4.073, 0, 90, 0, [SEP] 31, Painting, -6.017, 1.802, 4.177, 90, 270, 0, [SEP] 32, HousePlant, -3.966, 1.625, 0.135, 0, 315, 0, [SEP] 33, Television, -3.355, 0.833, 0.027, 0, 0, 0, [SEP] 34, Drawer, -5.024, 0.903, 0.370, 0, 0, 0, [SEP] 35, SideTable, -5.024, 0.008, 0.267, 0, 0, 0, [SEP] 36, Safe, -2.298, 5.778, 0.268, 0, 90, 0, [SEP] 37, Shelf, -0.253, 0.781, 1.058, 0, 270, 0, [SEP] 38, Shelf, -0.283, 0.274, 1.066, 0, 270, 0, [SEP] 39, Shelf, -1.224, 1.288, 0.270, 0, 0, 0, [SEP] 40, Shelf, -1.218, 1.810, 0.275, 0, 0, 0, [SEP] 41, Shelf, -0.280, 1.810, 1.057, 0, 270, 0, [SEP] 42, Shelf, -1.218, 0.274, 0.262, 0, 0, 0, [SEP] 43, Shelf, -1.223, 0.782, 0.237, 0, 0, 0, [SEP] 44, Shelf, -0.280, 1.288, 1.055, 0, 270, 0, [SEP] 45, ShelvingUnit, -0.268, 0.004, 1.067, 0, 270, 0, [SEP] 46, ShelvingUnit, -1.218, 0.004, 0.244, 0, 0, 0, [SEP] 47, ArmChair, -2.027, 0.001, 4.422, 0, 178.692, 0, [SEP] 48, Drawer, -4.329, 1.014, 4.311, 0, 180, 0, [SEP] 49, Drawer, -3.750, 1.014, 4.311, 0, 180, 0, [SEP] 50, Cabinet, -4.049, 0.561, 4.212, 0, 180, 0, [SEP] 51, Cabinet, -4.032, 0.561, 4.212, 0, 180, 0, [SEP] 52, Cabinet, -2.884, 0.561, 4.212, 0, 180, 0, [SEP] 53, Dresser, -4.041, -0.000, 4.589, 0, 180, 0, [SEP] 54, Drawer, -4.916, 1.014, 4.311, 0, 180, 0, [SEP] 55, Drawer, -3.166, 1.014, 4.311, 0, 180, 0, [SEP] 56, Cabinet, -5.196, 0.561, 4.212, 0, 180, 0, [SEP] 57, Sofa, -0.705, -0.002, 2.753, 0, 270, 0, [SEP] 58, NorthWall, , , , , , , [SEP] 59, SouthWall, , , , , , , [SEP] 60, SouthWall, , , , , , , ", "output": ["STEP 1: Turn around and walk to the dresser. | STEP 2: Pick up the set of keys on the dresser. | STEP 3: Turn to the right and walk to the couch. | STEP 4: Place the keys in the box on the couch. | STEP 5: Pick up the box. | STEP 6: Turn left and walk to the blue chair. | STEP 7: Put the box on the chair to the left of the yellow pillow. | END"]} +{"id": "trial_T20190909_042101_443154-2", "input": "Put a box with keys in it 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, -4.25, 0.901, 2.5, 0, 180, 0, [SEP] 1, Vase, -4.184, 1.111, 4.490, 0, 90, 0, 53 [SEP] 2, Watch, -0.265, 1.102, 0.734, 0, 270, 0, 41 [SEP] 3, KeyChain, -2.298, 0.034, 0.369, 0, 90, 0, 36 [SEP] 4, KeyChain, -4.912, 0.997, 4.359, 0, 180, 0, 54 [SEP] 5, CreditCard, -3.863, 1.111, 4.391, 0, 90, 0, 49 [SEP] 6, CreditCard, -2.901, 1.111, 4.292, 0, 90, 0, 55 [SEP] 7, RemoteControl, -5.534, 1.041, 0.372, 0, 0, 0, 35 [SEP] 8, Laptop, -3.864, 1.109, 4.687, 0, 90, 0, 53 [SEP] 9, Box, -0.952, 0.843, 2.753, 0, 0, 0, 57 [SEP] 10, Watch, -2.458, 0.034, 0.108, 0, 90, 0, 36 [SEP] 11, Pillow, -1.584, 0.668, 4.211, 0, 0, 0, 47 [SEP] 12, TissueBox, -3.052, 0.201, 4.342, 0, 90, 0, 52 [SEP] 13, Newspaper, -0.229, 1.107, 1.100, 0, 270, 0, 44 [SEP] 14, CreditCard, -3.543, 1.107, 4.292, 0, 90, 0, 49 [SEP] 15, KeyChain, -4.505, 1.108, 4.786, 0, 90, 0, 53 [SEP] 16, CellPhone, -5.024, 1.039, 0.438, 0, 0, 0, 35 [SEP] 17, Statue, -0.221, 1.597, 1.189, 0, 270, 0, 41 [SEP] 18, Laptop, -3.393, 1.104, 4.492, 0, 191.867, 0, 53 [SEP] 19, RemoteControl, -0.221, 1.594, 1.006, 0, 270, 0, 40 [SEP] 20, Vase, -2.191, 0.037, 0.160, 0, 90, 0, 36 [SEP] 21, DeskLamp, -4.649, 1.051, 0.268, 0, 0, 0, [SEP] 22, DeskLamp, -2.992, 1.107, 4.522, 0, 0, 0, [SEP] 23, FloorLamp, -0.650, 0.007, 4.431, 0, 0, 0, [SEP] 24, FloorLamp, -5.607, 0.007, 4.641, 0, 0, 0, [SEP] 25, Shelf, -5.237, 1.776, 0.070, 0, 0, 0, [SEP] 26, Shelf, -5.238, 1.968, 0.085, 0, 0, 0, [SEP] 27, Shelf, -5.242, 1.391, 0.086, 0, 0, 0, [SEP] 28, Shelf, -5.241, 1.582, 0.065, 0, 0, 0, [SEP] 29, LightSwitch, -6.002, 1.353, 3.404, 0, 90, 0, [SEP] 30, GarbageCan, -5.794, -0.033, 4.073, 0, 90, 0, [SEP] 31, Painting, -6.017, 1.802, 4.177, 90, 270, 0, [SEP] 32, HousePlant, -3.966, 1.625, 0.135, 0, 315, 0, [SEP] 33, Television, -3.355, 0.833, 0.027, 0, 0, 0, [SEP] 34, Drawer, -5.024, 0.903, 0.370, 0, 0, 0, [SEP] 35, SideTable, -5.024, 0.008, 0.267, 0, 0, 0, [SEP] 36, Safe, -2.298, 5.778, 0.268, 0, 90, 0, [SEP] 37, Shelf, -0.253, 0.781, 1.058, 0, 270, 0, [SEP] 38, Shelf, -0.283, 0.274, 1.066, 0, 270, 0, [SEP] 39, Shelf, -1.224, 1.288, 0.270, 0, 0, 0, [SEP] 40, Shelf, -1.218, 1.810, 0.275, 0, 0, 0, [SEP] 41, Shelf, -0.280, 1.810, 1.057, 0, 270, 0, [SEP] 42, Shelf, -1.218, 0.274, 0.262, 0, 0, 0, [SEP] 43, Shelf, -1.223, 0.782, 0.237, 0, 0, 0, [SEP] 44, Shelf, -0.280, 1.288, 1.055, 0, 270, 0, [SEP] 45, ShelvingUnit, -0.268, 0.004, 1.067, 0, 270, 0, [SEP] 46, ShelvingUnit, -1.218, 0.004, 0.244, 0, 0, 0, [SEP] 47, ArmChair, -2.027, 0.001, 4.422, 0, 178.692, 0, [SEP] 48, Drawer, -4.329, 1.014, 4.311, 0, 180, 0, [SEP] 49, Drawer, -3.750, 1.014, 4.311, 0, 180, 0, [SEP] 50, Cabinet, -4.049, 0.561, 4.212, 0, 180, 0, [SEP] 51, Cabinet, -4.032, 0.561, 4.212, 0, 180, 0, [SEP] 52, Cabinet, -2.884, 0.561, 4.212, 0, 180, 0, [SEP] 53, Dresser, -4.041, -0.000, 4.589, 0, 180, 0, [SEP] 54, Drawer, -4.916, 1.014, 4.311, 0, 180, 0, [SEP] 55, Drawer, -3.166, 1.014, 4.311, 0, 180, 0, [SEP] 56, Cabinet, -5.196, 0.561, 4.212, 0, 180, 0, [SEP] 57, Sofa, -0.705, -0.002, 2.753, 0, 270, 0, [SEP] 58, NorthWall, , , , , , , [SEP] 59, SouthWall, , , , , , , [SEP] 60, SouthWall, , , , , , , ", "output": ["STEP 1: Turn around and walk to the brown cabinet. | STEP 2: Pick up the keys that are on top of the cabinet. | STEP 3: Turn around and take a step then turn left and walk to the cream colored couch with the box on it. | STEP 4: Put the keys in the box. | STEP 5: Pick up the box with the keys in it. | STEP 6: Turn left and take a tiny step left then walk forward to the chair. | STEP 7: Put the box to the left of the plaid pillow. | END"]} +{"id": "trial_T20190909_121710_650938-0", "input": "Put a chilled mug 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, -2.5, 0.900, 0.75, 0, 270, 0, [SEP] 1, Statue, -1.104, 0.936, -0.643, 0, 0, 0, 61 [SEP] 2, Vase, 1.148, 1.667, -0.593, 0, 270, 0, 70 [SEP] 3, Potato, -0.808, 0.807, -0.486, 0, 90, 0, 82 [SEP] 4, Potato, 1.199, 0.941, 0.313, 0, 0, 0, 62 [SEP] 5, CreditCard, 0.944, 0.908, -0.208, 0, 0, 0, 62 [SEP] 6, CreditCard, 1.199, 0.908, 0.139, 0, 0, 0, 62 [SEP] 7, CellPhone, -1.985, 0.550, 2.615, 0, 0, 0, 87 [SEP] 8, CellPhone, 0.794, 0.491, -0.607, 0, 270, 0, 65 [SEP] 9, DishSponge, 0.688, 0.910, -0.729, 0, 0, 0, 62 [SEP] 10, DishSponge, -0.920, 0.933, -0.067, 0, 0, 0, 61 [SEP] 11, ButterKnife, -0.550, 0.933, -0.143, 0, 0, 0, 61 [SEP] 12, ButterKnife, 1.029, 0.911, -0.381, 0, 0, 0, 62 [SEP] 13, Fork, 0.875, 0.703, -0.690, 0, 0, 0, 59 [SEP] 14, Fork, 0.773, 0.911, 0.313, 0, 0, 0, 62 [SEP] 15, Spatula, -1.104, 0.948, -1.430, 0, 90, 0, 61 [SEP] 16, Pot, -0.698, 0.936, -1.463, 0, 0, 0, 61 [SEP] 17, Knife, -1.167, 0.957, -0.118, 0, 0, 0, 61 [SEP] 18, Egg, -0.960, 0.214, 0.576, 0, 180, 0, 81 [SEP] 19, Egg, 1.026, 1.172, 0.967, 0, 270, 0, 84 [SEP] 20, Cup, -0.642, 0.777, -0.832, 0, 90, 0, 82 [SEP] 21, Plate, 0.844, 0.866, 1.444, 0, 270, 0, 84 [SEP] 22, Plate, 0.905, 1.405, 1.349, 0, 270, 0, 84 [SEP] 23, Tomato, 0.944, 0.952, -0.034, 0, 0, 0, 62 [SEP] 24, SaltShaker, 0.956, 0.490, -0.731, 0, 270, 0, 65 [SEP] 25, SaltShaker, 1.148, 1.662, -2.029, 0, 270, 0, 60 [SEP] 26, Mug, 1.055, 1.661, -2.166, 0, 270, 0, 60 [SEP] 27, Statue, -1.355, 0.936, -0.643, 0, 0, 0, 61 [SEP] 28, Glassbottle, -1.467, 0.554, 2.718, 0, 0, 0, 87 [SEP] 29, Bread, 1.026, 1.216, 1.158, 0, 270, 0, 84 [SEP] 30, CreditCard, 0.754, 0.491, -0.731, 0, 270, 0, 65 [SEP] 31, CellPhone, -1.355, 0.930, 0.144, 0, 0, 0, 61 [SEP] 32, Potato, -0.865, 0.207, 0.510, 0, 180, 0, 81 [SEP] 33, Knife, -0.698, 0.957, -1.231, 0, 0, 0, 61 [SEP] 34, Fork, 0.875, 0.703, -0.565, 0, 0, 0, 59 [SEP] 35, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 55 [SEP] 36, Lettuce, 0.859, 0.988, -0.381, 0, 0, 0, 62 [SEP] 37, Plate, -1.167, 0.936, -0.905, 0, 0, 0, 61 [SEP] 38, Apple, 1.026, 0.913, 1.444, 0, 270, 0, 84 [SEP] 39, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 57 [SEP] 40, Spatula, 0.834, 0.510, -0.731, 0, 90, 0, 65 [SEP] 41, PaperTowelRoll, 1.199, 1.015, -1.793, 0, 0, 0, 67 [SEP] 42, Tomato, 1.087, 1.683, 0.967, 0, 270, 0, 84 [SEP] 43, Egg, -0.753, 0.818, -0.659, 0, 90, 0, 82 [SEP] 44, SaltShaker, -1.881, 0.550, 2.874, 0, 0, 0, 87 [SEP] 45, PepperShaker, -1.041, 0.929, -1.167, 0, 0, 0, 61 [SEP] 46, Vase, 0.811, 0.108, -2.212, 0, 0, 0, 66 [SEP] 47, ButterKnife, -0.550, 0.933, 0.086, 0, 0, 0, 61 [SEP] 48, SoapBottle, -1.981, 0.882, 2.746, 0, 0, 0, 88 [SEP] 49, Vase, 0.859, 0.912, -0.729, 0, 0, 0, 62 [SEP] 50, Bowl, 1.193, 1.669, 0.153, 0, 270, 0, 69 [SEP] 51, DishSponge, 0.773, 0.910, -0.555, 0, 0, 0, 62 [SEP] 52, Spoon, 0.874, 0.154, -0.650, 0, 270, 0, 64 [SEP] 53, Cup, -0.808, 0.773, -0.832, 0, 90, 0, 82 [SEP] 54, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 80 [SEP] 55, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 56, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 57, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 58, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 59, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 60, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 61, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 62, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 63, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 64, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 65, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 66, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 67, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 68, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 69, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 70, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 71, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 72, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 73, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 74, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 75, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 76, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 77, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 78, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 79, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 80, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 81, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 82, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 83, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 84, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 85, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 86, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 87, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 88, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 89, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 90, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 91, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 92, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 93, NorthWall, , , , , , , [SEP] 94, EastWall, , , , , , , [SEP] 95, SouthWall, , , , , , , [SEP] 96, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and walk to the window, then hang a left and walk over to the counter. | STEP 2: Pick up the coffee mug out of the coffee machine. | STEP 3: Turn around and take a step forward, then turn right and walk across the room to the fridge. | STEP 4: Open the fridge and place the coffee mug inside, then close the door, after a couple seconds open the fridge back up and remove the now chilled coffee mug then close the door. | STEP 5: Turn around and take a step forward, then turn left and walk forward, turn left again to face the counter. | STEP 6: Open the leftmost lower cabinet door and put the chilled mug inside, then close the cabinet. | END"]} +{"id": "trial_T20190909_121710_650938-1", "input": "Put a cold mug 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, -2.5, 0.900, 0.75, 0, 270, 0, [SEP] 1, Statue, -1.104, 0.936, -0.643, 0, 0, 0, 61 [SEP] 2, Vase, 1.148, 1.667, -0.593, 0, 270, 0, 70 [SEP] 3, Potato, -0.808, 0.807, -0.486, 0, 90, 0, 82 [SEP] 4, Potato, 1.199, 0.941, 0.313, 0, 0, 0, 62 [SEP] 5, CreditCard, 0.944, 0.908, -0.208, 0, 0, 0, 62 [SEP] 6, CreditCard, 1.199, 0.908, 0.139, 0, 0, 0, 62 [SEP] 7, CellPhone, -1.985, 0.550, 2.615, 0, 0, 0, 87 [SEP] 8, CellPhone, 0.794, 0.491, -0.607, 0, 270, 0, 65 [SEP] 9, DishSponge, 0.688, 0.910, -0.729, 0, 0, 0, 62 [SEP] 10, DishSponge, -0.920, 0.933, -0.067, 0, 0, 0, 61 [SEP] 11, ButterKnife, -0.550, 0.933, -0.143, 0, 0, 0, 61 [SEP] 12, ButterKnife, 1.029, 0.911, -0.381, 0, 0, 0, 62 [SEP] 13, Fork, 0.875, 0.703, -0.690, 0, 0, 0, 59 [SEP] 14, Fork, 0.773, 0.911, 0.313, 0, 0, 0, 62 [SEP] 15, Spatula, -1.104, 0.948, -1.430, 0, 90, 0, 61 [SEP] 16, Pot, -0.698, 0.936, -1.463, 0, 0, 0, 61 [SEP] 17, Knife, -1.167, 0.957, -0.118, 0, 0, 0, 61 [SEP] 18, Egg, -0.960, 0.214, 0.576, 0, 180, 0, 81 [SEP] 19, Egg, 1.026, 1.172, 0.967, 0, 270, 0, 84 [SEP] 20, Cup, -0.642, 0.777, -0.832, 0, 90, 0, 82 [SEP] 21, Plate, 0.844, 0.866, 1.444, 0, 270, 0, 84 [SEP] 22, Plate, 0.905, 1.405, 1.349, 0, 270, 0, 84 [SEP] 23, Tomato, 0.944, 0.952, -0.034, 0, 0, 0, 62 [SEP] 24, SaltShaker, 0.956, 0.490, -0.731, 0, 270, 0, 65 [SEP] 25, SaltShaker, 1.148, 1.662, -2.029, 0, 270, 0, 60 [SEP] 26, Mug, 1.055, 1.661, -2.166, 0, 270, 0, 60 [SEP] 27, Statue, -1.355, 0.936, -0.643, 0, 0, 0, 61 [SEP] 28, Glassbottle, -1.467, 0.554, 2.718, 0, 0, 0, 87 [SEP] 29, Bread, 1.026, 1.216, 1.158, 0, 270, 0, 84 [SEP] 30, CreditCard, 0.754, 0.491, -0.731, 0, 270, 0, 65 [SEP] 31, CellPhone, -1.355, 0.930, 0.144, 0, 0, 0, 61 [SEP] 32, Potato, -0.865, 0.207, 0.510, 0, 180, 0, 81 [SEP] 33, Knife, -0.698, 0.957, -1.231, 0, 0, 0, 61 [SEP] 34, Fork, 0.875, 0.703, -0.565, 0, 0, 0, 59 [SEP] 35, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 55 [SEP] 36, Lettuce, 0.859, 0.988, -0.381, 0, 0, 0, 62 [SEP] 37, Plate, -1.167, 0.936, -0.905, 0, 0, 0, 61 [SEP] 38, Apple, 1.026, 0.913, 1.444, 0, 270, 0, 84 [SEP] 39, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 57 [SEP] 40, Spatula, 0.834, 0.510, -0.731, 0, 90, 0, 65 [SEP] 41, PaperTowelRoll, 1.199, 1.015, -1.793, 0, 0, 0, 67 [SEP] 42, Tomato, 1.087, 1.683, 0.967, 0, 270, 0, 84 [SEP] 43, Egg, -0.753, 0.818, -0.659, 0, 90, 0, 82 [SEP] 44, SaltShaker, -1.881, 0.550, 2.874, 0, 0, 0, 87 [SEP] 45, PepperShaker, -1.041, 0.929, -1.167, 0, 0, 0, 61 [SEP] 46, Vase, 0.811, 0.108, -2.212, 0, 0, 0, 66 [SEP] 47, ButterKnife, -0.550, 0.933, 0.086, 0, 0, 0, 61 [SEP] 48, SoapBottle, -1.981, 0.882, 2.746, 0, 0, 0, 88 [SEP] 49, Vase, 0.859, 0.912, -0.729, 0, 0, 0, 62 [SEP] 50, Bowl, 1.193, 1.669, 0.153, 0, 270, 0, 69 [SEP] 51, DishSponge, 0.773, 0.910, -0.555, 0, 0, 0, 62 [SEP] 52, Spoon, 0.874, 0.154, -0.650, 0, 270, 0, 64 [SEP] 53, Cup, -0.808, 0.773, -0.832, 0, 90, 0, 82 [SEP] 54, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 80 [SEP] 55, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 56, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 57, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 58, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 59, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 60, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 61, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 62, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 63, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 64, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 65, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 66, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 67, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 68, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 69, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 70, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 71, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 72, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 73, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 74, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 75, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 76, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 77, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 78, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 79, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 80, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 81, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 82, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 83, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 84, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 85, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 86, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 87, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 88, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 89, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 90, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 91, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 92, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 93, NorthWall, , , , , , , [SEP] 94, EastWall, , , , , , , [SEP] 95, SouthWall, , , , , , , [SEP] 96, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and walk to the window then turn left and walk to the coffee maker. | STEP 2: Pick up the mug that's in front of you at the coffee maker. | STEP 3: Turn left and walk to the fridge then turn right to face it. | STEP 4: Chill the mug in the fridge then take it back out and close the door. | STEP 5: Take a small step back then a step to your right.and turn to face it when you get there. | STEP 6: Open the cupboard to the right of the fridge and put the mug down there then close the door. | END"]} +{"id": "trial_T20190909_121710_650938-2", "input": "Place a chilled mug 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, -2.5, 0.900, 0.75, 0, 270, 0, [SEP] 1, Statue, -1.104, 0.936, -0.643, 0, 0, 0, 61 [SEP] 2, Vase, 1.148, 1.667, -0.593, 0, 270, 0, 70 [SEP] 3, Potato, -0.808, 0.807, -0.486, 0, 90, 0, 82 [SEP] 4, Potato, 1.199, 0.941, 0.313, 0, 0, 0, 62 [SEP] 5, CreditCard, 0.944, 0.908, -0.208, 0, 0, 0, 62 [SEP] 6, CreditCard, 1.199, 0.908, 0.139, 0, 0, 0, 62 [SEP] 7, CellPhone, -1.985, 0.550, 2.615, 0, 0, 0, 87 [SEP] 8, CellPhone, 0.794, 0.491, -0.607, 0, 270, 0, 65 [SEP] 9, DishSponge, 0.688, 0.910, -0.729, 0, 0, 0, 62 [SEP] 10, DishSponge, -0.920, 0.933, -0.067, 0, 0, 0, 61 [SEP] 11, ButterKnife, -0.550, 0.933, -0.143, 0, 0, 0, 61 [SEP] 12, ButterKnife, 1.029, 0.911, -0.381, 0, 0, 0, 62 [SEP] 13, Fork, 0.875, 0.703, -0.690, 0, 0, 0, 59 [SEP] 14, Fork, 0.773, 0.911, 0.313, 0, 0, 0, 62 [SEP] 15, Spatula, -1.104, 0.948, -1.430, 0, 90, 0, 61 [SEP] 16, Pot, -0.698, 0.936, -1.463, 0, 0, 0, 61 [SEP] 17, Knife, -1.167, 0.957, -0.118, 0, 0, 0, 61 [SEP] 18, Egg, -0.960, 0.214, 0.576, 0, 180, 0, 81 [SEP] 19, Egg, 1.026, 1.172, 0.967, 0, 270, 0, 84 [SEP] 20, Cup, -0.642, 0.777, -0.832, 0, 90, 0, 82 [SEP] 21, Plate, 0.844, 0.866, 1.444, 0, 270, 0, 84 [SEP] 22, Plate, 0.905, 1.405, 1.349, 0, 270, 0, 84 [SEP] 23, Tomato, 0.944, 0.952, -0.034, 0, 0, 0, 62 [SEP] 24, SaltShaker, 0.956, 0.490, -0.731, 0, 270, 0, 65 [SEP] 25, SaltShaker, 1.148, 1.662, -2.029, 0, 270, 0, 60 [SEP] 26, Mug, 1.055, 1.661, -2.166, 0, 270, 0, 60 [SEP] 27, Statue, -1.355, 0.936, -0.643, 0, 0, 0, 61 [SEP] 28, Glassbottle, -1.467, 0.554, 2.718, 0, 0, 0, 87 [SEP] 29, Bread, 1.026, 1.216, 1.158, 0, 270, 0, 84 [SEP] 30, CreditCard, 0.754, 0.491, -0.731, 0, 270, 0, 65 [SEP] 31, CellPhone, -1.355, 0.930, 0.144, 0, 0, 0, 61 [SEP] 32, Potato, -0.865, 0.207, 0.510, 0, 180, 0, 81 [SEP] 33, Knife, -0.698, 0.957, -1.231, 0, 0, 0, 61 [SEP] 34, Fork, 0.875, 0.703, -0.565, 0, 0, 0, 59 [SEP] 35, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 55 [SEP] 36, Lettuce, 0.859, 0.988, -0.381, 0, 0, 0, 62 [SEP] 37, Plate, -1.167, 0.936, -0.905, 0, 0, 0, 61 [SEP] 38, Apple, 1.026, 0.913, 1.444, 0, 270, 0, 84 [SEP] 39, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 57 [SEP] 40, Spatula, 0.834, 0.510, -0.731, 0, 90, 0, 65 [SEP] 41, PaperTowelRoll, 1.199, 1.015, -1.793, 0, 0, 0, 67 [SEP] 42, Tomato, 1.087, 1.683, 0.967, 0, 270, 0, 84 [SEP] 43, Egg, -0.753, 0.818, -0.659, 0, 90, 0, 82 [SEP] 44, SaltShaker, -1.881, 0.550, 2.874, 0, 0, 0, 87 [SEP] 45, PepperShaker, -1.041, 0.929, -1.167, 0, 0, 0, 61 [SEP] 46, Vase, 0.811, 0.108, -2.212, 0, 0, 0, 66 [SEP] 47, ButterKnife, -0.550, 0.933, 0.086, 0, 0, 0, 61 [SEP] 48, SoapBottle, -1.981, 0.882, 2.746, 0, 0, 0, 88 [SEP] 49, Vase, 0.859, 0.912, -0.729, 0, 0, 0, 62 [SEP] 50, Bowl, 1.193, 1.669, 0.153, 0, 270, 0, 69 [SEP] 51, DishSponge, 0.773, 0.910, -0.555, 0, 0, 0, 62 [SEP] 52, Spoon, 0.874, 0.154, -0.650, 0, 270, 0, 64 [SEP] 53, Cup, -0.808, 0.773, -0.832, 0, 90, 0, 82 [SEP] 54, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 80 [SEP] 55, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 56, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 57, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 58, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 59, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 60, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 61, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 62, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 63, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 64, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 65, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 66, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 67, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 68, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 69, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 70, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 71, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 72, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 73, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 74, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 75, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 76, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 77, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 78, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 79, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 80, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 81, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 82, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 83, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 84, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 85, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 86, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 87, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 88, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 89, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 90, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 91, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 92, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 93, NorthWall, , , , , , , [SEP] 94, EastWall, , , , , , , [SEP] 95, SouthWall, , , , , , , [SEP] 96, WestWall, , , , , , , ", "output": ["STEP 1: Turn left, hang a left at the wall and walk to the coffee maker on the counter. | STEP 2: Pick up the white mug from the platform on the coffee maker. | STEP 3: Turn around and walk to the white fridge on the right. | STEP 4: Put the mug on the middle of the second shelf inside the fridge, chill it, remove it and close the door. | STEP 5: Turn around, walk forward and turn around to face the cabinet under the counter next to the fridge. | STEP 6: Open the lower cabinet to the left of the dishwasher, put the chilled mug inside and close the door. | END"]} +{"id": "trial_T20190907_161745_664033-0", "input": "Heat up a potato and put it 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, -3.25, 0.900, 1.0, 0, 0, 0, [SEP] 1, Statue, -1.167, 0.936, -0.643, 0, 0, 0, 67 [SEP] 2, Statue, 0.944, 0.914, -0.381, 0, 0, 0, 68 [SEP] 3, Vase, 1.194, 1.667, -2.097, 0, 270, 0, 66 [SEP] 4, CreditCard, 0.915, 0.699, -0.690, 0, 270, 0, 65 [SEP] 5, CreditCard, 0.773, 0.908, -0.555, 0, 0, 0, 68 [SEP] 6, DishSponge, -1.007, 0.176, 0.543, 0, 180, 0, 87 [SEP] 7, Glassbottle, -1.355, 0.934, -0.643, 0, 0, 0, 67 [SEP] 8, Glassbottle, -0.808, 0.781, -0.745, 0, 90, 0, 88 [SEP] 9, Spoon, -0.642, 0.781, -0.573, 0, 90, 0, 88 [SEP] 10, Spoon, 0.833, 0.154, -0.650, 0, 270, 0, 70 [SEP] 11, Spatula, -0.697, 0.791, -0.918, 0, 90, 0, 88 [SEP] 12, Spatula, 0.754, 0.717, -0.731, 0, 180, 0, 65 [SEP] 13, Egg, 1.026, 0.900, 1.158, 0, 270, 0, 90 [SEP] 14, Cup, 0.944, 0.908, -0.555, 0, 0, 0, 68 [SEP] 15, Cup, 1.014, 0.118, 0.423, 0, 270, 0, 62 [SEP] 16, Plate, 0.844, 1.405, 1.158, 0, 270, 0, 90 [SEP] 17, Tomato, -0.642, 0.821, -0.659, 0, 90, 0, 88 [SEP] 18, Tomato, 1.026, 1.683, 1.158, 0, 270, 0, 90 [SEP] 19, SoapBottle, -1.355, 0.933, -0.905, 0, 0, 0, 67 [SEP] 20, SoapBottle, 0.811, 0.108, -1.972, 0, 0, 0, 72 [SEP] 21, Bowl, 0.905, 1.138, 1.349, 0, 270, 0, 90 [SEP] 22, Bowl, -0.550, 0.936, 0.086, 0, 0, 0, 67 [SEP] 23, SaltShaker, 0.753, 0.150, -0.531, 0, 270, 0, 70 [SEP] 24, SaltShaker, 0.688, 0.907, -1.879, 0, 0, 0, 73 [SEP] 25, PepperShaker, -1.571, 0.878, 2.692, 0, 0, 0, 94 [SEP] 26, PepperShaker, -1.469, 0.878, 2.773, 0, 0, 0, 94 [SEP] 27, Lettuce, -0.772, 1.010, 0.086, 0, 0, 0, 67 [SEP] 28, Bread, 0.966, 0.944, 1.349, 0, 270, 0, 90 [SEP] 29, Bread, 1.114, 0.992, 0.139, 0, 0, 0, 68 [SEP] 30, Mug, 1.026, 0.858, 1.063, 0, 270, 0, 90 [SEP] 31, Mug, 1.194, 1.661, -0.657, 0, 0, 0, 76 [SEP] 32, Apple, 0.995, 1.845, -1.339, 0, 270, 0, 89 [SEP] 33, Statue, -1.167, 0.936, -0.905, 0, 0, 0, 67 [SEP] 34, Glassbottle, 1.056, 1.667, -0.337, 0, 270, 0, 76 [SEP] 35, Bread, -0.846, 1.014, -1.463, 0, 0, 0, 67 [SEP] 36, CreditCard, 0.754, 0.491, -0.565, 0, 270, 0, 71 [SEP] 37, CellPhone, 0.688, 0.908, -0.034, 0, 0, 0, 68 [SEP] 38, Potato, 0.859, 0.941, -1.879, 0, 0, 0, 73 [SEP] 39, Knife, 1.114, 0.934, -0.381, 0, 90, 0, 68 [SEP] 40, Fork, -0.698, 0.934, 0.162, 0, 90, 0, 67 [SEP] 41, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 61 [SEP] 42, Lettuce, -1.104, 1.010, -0.118, 0, 0, 0, 67 [SEP] 43, Plate, 1.147, 1.669, 0.153, 0, 270, 0, 75 [SEP] 44, Apple, -0.96, 0.229, 0.641, 0, 180, 0, 87 [SEP] 45, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 63 [SEP] 46, Spatula, 1.199, 0.926, -1.793, 0, 270, 0, 73 [SEP] 47, PaperTowelRoll, -1.367, 0.986, 2.773, 0, 0, 0, 94 [SEP] 48, Tomato, 0.905, 0.903, 1.063, 0, 270, 0, 90 [SEP] 49, Egg, -0.865, 0.216, 0.641, 0, 180, 0, 87 [SEP] 50, SaltShaker, 0.875, 0.491, -0.648, 0, 270, 0, 71 [SEP] 51, PepperShaker, 0.713, 0.698, -0.648, 0, 270, 0, 65 [SEP] 52, Vase, 1.199, 0.911, -0.208, 0, 0, 0, 68 [SEP] 53, ButterKnife, 0.859, 0.911, -0.729, 0, 0, 0, 68 [SEP] 54, SoapBottle, 1.029, 0.911, -0.208, 0, 0, 0, 68 [SEP] 55, Vase, 1.169, 2.209, -1.299, 0, 270, 0, 74 [SEP] 56, Bowl, 1.169, 2.211, -1.517, 0, 270, 0, 74 [SEP] 57, DishSponge, -1.363, 0.553, 2.667, 0, 0, 0, 93 [SEP] 58, Spoon, -0.550, 0.934, -1.231, 0, 0, 0, 67 [SEP] 59, Cup, 1.093, 1.780, -1.236, 0, 270, 0, 89 [SEP] 60, Mug, 0.773, 0.906, -1.965, 0, 0, 0, 73 [SEP] 61, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 62, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 63, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 64, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 65, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 66, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 67, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 68, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 69, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 70, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 71, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 72, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 73, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 74, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 75, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 76, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 77, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 78, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 79, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 80, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 81, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 82, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 83, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 84, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 85, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 86, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 87, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 88, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 89, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 90, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 91, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 92, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 93, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 94, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 95, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 96, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 97, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 98, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 99, NorthWall, , , , , , , [SEP] 100, EastWall, , , , , , , [SEP] 101, SouthWall, , , , , , , [SEP] 102, WestWall, , , , , , , ", "output": ["STEP 1: Turn right to the fridge, then right to the coffee machine. | STEP 2: Pick up a potato from the counter. | STEP 3: Turn left to the microwave. | STEP 4: Heat the potato in the microwave. | STEP 5: Take the potato to the left at the end of the island near the trash can. | STEP 6: Put the potato in the trash can. | END"]} +{"id": "trial_T20190907_161745_664033-1", "input": "Put a heated potato in the garbage can on the floor, next 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, -3.25, 0.900, 1.0, 0, 0, 0, [SEP] 1, Statue, -1.167, 0.936, -0.643, 0, 0, 0, 67 [SEP] 2, Statue, 0.944, 0.914, -0.381, 0, 0, 0, 68 [SEP] 3, Vase, 1.194, 1.667, -2.097, 0, 270, 0, 66 [SEP] 4, CreditCard, 0.915, 0.699, -0.690, 0, 270, 0, 65 [SEP] 5, CreditCard, 0.773, 0.908, -0.555, 0, 0, 0, 68 [SEP] 6, DishSponge, -1.007, 0.176, 0.543, 0, 180, 0, 87 [SEP] 7, Glassbottle, -1.355, 0.934, -0.643, 0, 0, 0, 67 [SEP] 8, Glassbottle, -0.808, 0.781, -0.745, 0, 90, 0, 88 [SEP] 9, Spoon, -0.642, 0.781, -0.573, 0, 90, 0, 88 [SEP] 10, Spoon, 0.833, 0.154, -0.650, 0, 270, 0, 70 [SEP] 11, Spatula, -0.697, 0.791, -0.918, 0, 90, 0, 88 [SEP] 12, Spatula, 0.754, 0.717, -0.731, 0, 180, 0, 65 [SEP] 13, Egg, 1.026, 0.900, 1.158, 0, 270, 0, 90 [SEP] 14, Cup, 0.944, 0.908, -0.555, 0, 0, 0, 68 [SEP] 15, Cup, 1.014, 0.118, 0.423, 0, 270, 0, 62 [SEP] 16, Plate, 0.844, 1.405, 1.158, 0, 270, 0, 90 [SEP] 17, Tomato, -0.642, 0.821, -0.659, 0, 90, 0, 88 [SEP] 18, Tomato, 1.026, 1.683, 1.158, 0, 270, 0, 90 [SEP] 19, SoapBottle, -1.355, 0.933, -0.905, 0, 0, 0, 67 [SEP] 20, SoapBottle, 0.811, 0.108, -1.972, 0, 0, 0, 72 [SEP] 21, Bowl, 0.905, 1.138, 1.349, 0, 270, 0, 90 [SEP] 22, Bowl, -0.550, 0.936, 0.086, 0, 0, 0, 67 [SEP] 23, SaltShaker, 0.753, 0.150, -0.531, 0, 270, 0, 70 [SEP] 24, SaltShaker, 0.688, 0.907, -1.879, 0, 0, 0, 73 [SEP] 25, PepperShaker, -1.571, 0.878, 2.692, 0, 0, 0, 94 [SEP] 26, PepperShaker, -1.469, 0.878, 2.773, 0, 0, 0, 94 [SEP] 27, Lettuce, -0.772, 1.010, 0.086, 0, 0, 0, 67 [SEP] 28, Bread, 0.966, 0.944, 1.349, 0, 270, 0, 90 [SEP] 29, Bread, 1.114, 0.992, 0.139, 0, 0, 0, 68 [SEP] 30, Mug, 1.026, 0.858, 1.063, 0, 270, 0, 90 [SEP] 31, Mug, 1.194, 1.661, -0.657, 0, 0, 0, 76 [SEP] 32, Apple, 0.995, 1.845, -1.339, 0, 270, 0, 89 [SEP] 33, Statue, -1.167, 0.936, -0.905, 0, 0, 0, 67 [SEP] 34, Glassbottle, 1.056, 1.667, -0.337, 0, 270, 0, 76 [SEP] 35, Bread, -0.846, 1.014, -1.463, 0, 0, 0, 67 [SEP] 36, CreditCard, 0.754, 0.491, -0.565, 0, 270, 0, 71 [SEP] 37, CellPhone, 0.688, 0.908, -0.034, 0, 0, 0, 68 [SEP] 38, Potato, 0.859, 0.941, -1.879, 0, 0, 0, 73 [SEP] 39, Knife, 1.114, 0.934, -0.381, 0, 90, 0, 68 [SEP] 40, Fork, -0.698, 0.934, 0.162, 0, 90, 0, 67 [SEP] 41, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 61 [SEP] 42, Lettuce, -1.104, 1.010, -0.118, 0, 0, 0, 67 [SEP] 43, Plate, 1.147, 1.669, 0.153, 0, 270, 0, 75 [SEP] 44, Apple, -0.96, 0.229, 0.641, 0, 180, 0, 87 [SEP] 45, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 63 [SEP] 46, Spatula, 1.199, 0.926, -1.793, 0, 270, 0, 73 [SEP] 47, PaperTowelRoll, -1.367, 0.986, 2.773, 0, 0, 0, 94 [SEP] 48, Tomato, 0.905, 0.903, 1.063, 0, 270, 0, 90 [SEP] 49, Egg, -0.865, 0.216, 0.641, 0, 180, 0, 87 [SEP] 50, SaltShaker, 0.875, 0.491, -0.648, 0, 270, 0, 71 [SEP] 51, PepperShaker, 0.713, 0.698, -0.648, 0, 270, 0, 65 [SEP] 52, Vase, 1.199, 0.911, -0.208, 0, 0, 0, 68 [SEP] 53, ButterKnife, 0.859, 0.911, -0.729, 0, 0, 0, 68 [SEP] 54, SoapBottle, 1.029, 0.911, -0.208, 0, 0, 0, 68 [SEP] 55, Vase, 1.169, 2.209, -1.299, 0, 270, 0, 74 [SEP] 56, Bowl, 1.169, 2.211, -1.517, 0, 270, 0, 74 [SEP] 57, DishSponge, -1.363, 0.553, 2.667, 0, 0, 0, 93 [SEP] 58, Spoon, -0.550, 0.934, -1.231, 0, 0, 0, 67 [SEP] 59, Cup, 1.093, 1.780, -1.236, 0, 270, 0, 89 [SEP] 60, Mug, 0.773, 0.906, -1.965, 0, 0, 0, 73 [SEP] 61, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 62, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 63, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 64, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 65, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 66, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 67, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 68, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 69, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 70, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 71, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 72, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 73, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 74, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 75, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 76, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 77, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 78, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 79, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 80, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 81, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 82, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 83, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 84, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 85, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 86, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 87, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 88, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 89, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 90, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 91, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 92, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 93, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 94, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 95, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 96, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 97, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 98, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 99, NorthWall, , , , , , , [SEP] 100, EastWall, , , , , , , [SEP] 101, SouthWall, , , , , , , [SEP] 102, WestWall, , , , , , , ", "output": ["STEP 1: Turn to your right and head towards the refrigerator, once there turn right and continue walking until you reach the coffee maker. | STEP 2: Pick up the potato behind the coffee mug, on the counter top. | STEP 3: Turn to your left and walk to the microwave that is just above the stove. | STEP 4: Place the potato in the microwave, heat it, then remove the potato from the microwave. | STEP 5: Turn to your left and walk to the end of the kitchen island, then turn left again by the black garbage can on the floor . | STEP 6: Put the heated potato in the garbage can on the floor. | END"]} +{"id": "trial_T20190907_161745_664033-2", "input": "Put a warmed 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, -3.25, 0.900, 1.0, 0, 0, 0, [SEP] 1, Statue, -1.167, 0.936, -0.643, 0, 0, 0, 67 [SEP] 2, Statue, 0.944, 0.914, -0.381, 0, 0, 0, 68 [SEP] 3, Vase, 1.194, 1.667, -2.097, 0, 270, 0, 66 [SEP] 4, CreditCard, 0.915, 0.699, -0.690, 0, 270, 0, 65 [SEP] 5, CreditCard, 0.773, 0.908, -0.555, 0, 0, 0, 68 [SEP] 6, DishSponge, -1.007, 0.176, 0.543, 0, 180, 0, 87 [SEP] 7, Glassbottle, -1.355, 0.934, -0.643, 0, 0, 0, 67 [SEP] 8, Glassbottle, -0.808, 0.781, -0.745, 0, 90, 0, 88 [SEP] 9, Spoon, -0.642, 0.781, -0.573, 0, 90, 0, 88 [SEP] 10, Spoon, 0.833, 0.154, -0.650, 0, 270, 0, 70 [SEP] 11, Spatula, -0.697, 0.791, -0.918, 0, 90, 0, 88 [SEP] 12, Spatula, 0.754, 0.717, -0.731, 0, 180, 0, 65 [SEP] 13, Egg, 1.026, 0.900, 1.158, 0, 270, 0, 90 [SEP] 14, Cup, 0.944, 0.908, -0.555, 0, 0, 0, 68 [SEP] 15, Cup, 1.014, 0.118, 0.423, 0, 270, 0, 62 [SEP] 16, Plate, 0.844, 1.405, 1.158, 0, 270, 0, 90 [SEP] 17, Tomato, -0.642, 0.821, -0.659, 0, 90, 0, 88 [SEP] 18, Tomato, 1.026, 1.683, 1.158, 0, 270, 0, 90 [SEP] 19, SoapBottle, -1.355, 0.933, -0.905, 0, 0, 0, 67 [SEP] 20, SoapBottle, 0.811, 0.108, -1.972, 0, 0, 0, 72 [SEP] 21, Bowl, 0.905, 1.138, 1.349, 0, 270, 0, 90 [SEP] 22, Bowl, -0.550, 0.936, 0.086, 0, 0, 0, 67 [SEP] 23, SaltShaker, 0.753, 0.150, -0.531, 0, 270, 0, 70 [SEP] 24, SaltShaker, 0.688, 0.907, -1.879, 0, 0, 0, 73 [SEP] 25, PepperShaker, -1.571, 0.878, 2.692, 0, 0, 0, 94 [SEP] 26, PepperShaker, -1.469, 0.878, 2.773, 0, 0, 0, 94 [SEP] 27, Lettuce, -0.772, 1.010, 0.086, 0, 0, 0, 67 [SEP] 28, Bread, 0.966, 0.944, 1.349, 0, 270, 0, 90 [SEP] 29, Bread, 1.114, 0.992, 0.139, 0, 0, 0, 68 [SEP] 30, Mug, 1.026, 0.858, 1.063, 0, 270, 0, 90 [SEP] 31, Mug, 1.194, 1.661, -0.657, 0, 0, 0, 76 [SEP] 32, Apple, 0.995, 1.845, -1.339, 0, 270, 0, 89 [SEP] 33, Statue, -1.167, 0.936, -0.905, 0, 0, 0, 67 [SEP] 34, Glassbottle, 1.056, 1.667, -0.337, 0, 270, 0, 76 [SEP] 35, Bread, -0.846, 1.014, -1.463, 0, 0, 0, 67 [SEP] 36, CreditCard, 0.754, 0.491, -0.565, 0, 270, 0, 71 [SEP] 37, CellPhone, 0.688, 0.908, -0.034, 0, 0, 0, 68 [SEP] 38, Potato, 0.859, 0.941, -1.879, 0, 0, 0, 73 [SEP] 39, Knife, 1.114, 0.934, -0.381, 0, 90, 0, 68 [SEP] 40, Fork, -0.698, 0.934, 0.162, 0, 90, 0, 67 [SEP] 41, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 61 [SEP] 42, Lettuce, -1.104, 1.010, -0.118, 0, 0, 0, 67 [SEP] 43, Plate, 1.147, 1.669, 0.153, 0, 270, 0, 75 [SEP] 44, Apple, -0.96, 0.229, 0.641, 0, 180, 0, 87 [SEP] 45, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 63 [SEP] 46, Spatula, 1.199, 0.926, -1.793, 0, 270, 0, 73 [SEP] 47, PaperTowelRoll, -1.367, 0.986, 2.773, 0, 0, 0, 94 [SEP] 48, Tomato, 0.905, 0.903, 1.063, 0, 270, 0, 90 [SEP] 49, Egg, -0.865, 0.216, 0.641, 0, 180, 0, 87 [SEP] 50, SaltShaker, 0.875, 0.491, -0.648, 0, 270, 0, 71 [SEP] 51, PepperShaker, 0.713, 0.698, -0.648, 0, 270, 0, 65 [SEP] 52, Vase, 1.199, 0.911, -0.208, 0, 0, 0, 68 [SEP] 53, ButterKnife, 0.859, 0.911, -0.729, 0, 0, 0, 68 [SEP] 54, SoapBottle, 1.029, 0.911, -0.208, 0, 0, 0, 68 [SEP] 55, Vase, 1.169, 2.209, -1.299, 0, 270, 0, 74 [SEP] 56, Bowl, 1.169, 2.211, -1.517, 0, 270, 0, 74 [SEP] 57, DishSponge, -1.363, 0.553, 2.667, 0, 0, 0, 93 [SEP] 58, Spoon, -0.550, 0.934, -1.231, 0, 0, 0, 67 [SEP] 59, Cup, 1.093, 1.780, -1.236, 0, 270, 0, 89 [SEP] 60, Mug, 0.773, 0.906, -1.965, 0, 0, 0, 73 [SEP] 61, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 62, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 63, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 64, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 65, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 66, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 67, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 68, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 69, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 70, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 71, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 72, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 73, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 74, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 75, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 76, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 77, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 78, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 79, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 80, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 81, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 82, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 83, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 84, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 85, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 86, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 87, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 88, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 89, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 90, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 91, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 92, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 93, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 94, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 95, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 96, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 97, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 98, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 99, NorthWall, , , , , , , [SEP] 100, EastWall, , , , , , , [SEP] 101, SouthWall, , , , , , , [SEP] 102, WestWall, , , , , , , ", "output": ["STEP 1: Go right and the right again to face the counter with the coffee maker on it. | STEP 2: Pick the potato up from the counter. | STEP 3: Go left and face the microwave above the stove. | STEP 4: Put the potato in the microwave and shut the door and then open the door and pick the potato up and shut the door. | STEP 5: Go left and turn around to the left to face the trash can on the floor in front of the counter. | STEP 6: Put the potato in the trash can. | END"]} +{"id": "trial_T20190909_061130_844814-0", "input": "Put a washed bowl away in a kitchen 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, 0.900, 1.25, 0, 270, 0, [SEP] 1, Statue, 0.773, 0.914, -0.381, 0, 0, 0, 61 [SEP] 2, Vase, 1.169, 2.209, -0.973, 0, 270, 0, 67 [SEP] 3, CreditCard, -0.624, 0.930, 0.162, 0, 0, 0, 60 [SEP] 4, CellPhone, 0.688, 0.908, -1.965, 0, 0, 0, 66 [SEP] 5, CellPhone, -1.418, 0.930, 0.144, 0, 0, 0, 60 [SEP] 6, DishSponge, 0.910, 0.107, -2.292, 0, 0, 0, 65 [SEP] 7, ButterKnife, 0.834, 0.703, -0.648, 0, 270, 0, 58 [SEP] 8, Fork, -1.167, 0.934, 0.144, 0, 0, 0, 60 [SEP] 9, Knife, 0.944, 0.934, -0.208, 0, 0, 0, 61 [SEP] 10, Knife, -0.772, 0.957, 0.315, 0, 0, 0, 60 [SEP] 11, Egg, 1.028, 1.821, -1.236, 0, 270, 0, 82 [SEP] 12, Egg, -1.101, 0.216, 0.641, 0, 180, 0, 80 [SEP] 13, Cup, 1.087, 0.860, 0.967, 0, 270, 0, 83 [SEP] 14, Cup, 1.060, 1.792, -1.339, 0, 270, 0, 82 [SEP] 15, Tomato, 1.029, 0.952, -0.381, 0, 0, 0, 61 [SEP] 16, Tomato, -0.865, 0.219, 0.543, 0, 180, 0, 80 [SEP] 17, SaltShaker, 0.811, 0.104, -1.892, 0, 0, 0, 65 [SEP] 18, SaltShaker, 1.199, 0.907, -0.034, 0, 0, 0, 61 [SEP] 19, PepperShaker, 0.915, 0.491, -0.565, 0, 270, 0, 64 [SEP] 20, PepperShaker, 1.114, 0.907, -0.555, 0, 0, 0, 61 [SEP] 21, Bread, -1.355, 1.014, -0.118, 0, 0, 0, 60 [SEP] 22, Bread, 1.026, 0.944, 1.349, 0, 270, 0, 83 [SEP] 23, Mug, 1.212, 2.203, -1.299, 0, 270, 0, 67 [SEP] 24, Apple, 0.783, 1.452, 1.254, 0, 270, 0, 83 [SEP] 25, Apple, 1.087, 1.693, 1.444, 0, 270, 0, 83 [SEP] 26, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 60 [SEP] 27, Glassbottle, -0.772, 0.934, -1.618, 0, 0, 0, 60 [SEP] 28, Bread, 0.966, 1.482, 1.254, 0, 270, 0, 83 [SEP] 29, CreditCard, -1.674, 0.878, 2.665, 0, 0, 0, 87 [SEP] 30, CellPhone, 0.859, 0.908, -1.879, 0, 0, 0, 66 [SEP] 31, Potato, 0.844, 1.165, 1.540, 0, 270, 0, 83 [SEP] 32, Knife, -0.550, 0.957, 0.315, 0, 0, 0, 60 [SEP] 33, Fork, 0.794, 0.495, -0.690, 0, 180, 0, 64 [SEP] 34, Pan, 0.905, 1.640, 1.063, 0, 180, 0, 83 [SEP] 35, Lettuce, -1.355, 1.010, -0.643, 0, 0, 0, 60 [SEP] 36, Plate, 0.966, 1.405, 1.063, 0, 270, 0, 83 [SEP] 37, Apple, 0.995, 1.845, -1.132, 0, 270, 0, 82 [SEP] 38, Pot, -1.570, 0.557, 2.718, 0, 0, 0, 86 [SEP] 39, Spatula, 0.914, 0.168, -0.571, 0, 0, 0, 63 [SEP] 40, PaperTowelRoll, -1.101, 0.283, 0.543, 0, 90, 0, 80 [SEP] 41, Tomato, -0.698, 0.974, -1.231, 0, 0, 0, 60 [SEP] 42, Egg, -0.772, 0.971, -1.386, 0, 0, 0, 60 [SEP] 43, SaltShaker, 0.794, 0.698, -0.524, 0, 270, 0, 58 [SEP] 44, PepperShaker, -1.571, 0.878, 2.746, 0, 0, 0, 87 [SEP] 45, Vase, -0.846, 0.933, 0.086, 0, 0, 0, 60 [SEP] 46, ButterKnife, 1.029, 0.911, -0.034, 0, 0, 0, 61 [SEP] 47, SoapBottle, -1.007, 0.177, 0.543, 0, 180, 0, 80 [SEP] 48, Vase, -1.985, 0.555, 2.718, 0, 0, 0, 86 [SEP] 49, Bowl, -1.104, 0.936, -1.430, 0, 0, 0, 60 [SEP] 50, DishSponge, 0.688, 0.910, -0.729, 0, 0, 0, 61 [SEP] 51, Spoon, -0.846, 0.934, -1.231, 0, 0, 0, 60 [SEP] 52, Cup, 1.194, 1.663, -1.961, 0, 270, 0, 59 [SEP] 53, Mug, 0.859, 0.906, -0.729, 0, 270, 0, 61 [SEP] 54, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 55, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 56, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 57, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 58, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 59, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 60, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 61, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 62, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 63, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 64, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 65, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 66, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 67, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 68, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 69, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 70, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 71, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 72, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 73, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 74, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 75, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 76, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 77, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 78, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 79, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 80, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 81, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 82, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 83, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 84, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 85, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 86, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 87, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 88, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 89, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 90, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 91, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 92, NorthWall, , , , , , , [SEP] 93, EastWall, , , , , , , [SEP] 94, SouthWall, , , , , , , [SEP] 95, WestWall, , , , , , , ", "output": ["STEP 1: Turn left, then go clockwise to face the opposite end of the kitchen island. | STEP 2: Pick up the bowl that is near the potted plant in the corner of the island. | STEP 3: Turn right and go counterclockwise around the island to the sink. | STEP 4: Wash the bowl in the sink. | STEP 5: Face the opposite direction and look up at the cabinets above the counter to the left of the stove. | STEP 6: Put the bowl on the bottom shelf of the cabinet on the right. | END"]} +{"id": "trial_T20190909_061130_844814-1", "input": "Put a cleaned, filled bowl of water in the cabinet, left 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, 0.900, 1.25, 0, 270, 0, [SEP] 1, Statue, 0.773, 0.914, -0.381, 0, 0, 0, 61 [SEP] 2, Vase, 1.169, 2.209, -0.973, 0, 270, 0, 67 [SEP] 3, CreditCard, -0.624, 0.930, 0.162, 0, 0, 0, 60 [SEP] 4, CellPhone, 0.688, 0.908, -1.965, 0, 0, 0, 66 [SEP] 5, CellPhone, -1.418, 0.930, 0.144, 0, 0, 0, 60 [SEP] 6, DishSponge, 0.910, 0.107, -2.292, 0, 0, 0, 65 [SEP] 7, ButterKnife, 0.834, 0.703, -0.648, 0, 270, 0, 58 [SEP] 8, Fork, -1.167, 0.934, 0.144, 0, 0, 0, 60 [SEP] 9, Knife, 0.944, 0.934, -0.208, 0, 0, 0, 61 [SEP] 10, Knife, -0.772, 0.957, 0.315, 0, 0, 0, 60 [SEP] 11, Egg, 1.028, 1.821, -1.236, 0, 270, 0, 82 [SEP] 12, Egg, -1.101, 0.216, 0.641, 0, 180, 0, 80 [SEP] 13, Cup, 1.087, 0.860, 0.967, 0, 270, 0, 83 [SEP] 14, Cup, 1.060, 1.792, -1.339, 0, 270, 0, 82 [SEP] 15, Tomato, 1.029, 0.952, -0.381, 0, 0, 0, 61 [SEP] 16, Tomato, -0.865, 0.219, 0.543, 0, 180, 0, 80 [SEP] 17, SaltShaker, 0.811, 0.104, -1.892, 0, 0, 0, 65 [SEP] 18, SaltShaker, 1.199, 0.907, -0.034, 0, 0, 0, 61 [SEP] 19, PepperShaker, 0.915, 0.491, -0.565, 0, 270, 0, 64 [SEP] 20, PepperShaker, 1.114, 0.907, -0.555, 0, 0, 0, 61 [SEP] 21, Bread, -1.355, 1.014, -0.118, 0, 0, 0, 60 [SEP] 22, Bread, 1.026, 0.944, 1.349, 0, 270, 0, 83 [SEP] 23, Mug, 1.212, 2.203, -1.299, 0, 270, 0, 67 [SEP] 24, Apple, 0.783, 1.452, 1.254, 0, 270, 0, 83 [SEP] 25, Apple, 1.087, 1.693, 1.444, 0, 270, 0, 83 [SEP] 26, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 60 [SEP] 27, Glassbottle, -0.772, 0.934, -1.618, 0, 0, 0, 60 [SEP] 28, Bread, 0.966, 1.482, 1.254, 0, 270, 0, 83 [SEP] 29, CreditCard, -1.674, 0.878, 2.665, 0, 0, 0, 87 [SEP] 30, CellPhone, 0.859, 0.908, -1.879, 0, 0, 0, 66 [SEP] 31, Potato, 0.844, 1.165, 1.540, 0, 270, 0, 83 [SEP] 32, Knife, -0.550, 0.957, 0.315, 0, 0, 0, 60 [SEP] 33, Fork, 0.794, 0.495, -0.690, 0, 180, 0, 64 [SEP] 34, Pan, 0.905, 1.640, 1.063, 0, 180, 0, 83 [SEP] 35, Lettuce, -1.355, 1.010, -0.643, 0, 0, 0, 60 [SEP] 36, Plate, 0.966, 1.405, 1.063, 0, 270, 0, 83 [SEP] 37, Apple, 0.995, 1.845, -1.132, 0, 270, 0, 82 [SEP] 38, Pot, -1.570, 0.557, 2.718, 0, 0, 0, 86 [SEP] 39, Spatula, 0.914, 0.168, -0.571, 0, 0, 0, 63 [SEP] 40, PaperTowelRoll, -1.101, 0.283, 0.543, 0, 90, 0, 80 [SEP] 41, Tomato, -0.698, 0.974, -1.231, 0, 0, 0, 60 [SEP] 42, Egg, -0.772, 0.971, -1.386, 0, 0, 0, 60 [SEP] 43, SaltShaker, 0.794, 0.698, -0.524, 0, 270, 0, 58 [SEP] 44, PepperShaker, -1.571, 0.878, 2.746, 0, 0, 0, 87 [SEP] 45, Vase, -0.846, 0.933, 0.086, 0, 0, 0, 60 [SEP] 46, ButterKnife, 1.029, 0.911, -0.034, 0, 0, 0, 61 [SEP] 47, SoapBottle, -1.007, 0.177, 0.543, 0, 180, 0, 80 [SEP] 48, Vase, -1.985, 0.555, 2.718, 0, 0, 0, 86 [SEP] 49, Bowl, -1.104, 0.936, -1.430, 0, 0, 0, 60 [SEP] 50, DishSponge, 0.688, 0.910, -0.729, 0, 0, 0, 61 [SEP] 51, Spoon, -0.846, 0.934, -1.231, 0, 0, 0, 60 [SEP] 52, Cup, 1.194, 1.663, -1.961, 0, 270, 0, 59 [SEP] 53, Mug, 0.859, 0.906, -0.729, 0, 270, 0, 61 [SEP] 54, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 55, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 56, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 57, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 58, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 59, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 60, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 61, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 62, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 63, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 64, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 65, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 66, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 67, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 68, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 69, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 70, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 71, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 72, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 73, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 74, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 75, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 76, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 77, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 78, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 79, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 80, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 81, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 82, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 83, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 84, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 85, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 86, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 87, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 88, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 89, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 90, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 91, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 92, NorthWall, , , , , , , [SEP] 93, EastWall, , , , , , , [SEP] 94, SouthWall, , , , , , , [SEP] 95, WestWall, , , , , , , ", "output": ["STEP 1: Turn around, move around the island to the left, then head to the other side of the island, turn around to face the bowl on the side of the island. | STEP 2: Pick up the dirty bowl on the island. | STEP 3: Bring the bowl around the island to the right, then face the sink on the left. | STEP 4: Wash the bowl in the sink with water, fill the bowl with water. | STEP 5: Turn around, bring the filled bowl to the cabinet left of the microwave. | STEP 6: Put the filled bowl in the cabinet left of the microwave. | END"]} +{"id": "trial_T20190909_061130_844814-2", "input": "Put a clean wooden bowl of water 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, 0.900, 1.25, 0, 270, 0, [SEP] 1, Statue, 0.773, 0.914, -0.381, 0, 0, 0, 61 [SEP] 2, Vase, 1.169, 2.209, -0.973, 0, 270, 0, 67 [SEP] 3, CreditCard, -0.624, 0.930, 0.162, 0, 0, 0, 60 [SEP] 4, CellPhone, 0.688, 0.908, -1.965, 0, 0, 0, 66 [SEP] 5, CellPhone, -1.418, 0.930, 0.144, 0, 0, 0, 60 [SEP] 6, DishSponge, 0.910, 0.107, -2.292, 0, 0, 0, 65 [SEP] 7, ButterKnife, 0.834, 0.703, -0.648, 0, 270, 0, 58 [SEP] 8, Fork, -1.167, 0.934, 0.144, 0, 0, 0, 60 [SEP] 9, Knife, 0.944, 0.934, -0.208, 0, 0, 0, 61 [SEP] 10, Knife, -0.772, 0.957, 0.315, 0, 0, 0, 60 [SEP] 11, Egg, 1.028, 1.821, -1.236, 0, 270, 0, 82 [SEP] 12, Egg, -1.101, 0.216, 0.641, 0, 180, 0, 80 [SEP] 13, Cup, 1.087, 0.860, 0.967, 0, 270, 0, 83 [SEP] 14, Cup, 1.060, 1.792, -1.339, 0, 270, 0, 82 [SEP] 15, Tomato, 1.029, 0.952, -0.381, 0, 0, 0, 61 [SEP] 16, Tomato, -0.865, 0.219, 0.543, 0, 180, 0, 80 [SEP] 17, SaltShaker, 0.811, 0.104, -1.892, 0, 0, 0, 65 [SEP] 18, SaltShaker, 1.199, 0.907, -0.034, 0, 0, 0, 61 [SEP] 19, PepperShaker, 0.915, 0.491, -0.565, 0, 270, 0, 64 [SEP] 20, PepperShaker, 1.114, 0.907, -0.555, 0, 0, 0, 61 [SEP] 21, Bread, -1.355, 1.014, -0.118, 0, 0, 0, 60 [SEP] 22, Bread, 1.026, 0.944, 1.349, 0, 270, 0, 83 [SEP] 23, Mug, 1.212, 2.203, -1.299, 0, 270, 0, 67 [SEP] 24, Apple, 0.783, 1.452, 1.254, 0, 270, 0, 83 [SEP] 25, Apple, 1.087, 1.693, 1.444, 0, 270, 0, 83 [SEP] 26, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 60 [SEP] 27, Glassbottle, -0.772, 0.934, -1.618, 0, 0, 0, 60 [SEP] 28, Bread, 0.966, 1.482, 1.254, 0, 270, 0, 83 [SEP] 29, CreditCard, -1.674, 0.878, 2.665, 0, 0, 0, 87 [SEP] 30, CellPhone, 0.859, 0.908, -1.879, 0, 0, 0, 66 [SEP] 31, Potato, 0.844, 1.165, 1.540, 0, 270, 0, 83 [SEP] 32, Knife, -0.550, 0.957, 0.315, 0, 0, 0, 60 [SEP] 33, Fork, 0.794, 0.495, -0.690, 0, 180, 0, 64 [SEP] 34, Pan, 0.905, 1.640, 1.063, 0, 180, 0, 83 [SEP] 35, Lettuce, -1.355, 1.010, -0.643, 0, 0, 0, 60 [SEP] 36, Plate, 0.966, 1.405, 1.063, 0, 270, 0, 83 [SEP] 37, Apple, 0.995, 1.845, -1.132, 0, 270, 0, 82 [SEP] 38, Pot, -1.570, 0.557, 2.718, 0, 0, 0, 86 [SEP] 39, Spatula, 0.914, 0.168, -0.571, 0, 0, 0, 63 [SEP] 40, PaperTowelRoll, -1.101, 0.283, 0.543, 0, 90, 0, 80 [SEP] 41, Tomato, -0.698, 0.974, -1.231, 0, 0, 0, 60 [SEP] 42, Egg, -0.772, 0.971, -1.386, 0, 0, 0, 60 [SEP] 43, SaltShaker, 0.794, 0.698, -0.524, 0, 270, 0, 58 [SEP] 44, PepperShaker, -1.571, 0.878, 2.746, 0, 0, 0, 87 [SEP] 45, Vase, -0.846, 0.933, 0.086, 0, 0, 0, 60 [SEP] 46, ButterKnife, 1.029, 0.911, -0.034, 0, 0, 0, 61 [SEP] 47, SoapBottle, -1.007, 0.177, 0.543, 0, 180, 0, 80 [SEP] 48, Vase, -1.985, 0.555, 2.718, 0, 0, 0, 86 [SEP] 49, Bowl, -1.104, 0.936, -1.430, 0, 0, 0, 60 [SEP] 50, DishSponge, 0.688, 0.910, -0.729, 0, 0, 0, 61 [SEP] 51, Spoon, -0.846, 0.934, -1.231, 0, 0, 0, 60 [SEP] 52, Cup, 1.194, 1.663, -1.961, 0, 270, 0, 59 [SEP] 53, Mug, 0.859, 0.906, -0.729, 0, 270, 0, 61 [SEP] 54, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 55, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 56, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 57, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 58, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 59, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 60, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 61, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 62, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 63, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 64, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 65, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 66, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 67, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 68, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 69, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 70, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 71, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 72, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 73, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 74, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 75, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 76, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 77, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 78, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 79, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 80, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 81, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 82, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 83, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 84, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 85, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 86, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 87, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 88, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 89, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 90, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 91, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 92, NorthWall, , , , , , , [SEP] 93, EastWall, , , , , , , [SEP] 94, SouthWall, , , , , , , [SEP] 95, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and walk up to the kitchen island, then turn left and walk over to the fridge, turn right and walk around to the end of the kitchen island. | STEP 2: Pick up the wooden bowl off of the kitchen island. | STEP 3: Turn right and walk over to the counter, then turn left and walk over to the sink. | STEP 4: Put the wooden bowl in the sink and turn on the water, after a couple seconds turn the water off and pick up the now clean wooden bowl that is full of water. | STEP 5: Walk over to the counter behind you and look up at the upper cabinets. | STEP 6: Open the cabinet door to the left of the microwave and put the clean wooden bowl of water inside, then close the cabinet. | END"]} +{"id": "trial_T20190908_041353_333106-0", "input": "Inspect a statue with a lamp. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.25, 0.901, 2.5, 0, 180, 0, [SEP] 1, Newspaper, -4.673, 0.210, 4.395, 0, 90, 0, 57 [SEP] 2, Newspaper, -1.275, 0.079, 0.362, 0, 0, 0, 43 [SEP] 3, Vase, -4.223, 0.203, 4.404, 0, 90, 0, 51 [SEP] 4, Watch, -2.137, 0.034, 0.108, 0, 90, 0, 37 [SEP] 5, Watch, -4.854, 1.039, 0.306, 0, 0, 0, 36 [SEP] 6, KeyChain, -4.854, 1.039, 0.438, 0, 0, 0, 36 [SEP] 7, RemoteControl, -4.505, 1.110, 4.490, 0, 90, 0, 54 [SEP] 8, Box, -0.870, 0.843, 2.753, 0, 0, 0, 58 [SEP] 9, Laptop, -1.584, 0.588, 4.384, 0, 0, 0, 48 [SEP] 10, Box, -3.543, 1.332, 4.589, 0, 90, 0, 54 [SEP] 11, Watch, -2.137, 0.034, 0.421, 0, 90, 0, 37 [SEP] 12, Pillow, -2.031, 0.668, 4.421, 0, 0, 0, 48 [SEP] 13, TissueBox, -5.534, 1.040, 0.239, 0, 0, 0, 36 [SEP] 14, Newspaper, -3.222, 1.114, 4.589, 0, 90, 0, 54 [SEP] 15, CreditCard, -3.863, 1.107, 4.391, 0, 90, 0, 50 [SEP] 16, KeyChain, -2.404, 0.034, 0.265, 0, 90, 0, 37 [SEP] 17, CellPhone, -1.035, 0.609, 1.960, 0, 0, 0, 58 [SEP] 18, Statue, -3.863, 1.113, 4.490, 0, 90, 0, 54 [SEP] 19, Laptop, -4.184, 1.109, 4.588, 0, 90, 0, 54 [SEP] 20, RemoteControl, -0.705, 0.611, 3.281, 0, 0, 0, 58 [SEP] 21, Vase, -3.864, 1.111, 4.687, 0, 90, 0, 54 [SEP] 22, DeskLamp, -4.649, 1.051, 0.268, 0, 0, 0, [SEP] 23, DeskLamp, -2.992, 1.107, 4.522, 0, 0, 0, [SEP] 24, FloorLamp, -0.650, 0.007, 4.431, 0, 0, 0, [SEP] 25, FloorLamp, -5.607, 0.007, 4.641, 0, 0, 0, [SEP] 26, Shelf, -5.237, 1.776, 0.070, 0, 0, 0, [SEP] 27, Shelf, -5.238, 1.968, 0.085, 0, 0, 0, [SEP] 28, Shelf, -5.242, 1.391, 0.086, 0, 0, 0, [SEP] 29, Shelf, -5.241, 1.582, 0.065, 0, 0, 0, [SEP] 30, LightSwitch, -6.002, 1.353, 3.404, 0, 90, 0, [SEP] 31, GarbageCan, -5.794, -0.033, 4.073, 0, 90, 0, [SEP] 32, Painting, -6.017, 1.802, 4.177, 90, 270, 0, [SEP] 33, HousePlant, -3.966, 1.625, 0.135, 0, 315, 0, [SEP] 34, Television, -3.355, 0.833, 0.027, 0, 0, 0, [SEP] 35, Drawer, -5.024, 0.903, 0.370, 0, 0, 0, [SEP] 36, SideTable, -5.024, 0.008, 0.267, 0, 0, 0, [SEP] 37, Safe, -2.298, 5.778, 0.268, 0, 90, 0, [SEP] 38, Shelf, -0.253, 0.781, 1.058, 0, 270, 0, [SEP] 39, Shelf, -0.283, 0.274, 1.066, 0, 270, 0, [SEP] 40, Shelf, -1.224, 1.288, 0.270, 0, 0, 0, [SEP] 41, Shelf, -1.218, 1.810, 0.275, 0, 0, 0, [SEP] 42, Shelf, -0.280, 1.810, 1.057, 0, 270, 0, [SEP] 43, Shelf, -1.218, 0.274, 0.262, 0, 0, 0, [SEP] 44, Shelf, -1.223, 0.782, 0.237, 0, 0, 0, [SEP] 45, Shelf, -0.280, 1.288, 1.055, 0, 270, 0, [SEP] 46, ShelvingUnit, -0.268, 0.004, 1.067, 0, 270, 0, [SEP] 47, ShelvingUnit, -1.218, 0.004, 0.244, 0, 0, 0, [SEP] 48, ArmChair, -2.027, 0.001, 4.422, 0, 178.692, 0, [SEP] 49, Drawer, -4.329, 1.014, 4.311, 0, 180, 0, [SEP] 50, Drawer, -3.750, 1.014, 4.311, 0, 180, 0, [SEP] 51, Cabinet, -4.049, 0.561, 4.212, 0, 180, 0, [SEP] 52, Cabinet, -4.032, 0.561, 4.212, 0, 180, 0, [SEP] 53, Cabinet, -2.884, 0.561, 4.212, 0, 180, 0, [SEP] 54, Dresser, -4.041, -0.000, 4.589, 0, 180, 0, [SEP] 55, Drawer, -4.916, 1.014, 4.311, 0, 180, 0, [SEP] 56, Drawer, -3.166, 1.014, 4.311, 0, 180, 0, [SEP] 57, Cabinet, -5.196, 0.561, 4.212, 0, 180, 0, [SEP] 58, Sofa, -0.705, -0.002, 2.753, 0, 270, 0, [SEP] 59, NorthWall, , , , , , , [SEP] 60, SouthWall, , , , , , , [SEP] 61, SouthWall, , , , , , , ", "output": ["STEP 1: move to the dresser behind you | STEP 2: pick up a statue from the dresser | STEP 3: move to the lamp to the left | STEP 4: turn on the lamp | END"]} +{"id": "trial_T20190908_041353_333106-1", "input": "Look at a statue under 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, 0.901, 2.5, 0, 180, 0, [SEP] 1, Newspaper, -4.673, 0.210, 4.395, 0, 90, 0, 57 [SEP] 2, Newspaper, -1.275, 0.079, 0.362, 0, 0, 0, 43 [SEP] 3, Vase, -4.223, 0.203, 4.404, 0, 90, 0, 51 [SEP] 4, Watch, -2.137, 0.034, 0.108, 0, 90, 0, 37 [SEP] 5, Watch, -4.854, 1.039, 0.306, 0, 0, 0, 36 [SEP] 6, KeyChain, -4.854, 1.039, 0.438, 0, 0, 0, 36 [SEP] 7, RemoteControl, -4.505, 1.110, 4.490, 0, 90, 0, 54 [SEP] 8, Box, -0.870, 0.843, 2.753, 0, 0, 0, 58 [SEP] 9, Laptop, -1.584, 0.588, 4.384, 0, 0, 0, 48 [SEP] 10, Box, -3.543, 1.332, 4.589, 0, 90, 0, 54 [SEP] 11, Watch, -2.137, 0.034, 0.421, 0, 90, 0, 37 [SEP] 12, Pillow, -2.031, 0.668, 4.421, 0, 0, 0, 48 [SEP] 13, TissueBox, -5.534, 1.040, 0.239, 0, 0, 0, 36 [SEP] 14, Newspaper, -3.222, 1.114, 4.589, 0, 90, 0, 54 [SEP] 15, CreditCard, -3.863, 1.107, 4.391, 0, 90, 0, 50 [SEP] 16, KeyChain, -2.404, 0.034, 0.265, 0, 90, 0, 37 [SEP] 17, CellPhone, -1.035, 0.609, 1.960, 0, 0, 0, 58 [SEP] 18, Statue, -3.863, 1.113, 4.490, 0, 90, 0, 54 [SEP] 19, Laptop, -4.184, 1.109, 4.588, 0, 90, 0, 54 [SEP] 20, RemoteControl, -0.705, 0.611, 3.281, 0, 0, 0, 58 [SEP] 21, Vase, -3.864, 1.111, 4.687, 0, 90, 0, 54 [SEP] 22, DeskLamp, -4.649, 1.051, 0.268, 0, 0, 0, [SEP] 23, DeskLamp, -2.992, 1.107, 4.522, 0, 0, 0, [SEP] 24, FloorLamp, -0.650, 0.007, 4.431, 0, 0, 0, [SEP] 25, FloorLamp, -5.607, 0.007, 4.641, 0, 0, 0, [SEP] 26, Shelf, -5.237, 1.776, 0.070, 0, 0, 0, [SEP] 27, Shelf, -5.238, 1.968, 0.085, 0, 0, 0, [SEP] 28, Shelf, -5.242, 1.391, 0.086, 0, 0, 0, [SEP] 29, Shelf, -5.241, 1.582, 0.065, 0, 0, 0, [SEP] 30, LightSwitch, -6.002, 1.353, 3.404, 0, 90, 0, [SEP] 31, GarbageCan, -5.794, -0.033, 4.073, 0, 90, 0, [SEP] 32, Painting, -6.017, 1.802, 4.177, 90, 270, 0, [SEP] 33, HousePlant, -3.966, 1.625, 0.135, 0, 315, 0, [SEP] 34, Television, -3.355, 0.833, 0.027, 0, 0, 0, [SEP] 35, Drawer, -5.024, 0.903, 0.370, 0, 0, 0, [SEP] 36, SideTable, -5.024, 0.008, 0.267, 0, 0, 0, [SEP] 37, Safe, -2.298, 5.778, 0.268, 0, 90, 0, [SEP] 38, Shelf, -0.253, 0.781, 1.058, 0, 270, 0, [SEP] 39, Shelf, -0.283, 0.274, 1.066, 0, 270, 0, [SEP] 40, Shelf, -1.224, 1.288, 0.270, 0, 0, 0, [SEP] 41, Shelf, -1.218, 1.810, 0.275, 0, 0, 0, [SEP] 42, Shelf, -0.280, 1.810, 1.057, 0, 270, 0, [SEP] 43, Shelf, -1.218, 0.274, 0.262, 0, 0, 0, [SEP] 44, Shelf, -1.223, 0.782, 0.237, 0, 0, 0, [SEP] 45, Shelf, -0.280, 1.288, 1.055, 0, 270, 0, [SEP] 46, ShelvingUnit, -0.268, 0.004, 1.067, 0, 270, 0, [SEP] 47, ShelvingUnit, -1.218, 0.004, 0.244, 0, 0, 0, [SEP] 48, ArmChair, -2.027, 0.001, 4.422, 0, 178.692, 0, [SEP] 49, Drawer, -4.329, 1.014, 4.311, 0, 180, 0, [SEP] 50, Drawer, -3.750, 1.014, 4.311, 0, 180, 0, [SEP] 51, Cabinet, -4.049, 0.561, 4.212, 0, 180, 0, [SEP] 52, Cabinet, -4.032, 0.561, 4.212, 0, 180, 0, [SEP] 53, Cabinet, -2.884, 0.561, 4.212, 0, 180, 0, [SEP] 54, Dresser, -4.041, -0.000, 4.589, 0, 180, 0, [SEP] 55, Drawer, -4.916, 1.014, 4.311, 0, 180, 0, [SEP] 56, Drawer, -3.166, 1.014, 4.311, 0, 180, 0, [SEP] 57, Cabinet, -5.196, 0.561, 4.212, 0, 180, 0, [SEP] 58, Sofa, -0.705, -0.002, 2.753, 0, 270, 0, [SEP] 59, NorthWall, , , , , , , [SEP] 60, SouthWall, , , , , , , [SEP] 61, SouthWall, , , , , , , ", "output": ["STEP 1: Turn around and walk to the dresser | STEP 2: Pick up the black statue that is sitting on the dresser to the left of the open box | STEP 3: Turn left and walk to the trash can then turn right and step to the tall floor lamp | STEP 4: Turn on the lamp | END"]} +{"id": "trial_T20190908_041353_333106-2", "input": "turn on floor lamp with statue in hand SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.25, 0.901, 2.5, 0, 180, 0, [SEP] 1, Newspaper, -4.673, 0.210, 4.395, 0, 90, 0, 57 [SEP] 2, Newspaper, -1.275, 0.079, 0.362, 0, 0, 0, 43 [SEP] 3, Vase, -4.223, 0.203, 4.404, 0, 90, 0, 51 [SEP] 4, Watch, -2.137, 0.034, 0.108, 0, 90, 0, 37 [SEP] 5, Watch, -4.854, 1.039, 0.306, 0, 0, 0, 36 [SEP] 6, KeyChain, -4.854, 1.039, 0.438, 0, 0, 0, 36 [SEP] 7, RemoteControl, -4.505, 1.110, 4.490, 0, 90, 0, 54 [SEP] 8, Box, -0.870, 0.843, 2.753, 0, 0, 0, 58 [SEP] 9, Laptop, -1.584, 0.588, 4.384, 0, 0, 0, 48 [SEP] 10, Box, -3.543, 1.332, 4.589, 0, 90, 0, 54 [SEP] 11, Watch, -2.137, 0.034, 0.421, 0, 90, 0, 37 [SEP] 12, Pillow, -2.031, 0.668, 4.421, 0, 0, 0, 48 [SEP] 13, TissueBox, -5.534, 1.040, 0.239, 0, 0, 0, 36 [SEP] 14, Newspaper, -3.222, 1.114, 4.589, 0, 90, 0, 54 [SEP] 15, CreditCard, -3.863, 1.107, 4.391, 0, 90, 0, 50 [SEP] 16, KeyChain, -2.404, 0.034, 0.265, 0, 90, 0, 37 [SEP] 17, CellPhone, -1.035, 0.609, 1.960, 0, 0, 0, 58 [SEP] 18, Statue, -3.863, 1.113, 4.490, 0, 90, 0, 54 [SEP] 19, Laptop, -4.184, 1.109, 4.588, 0, 90, 0, 54 [SEP] 20, RemoteControl, -0.705, 0.611, 3.281, 0, 0, 0, 58 [SEP] 21, Vase, -3.864, 1.111, 4.687, 0, 90, 0, 54 [SEP] 22, DeskLamp, -4.649, 1.051, 0.268, 0, 0, 0, [SEP] 23, DeskLamp, -2.992, 1.107, 4.522, 0, 0, 0, [SEP] 24, FloorLamp, -0.650, 0.007, 4.431, 0, 0, 0, [SEP] 25, FloorLamp, -5.607, 0.007, 4.641, 0, 0, 0, [SEP] 26, Shelf, -5.237, 1.776, 0.070, 0, 0, 0, [SEP] 27, Shelf, -5.238, 1.968, 0.085, 0, 0, 0, [SEP] 28, Shelf, -5.242, 1.391, 0.086, 0, 0, 0, [SEP] 29, Shelf, -5.241, 1.582, 0.065, 0, 0, 0, [SEP] 30, LightSwitch, -6.002, 1.353, 3.404, 0, 90, 0, [SEP] 31, GarbageCan, -5.794, -0.033, 4.073, 0, 90, 0, [SEP] 32, Painting, -6.017, 1.802, 4.177, 90, 270, 0, [SEP] 33, HousePlant, -3.966, 1.625, 0.135, 0, 315, 0, [SEP] 34, Television, -3.355, 0.833, 0.027, 0, 0, 0, [SEP] 35, Drawer, -5.024, 0.903, 0.370, 0, 0, 0, [SEP] 36, SideTable, -5.024, 0.008, 0.267, 0, 0, 0, [SEP] 37, Safe, -2.298, 5.778, 0.268, 0, 90, 0, [SEP] 38, Shelf, -0.253, 0.781, 1.058, 0, 270, 0, [SEP] 39, Shelf, -0.283, 0.274, 1.066, 0, 270, 0, [SEP] 40, Shelf, -1.224, 1.288, 0.270, 0, 0, 0, [SEP] 41, Shelf, -1.218, 1.810, 0.275, 0, 0, 0, [SEP] 42, Shelf, -0.280, 1.810, 1.057, 0, 270, 0, [SEP] 43, Shelf, -1.218, 0.274, 0.262, 0, 0, 0, [SEP] 44, Shelf, -1.223, 0.782, 0.237, 0, 0, 0, [SEP] 45, Shelf, -0.280, 1.288, 1.055, 0, 270, 0, [SEP] 46, ShelvingUnit, -0.268, 0.004, 1.067, 0, 270, 0, [SEP] 47, ShelvingUnit, -1.218, 0.004, 0.244, 0, 0, 0, [SEP] 48, ArmChair, -2.027, 0.001, 4.422, 0, 178.692, 0, [SEP] 49, Drawer, -4.329, 1.014, 4.311, 0, 180, 0, [SEP] 50, Drawer, -3.750, 1.014, 4.311, 0, 180, 0, [SEP] 51, Cabinet, -4.049, 0.561, 4.212, 0, 180, 0, [SEP] 52, Cabinet, -4.032, 0.561, 4.212, 0, 180, 0, [SEP] 53, Cabinet, -2.884, 0.561, 4.212, 0, 180, 0, [SEP] 54, Dresser, -4.041, -0.000, 4.589, 0, 180, 0, [SEP] 55, Drawer, -4.916, 1.014, 4.311, 0, 180, 0, [SEP] 56, Drawer, -3.166, 1.014, 4.311, 0, 180, 0, [SEP] 57, Cabinet, -5.196, 0.561, 4.212, 0, 180, 0, [SEP] 58, Sofa, -0.705, -0.002, 2.753, 0, 270, 0, [SEP] 59, NorthWall, , , , , , , [SEP] 60, SouthWall, , , , , , , [SEP] 61, SouthWall, , , , , , , ", "output": ["STEP 1: turn around, walk to face bureau drawers with statue and box on top | STEP 2: pick up human figure statue from top of bureau | STEP 3: walk left to face left edge of bureau drawers and floor lamp | STEP 4: turn on the floor lamp | END"]} +{"id": "trial_T20190909_061838_159982-0", "input": "Slice a tomato and cool a slice of it 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, 2.25, 0, 90, 0, [SEP] 1, Pan, 1.026, 1.640, 1.158, 0, 90, 0, 89 [SEP] 2, Vase, 1.148, 1.667, -0.465, 0, 270, 0, 75 [SEP] 3, CreditCard, 0.915, 0.699, -0.648, 0, 270, 0, 64 [SEP] 4, CreditCard, -0.550, 0.930, -0.067, 0, 0, 0, 66 [SEP] 5, CellPhone, -1.367, 0.878, 2.719, 0, 0, 0, 93 [SEP] 6, CellPhone, -1.104, 0.930, -1.430, 0, 0, 0, 66 [SEP] 7, DishSponge, 0.910, 0.107, -1.972, 0, 0, 0, 71 [SEP] 8, DishSponge, 0.960, 0.107, -2.132, 0, 0, 0, 71 [SEP] 9, ButterKnife, -0.550, 0.933, -1.618, 0, 0, 0, 66 [SEP] 10, Glassbottle, 1.240, 1.667, -2.029, 0, 270, 0, 65 [SEP] 11, Spoon, -0.753, 0.781, -0.573, 0, 0, 0, 87 [SEP] 12, Spoon, -0.642, 0.781, -0.659, 0, 90, 0, 87 [SEP] 13, Spatula, -0.642, 0.791, -0.832, 0, 0, 0, 87 [SEP] 14, Spatula, 0.859, 0.926, -0.555, 0, 0, 0, 67 [SEP] 15, Knife, -1.104, 0.957, -1.167, 0, 90, 0, 66 [SEP] 16, Egg, -0.818, 0.216, 0.641, 0, 180, 0, 86 [SEP] 17, Egg, -1.104, 0.971, -0.905, 0, 0, 0, 66 [SEP] 18, Cup, 0.995, 1.792, -1.132, 0, 270, 0, 88 [SEP] 19, Cup, 1.028, 1.792, -1.339, 0, 270, 0, 88 [SEP] 20, Plate, 1.169, 2.211, -1.082, 0, 270, 0, 73 [SEP] 21, SoapBottle, 0.688, 0.911, 0.139, 0, 0, 0, 67 [SEP] 22, SoapBottle, -0.550, 0.933, -1.231, 0, 0, 0, 66 [SEP] 23, Bowl, -0.550, 0.936, -0.067, 0, 0, 0, 66 [SEP] 24, SaltShaker, 1.147, 1.662, 0.280, 0, 270, 0, 74 [SEP] 25, PepperShaker, 1.169, 2.204, -1.517, 0, 270, 0, 73 [SEP] 26, PepperShaker, -1.881, 0.550, 2.667, 0, 0, 0, 92 [SEP] 27, Lettuce, 0.965, 1.212, 1.444, 0, 270, 0, 89 [SEP] 28, Lettuce, -1.229, 1.010, -0.118, 0, 0, 0, 66 [SEP] 29, Mug, 1.240, 1.661, -1.893, 0, 0, 0, 65 [SEP] 30, Apple, -0.753, 0.826, -0.745, 0, 90, 0, 87 [SEP] 31, Apple, -0.960, 0.227, 0.543, 0, 180, 0, 86 [SEP] 32, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 66 [SEP] 33, Glassbottle, 1.126, 2.208, -1.408, 0, 270, 0, 73 [SEP] 34, Bread, 0.966, 0.944, 1.063, 0, 270, 0, 89 [SEP] 35, CreditCard, -1.571, 0.878, 2.665, 0, 0, 0, 93 [SEP] 36, CellPhone, -0.698, 0.930, -0.143, 0, 90, 0, 66 [SEP] 37, Potato, -0.865, 0.209, 0.543, 0, 270, 0, 86 [SEP] 38, Knife, 0.859, 0.934, -0.729, 0, 0, 0, 67 [SEP] 39, Fork, 0.688, 0.911, 0.313, 0, 90, 0, 67 [SEP] 40, Pan, 1.077, 0.950, -1.504, 0, 0, 0, 62 [SEP] 41, Lettuce, -1.104, 1.010, 0.144, 0, 0, 0, 66 [SEP] 42, Plate, 0.859, 0.914, -0.208, 0, 0, 0, 67 [SEP] 43, Apple, 0.944, 0.961, -0.729, 0, 0, 0, 67 [SEP] 44, Pot, 1.077, 0.950, -1.098, 0, 0, 0, 68 [SEP] 45, Spatula, 0.915, 0.509, -0.690, 0, 0, 0, 70 [SEP] 46, PaperTowelRoll, -0.624, 1.037, -1.463, 0, 0, 0, 66 [SEP] 47, Tomato, 0.773, 0.952, -1.793, 0, 0, 0, 72 [SEP] 48, Egg, 0.783, 1.172, 1.540, 0, 270, 0, 89 [SEP] 49, SaltShaker, 1.148, 1.662, -1.961, 0, 270, 0, 65 [SEP] 50, PepperShaker, -1.571, 0.878, 2.746, 0, 0, 0, 93 [SEP] 51, Vase, 0.688, 0.911, -0.381, 0, 0, 0, 67 [SEP] 52, ButterKnife, 0.834, 0.702, -0.648, 0, 270, 0, 64 [SEP] 53, SoapBottle, -0.477, 0.933, 0.315, 0, 0, 0, 66 [SEP] 54, Vase, 0.811, 0.109, -2.212, 0, 0, 0, 71 [SEP] 55, Bowl, 1.194, 1.669, -2.166, 0, 270, 0, 65 [SEP] 56, DishSponge, 0.859, 0.910, -0.034, 0, 0, 0, 67 [SEP] 57, Spoon, 0.834, 0.495, -0.607, 0, 270, 0, 70 [SEP] 58, Cup, -0.808, 0.777, -0.918, 0, 90, 0, 87 [SEP] 59, Mug, -1.363, 0.549, 2.770, 0, 0, 0, 92 [SEP] 60, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 61, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 62, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 63, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 64, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 65, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 66, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 67, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 68, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 69, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 70, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 71, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 72, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 73, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 74, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 75, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 76, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 77, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 78, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 79, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 80, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 81, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 82, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 83, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 84, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 85, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 86, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 87, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 88, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 89, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 90, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 91, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 92, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 93, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 94, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 95, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 96, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 97, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 98, NorthWall, , , , , , , [SEP] 99, EastWall, , , , , , , [SEP] 100, SouthWall, , , , , , , [SEP] 101, WestWall, , , , , , , ", "output": ["STEP 1: Go forward, turn right, go forward, turn left, turn left to the edge of the counter | STEP 2: Pick up the knife on the counter | STEP 3: Turn right and go to the counter to the right of the stove | STEP 4: Slice the tomato on the counter | STEP 5: Turn left and go to the fridge | STEP 6: Put the knife in the fridge | STEP 7: Turn right, go forward, turn left after the stove | STEP 8: Pick up a tomato slice from the counter | STEP 9: Turn left and go to the fridge | STEP 10: Put the tomato slice in the fridge, wait, pick up the tomato slice from the fridge | STEP 11: Turn right, go forward, turn left after the stove | STEP 12: Put the tomato slice on the counter | END"]} +{"id": "trial_T20190909_061838_159982-1", "input": "Place a cold 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, -1.5, 0.900, 2.25, 0, 90, 0, [SEP] 1, Pan, 1.026, 1.640, 1.158, 0, 90, 0, 89 [SEP] 2, Vase, 1.148, 1.667, -0.465, 0, 270, 0, 75 [SEP] 3, CreditCard, 0.915, 0.699, -0.648, 0, 270, 0, 64 [SEP] 4, CreditCard, -0.550, 0.930, -0.067, 0, 0, 0, 66 [SEP] 5, CellPhone, -1.367, 0.878, 2.719, 0, 0, 0, 93 [SEP] 6, CellPhone, -1.104, 0.930, -1.430, 0, 0, 0, 66 [SEP] 7, DishSponge, 0.910, 0.107, -1.972, 0, 0, 0, 71 [SEP] 8, DishSponge, 0.960, 0.107, -2.132, 0, 0, 0, 71 [SEP] 9, ButterKnife, -0.550, 0.933, -1.618, 0, 0, 0, 66 [SEP] 10, Glassbottle, 1.240, 1.667, -2.029, 0, 270, 0, 65 [SEP] 11, Spoon, -0.753, 0.781, -0.573, 0, 0, 0, 87 [SEP] 12, Spoon, -0.642, 0.781, -0.659, 0, 90, 0, 87 [SEP] 13, Spatula, -0.642, 0.791, -0.832, 0, 0, 0, 87 [SEP] 14, Spatula, 0.859, 0.926, -0.555, 0, 0, 0, 67 [SEP] 15, Knife, -1.104, 0.957, -1.167, 0, 90, 0, 66 [SEP] 16, Egg, -0.818, 0.216, 0.641, 0, 180, 0, 86 [SEP] 17, Egg, -1.104, 0.971, -0.905, 0, 0, 0, 66 [SEP] 18, Cup, 0.995, 1.792, -1.132, 0, 270, 0, 88 [SEP] 19, Cup, 1.028, 1.792, -1.339, 0, 270, 0, 88 [SEP] 20, Plate, 1.169, 2.211, -1.082, 0, 270, 0, 73 [SEP] 21, SoapBottle, 0.688, 0.911, 0.139, 0, 0, 0, 67 [SEP] 22, SoapBottle, -0.550, 0.933, -1.231, 0, 0, 0, 66 [SEP] 23, Bowl, -0.550, 0.936, -0.067, 0, 0, 0, 66 [SEP] 24, SaltShaker, 1.147, 1.662, 0.280, 0, 270, 0, 74 [SEP] 25, PepperShaker, 1.169, 2.204, -1.517, 0, 270, 0, 73 [SEP] 26, PepperShaker, -1.881, 0.550, 2.667, 0, 0, 0, 92 [SEP] 27, Lettuce, 0.965, 1.212, 1.444, 0, 270, 0, 89 [SEP] 28, Lettuce, -1.229, 1.010, -0.118, 0, 0, 0, 66 [SEP] 29, Mug, 1.240, 1.661, -1.893, 0, 0, 0, 65 [SEP] 30, Apple, -0.753, 0.826, -0.745, 0, 90, 0, 87 [SEP] 31, Apple, -0.960, 0.227, 0.543, 0, 180, 0, 86 [SEP] 32, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 66 [SEP] 33, Glassbottle, 1.126, 2.208, -1.408, 0, 270, 0, 73 [SEP] 34, Bread, 0.966, 0.944, 1.063, 0, 270, 0, 89 [SEP] 35, CreditCard, -1.571, 0.878, 2.665, 0, 0, 0, 93 [SEP] 36, CellPhone, -0.698, 0.930, -0.143, 0, 90, 0, 66 [SEP] 37, Potato, -0.865, 0.209, 0.543, 0, 270, 0, 86 [SEP] 38, Knife, 0.859, 0.934, -0.729, 0, 0, 0, 67 [SEP] 39, Fork, 0.688, 0.911, 0.313, 0, 90, 0, 67 [SEP] 40, Pan, 1.077, 0.950, -1.504, 0, 0, 0, 62 [SEP] 41, Lettuce, -1.104, 1.010, 0.144, 0, 0, 0, 66 [SEP] 42, Plate, 0.859, 0.914, -0.208, 0, 0, 0, 67 [SEP] 43, Apple, 0.944, 0.961, -0.729, 0, 0, 0, 67 [SEP] 44, Pot, 1.077, 0.950, -1.098, 0, 0, 0, 68 [SEP] 45, Spatula, 0.915, 0.509, -0.690, 0, 0, 0, 70 [SEP] 46, PaperTowelRoll, -0.624, 1.037, -1.463, 0, 0, 0, 66 [SEP] 47, Tomato, 0.773, 0.952, -1.793, 0, 0, 0, 72 [SEP] 48, Egg, 0.783, 1.172, 1.540, 0, 270, 0, 89 [SEP] 49, SaltShaker, 1.148, 1.662, -1.961, 0, 270, 0, 65 [SEP] 50, PepperShaker, -1.571, 0.878, 2.746, 0, 0, 0, 93 [SEP] 51, Vase, 0.688, 0.911, -0.381, 0, 0, 0, 67 [SEP] 52, ButterKnife, 0.834, 0.702, -0.648, 0, 270, 0, 64 [SEP] 53, SoapBottle, -0.477, 0.933, 0.315, 0, 0, 0, 66 [SEP] 54, Vase, 0.811, 0.109, -2.212, 0, 0, 0, 71 [SEP] 55, Bowl, 1.194, 1.669, -2.166, 0, 270, 0, 65 [SEP] 56, DishSponge, 0.859, 0.910, -0.034, 0, 0, 0, 67 [SEP] 57, Spoon, 0.834, 0.495, -0.607, 0, 270, 0, 70 [SEP] 58, Cup, -0.808, 0.777, -0.918, 0, 90, 0, 87 [SEP] 59, Mug, -1.363, 0.549, 2.770, 0, 0, 0, 92 [SEP] 60, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 61, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 62, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 63, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 64, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 65, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 66, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 67, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 68, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 69, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 70, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 71, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 72, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 73, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 74, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 75, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 76, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 77, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 78, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 79, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 80, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 81, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 82, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 83, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 84, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 85, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 86, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 87, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 88, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 89, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 90, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 91, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 92, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 93, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 94, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 95, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 96, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 97, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 98, NorthWall, , , , , , , [SEP] 99, EastWall, , , , , , , [SEP] 100, SouthWall, , , , , , , [SEP] 101, WestWall, , , , , , , ", "output": ["STEP 1: Turn right then right again and face the counter to your right. | STEP 2: Take the knife off of the counter in front of you. | STEP 3: Turn right and face the counter in front of you. | STEP 4: Slice the tomato above the counter in front of you. | STEP 5: Turn left and face the fridge to your right. | STEP 6: Place the knife inside of the fridge in front of you and close it. | STEP 7: Turn right and face the counter to your left. | STEP 8: Take a tomato slice off of the counter in front of you. | STEP 9: Turn left and face the fridge to your right. | STEP 10: Place the tomato inside of the fridge then take it out. | STEP 11: Turn right and face the counter to your left. | STEP 12: Place the tomato slice on the counter in front of you. | END"]} +{"id": "trial_T20190909_061838_159982-2", "input": "Slice and refrigerate a slice of the tomato that is on the counter 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, -1.5, 0.900, 2.25, 0, 90, 0, [SEP] 1, Pan, 1.026, 1.640, 1.158, 0, 90, 0, 89 [SEP] 2, Vase, 1.148, 1.667, -0.465, 0, 270, 0, 75 [SEP] 3, CreditCard, 0.915, 0.699, -0.648, 0, 270, 0, 64 [SEP] 4, CreditCard, -0.550, 0.930, -0.067, 0, 0, 0, 66 [SEP] 5, CellPhone, -1.367, 0.878, 2.719, 0, 0, 0, 93 [SEP] 6, CellPhone, -1.104, 0.930, -1.430, 0, 0, 0, 66 [SEP] 7, DishSponge, 0.910, 0.107, -1.972, 0, 0, 0, 71 [SEP] 8, DishSponge, 0.960, 0.107, -2.132, 0, 0, 0, 71 [SEP] 9, ButterKnife, -0.550, 0.933, -1.618, 0, 0, 0, 66 [SEP] 10, Glassbottle, 1.240, 1.667, -2.029, 0, 270, 0, 65 [SEP] 11, Spoon, -0.753, 0.781, -0.573, 0, 0, 0, 87 [SEP] 12, Spoon, -0.642, 0.781, -0.659, 0, 90, 0, 87 [SEP] 13, Spatula, -0.642, 0.791, -0.832, 0, 0, 0, 87 [SEP] 14, Spatula, 0.859, 0.926, -0.555, 0, 0, 0, 67 [SEP] 15, Knife, -1.104, 0.957, -1.167, 0, 90, 0, 66 [SEP] 16, Egg, -0.818, 0.216, 0.641, 0, 180, 0, 86 [SEP] 17, Egg, -1.104, 0.971, -0.905, 0, 0, 0, 66 [SEP] 18, Cup, 0.995, 1.792, -1.132, 0, 270, 0, 88 [SEP] 19, Cup, 1.028, 1.792, -1.339, 0, 270, 0, 88 [SEP] 20, Plate, 1.169, 2.211, -1.082, 0, 270, 0, 73 [SEP] 21, SoapBottle, 0.688, 0.911, 0.139, 0, 0, 0, 67 [SEP] 22, SoapBottle, -0.550, 0.933, -1.231, 0, 0, 0, 66 [SEP] 23, Bowl, -0.550, 0.936, -0.067, 0, 0, 0, 66 [SEP] 24, SaltShaker, 1.147, 1.662, 0.280, 0, 270, 0, 74 [SEP] 25, PepperShaker, 1.169, 2.204, -1.517, 0, 270, 0, 73 [SEP] 26, PepperShaker, -1.881, 0.550, 2.667, 0, 0, 0, 92 [SEP] 27, Lettuce, 0.965, 1.212, 1.444, 0, 270, 0, 89 [SEP] 28, Lettuce, -1.229, 1.010, -0.118, 0, 0, 0, 66 [SEP] 29, Mug, 1.240, 1.661, -1.893, 0, 0, 0, 65 [SEP] 30, Apple, -0.753, 0.826, -0.745, 0, 90, 0, 87 [SEP] 31, Apple, -0.960, 0.227, 0.543, 0, 180, 0, 86 [SEP] 32, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 66 [SEP] 33, Glassbottle, 1.126, 2.208, -1.408, 0, 270, 0, 73 [SEP] 34, Bread, 0.966, 0.944, 1.063, 0, 270, 0, 89 [SEP] 35, CreditCard, -1.571, 0.878, 2.665, 0, 0, 0, 93 [SEP] 36, CellPhone, -0.698, 0.930, -0.143, 0, 90, 0, 66 [SEP] 37, Potato, -0.865, 0.209, 0.543, 0, 270, 0, 86 [SEP] 38, Knife, 0.859, 0.934, -0.729, 0, 0, 0, 67 [SEP] 39, Fork, 0.688, 0.911, 0.313, 0, 90, 0, 67 [SEP] 40, Pan, 1.077, 0.950, -1.504, 0, 0, 0, 62 [SEP] 41, Lettuce, -1.104, 1.010, 0.144, 0, 0, 0, 66 [SEP] 42, Plate, 0.859, 0.914, -0.208, 0, 0, 0, 67 [SEP] 43, Apple, 0.944, 0.961, -0.729, 0, 0, 0, 67 [SEP] 44, Pot, 1.077, 0.950, -1.098, 0, 0, 0, 68 [SEP] 45, Spatula, 0.915, 0.509, -0.690, 0, 0, 0, 70 [SEP] 46, PaperTowelRoll, -0.624, 1.037, -1.463, 0, 0, 0, 66 [SEP] 47, Tomato, 0.773, 0.952, -1.793, 0, 0, 0, 72 [SEP] 48, Egg, 0.783, 1.172, 1.540, 0, 270, 0, 89 [SEP] 49, SaltShaker, 1.148, 1.662, -1.961, 0, 270, 0, 65 [SEP] 50, PepperShaker, -1.571, 0.878, 2.746, 0, 0, 0, 93 [SEP] 51, Vase, 0.688, 0.911, -0.381, 0, 0, 0, 67 [SEP] 52, ButterKnife, 0.834, 0.702, -0.648, 0, 270, 0, 64 [SEP] 53, SoapBottle, -0.477, 0.933, 0.315, 0, 0, 0, 66 [SEP] 54, Vase, 0.811, 0.109, -2.212, 0, 0, 0, 71 [SEP] 55, Bowl, 1.194, 1.669, -2.166, 0, 270, 0, 65 [SEP] 56, DishSponge, 0.859, 0.910, -0.034, 0, 0, 0, 67 [SEP] 57, Spoon, 0.834, 0.495, -0.607, 0, 270, 0, 70 [SEP] 58, Cup, -0.808, 0.777, -0.918, 0, 90, 0, 87 [SEP] 59, Mug, -1.363, 0.549, 2.770, 0, 0, 0, 92 [SEP] 60, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 61, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 62, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 63, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 64, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 65, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 66, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 67, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 68, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 69, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 70, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 71, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 72, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 73, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 74, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 75, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 76, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 77, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 78, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 79, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 80, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 81, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 82, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 83, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 84, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 85, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 86, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 87, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 88, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 89, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 90, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 91, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 92, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 93, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 94, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 95, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 96, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 97, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 98, NorthWall, , , , , , , [SEP] 99, EastWall, , , , , , , [SEP] 100, SouthWall, , , , , , , [SEP] 101, WestWall, , , , , , , ", "output": ["STEP 1: Walk forward, turn right, walk to the far wall, and turn around to face the knife on the center island. | STEP 2: Pick up the knife from the center island. | STEP 3: Walk to the counter next to the stove. | STEP 4: Cut the tomato on the counter with the knife. | STEP 5: Take the knife to the fridge. | STEP 6: Put the knife in the fridge. | STEP 7: Go back to the tomato slices on the counter. | STEP 8: Pick up a tomato slice from the counter. | STEP 9: Take the tomato to the fridge. | STEP 10: Put the tomato in the fridge and take it back out. | STEP 11: Take the tomato slice back to the counter it came from. | STEP 12: Set the tomato slice down on the counter. | END"]} +{"id": "trial_T20190906_224718_745017-0", "input": "Put a cold slice of bread 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, -3.5, 0.900, 0.25, 0, 90, 0, [SEP] 1, Vase, 1.169, 2.209, -1.626, 0, 270, 0, 67 [SEP] 2, Potato, -0.808, 0.807, -0.745, 0, 90, 0, 81 [SEP] 3, CellPhone, -0.624, 0.930, -1.463, 0, 0, 0, 60 [SEP] 4, CellPhone, -1.418, 0.930, -0.380, 0, 0, 0, 60 [SEP] 5, DishSponge, -0.587, 0.780, -0.573, 0, 90, 0, 81 [SEP] 6, DishSponge, 1.114, 0.910, -0.729, 0, 0, 0, 61 [SEP] 7, Glassbottle, -1.571, 0.882, 2.692, 0, 0, 0, 87 [SEP] 8, Glassbottle, 1.193, 1.667, 0.025, 0, 270, 0, 68 [SEP] 9, Fork, 0.874, 0.154, -0.611, 0, 0, 0, 63 [SEP] 10, Fork, 1.029, 0.911, -0.034, 0, 0, 0, 61 [SEP] 11, Spoon, -0.642, 0.781, -0.659, 0, 90, 0, 81 [SEP] 12, Spoon, -0.624, 0.934, -1.618, 0, 0, 0, 60 [SEP] 13, Knife, -0.772, 0.957, 0.162, 0, 270, 0, 60 [SEP] 14, Egg, 0.905, 1.439, 1.540, 0, 270, 0, 83 [SEP] 15, Cup, 0.688, 0.908, -2.136, 0, 0, 0, 66 [SEP] 16, Plate, 0.966, 0.866, 1.063, 0, 270, 0, 83 [SEP] 17, SoapBottle, 1.101, 1.666, -1.961, 0, 270, 0, 59 [SEP] 18, SoapBottle, 0.688, 0.911, -1.879, 0, 0, 0, 66 [SEP] 19, Bowl, 0.965, 0.866, 1.444, 0, 270, 0, 83 [SEP] 20, SaltShaker, -1.363, 0.550, 2.718, 0, 0, 0, 86 [SEP] 21, SaltShaker, 1.126, 2.204, -1.408, 0, 270, 0, 67 [SEP] 22, PepperShaker, -1.778, 0.550, 2.874, 0, 0, 0, 86 [SEP] 23, Lettuce, -0.912, 0.254, 0.543, 0, 90, 0, 80 [SEP] 24, Lettuce, 1.026, 1.212, 1.254, 0, 270, 0, 83 [SEP] 25, Bread, 1.029, 0.992, -0.381, 0, 0, 0, 61 [SEP] 26, Statue, -1.167, 0.936, -0.118, 0, 0, 0, 60 [SEP] 27, Glassbottle, 1.056, 1.667, -0.593, 0, 270, 0, 69 [SEP] 28, Bread, -1.167, 1.014, 0.144, 0, 0, 0, 60 [SEP] 29, CreditCard, -1.363, 0.551, 2.563, 0, 0, 0, 86 [SEP] 30, CellPhone, -0.920, 0.930, -1.463, 0, 0, 0, 60 [SEP] 31, Potato, 0.844, 1.432, 0.967, 0, 270, 0, 83 [SEP] 32, Knife, -0.698, 0.957, 0.315, 0, 0, 0, 60 [SEP] 33, Fork, 0.794, 0.495, -0.690, 0, 180, 0, 64 [SEP] 34, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 54 [SEP] 35, Lettuce, 1.114, 0.988, -0.034, 0, 0, 0, 61 [SEP] 36, Plate, 1.101, 1.669, -2.166, 0, 270, 0, 59 [SEP] 37, Apple, -0.698, 0.826, -0.486, 0, 90, 0, 81 [SEP] 38, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 56 [SEP] 39, Spatula, -0.753, 0.791, -0.400, 0, 180, 0, 81 [SEP] 40, PaperTowelRoll, -1.674, 0.986, 2.746, 0, 0, 0, 87 [SEP] 41, Tomato, -0.869, 0.962, -0.096, 0, 0, 0, 60 [SEP] 42, Egg, 1.026, 1.680, 0.967, 0, 270, 0, 83 [SEP] 43, SaltShaker, 1.199, 0.907, -0.381, 0, 0, 0, 61 [SEP] 44, PepperShaker, -0.772, 0.929, -1.463, 0, 0, 0, 60 [SEP] 45, Vase, 0.760, 0.120, 0.374, 0, 270, 0, 55 [SEP] 46, ButterKnife, -1.229, 0.933, -0.380, 0, 0, 0, 60 [SEP] 47, SoapBottle, 0.859, 0.911, -1.793, 0, 0, 0, 66 [SEP] 48, Vase, -1.985, 0.555, 2.770, 0, 0, 0, 86 [SEP] 49, Bowl, 1.193, 1.669, 0.280, 0, 270, 0, 68 [SEP] 50, DishSponge, 0.915, 0.701, -0.690, 0, 270, 0, 58 [SEP] 51, Spoon, 0.773, 0.912, -1.879, 0, 90, 0, 66 [SEP] 52, Cup, 0.966, 1.640, 1.349, 0, 270, 0, 83 [SEP] 53, Mug, 1.199, 0.906, 0.139, 0, 90, 0, 61 [SEP] 54, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 55, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 56, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 57, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 58, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 59, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 60, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 61, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 62, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 63, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 64, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 65, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 66, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 67, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 68, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 69, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 70, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 71, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 72, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 73, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 74, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 75, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 76, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 77, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 78, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 79, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 80, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 81, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 82, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 83, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 84, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 85, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 86, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 87, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 88, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 89, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 90, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 91, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 92, NorthWall, , , , , , , [SEP] 93, EastWall, , , , , , , [SEP] 94, SouthWall, , , , , , , [SEP] 95, WestWall, , , , , , , ", "output": ["STEP 1: Go around the island to the fridge ahead, turn right, turn right to face the counter to the right of the sink. | STEP 2: Take the large knife next to the tomato. | STEP 3: Turn around, go to the counter to the left of the oven. | STEP 4: Cut the bread into slices. | STEP 5: Stay at the counter. | STEP 6: Put the knife on the counter between the fork and the edge of the counter. | STEP 7: Stay at the counter. | STEP 8: Take a piece of bread from the counter. | STEP 9: Turn left, go to the refrigerator on the right. | STEP 10: Put the bread in the fridge next to the plate and bowl. Close then open the fridge door. Take the bread from the fridge. | STEP 11: Turn right, go to the oven on the left. | STEP 12: Put the bread in the microwave above the oven. | END"]} +{"id": "trial_T20190906_224718_745017-1", "input": "Place a chilled slice of bread 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, -3.5, 0.900, 0.25, 0, 90, 0, [SEP] 1, Vase, 1.169, 2.209, -1.626, 0, 270, 0, 67 [SEP] 2, Potato, -0.808, 0.807, -0.745, 0, 90, 0, 81 [SEP] 3, CellPhone, -0.624, 0.930, -1.463, 0, 0, 0, 60 [SEP] 4, CellPhone, -1.418, 0.930, -0.380, 0, 0, 0, 60 [SEP] 5, DishSponge, -0.587, 0.780, -0.573, 0, 90, 0, 81 [SEP] 6, DishSponge, 1.114, 0.910, -0.729, 0, 0, 0, 61 [SEP] 7, Glassbottle, -1.571, 0.882, 2.692, 0, 0, 0, 87 [SEP] 8, Glassbottle, 1.193, 1.667, 0.025, 0, 270, 0, 68 [SEP] 9, Fork, 0.874, 0.154, -0.611, 0, 0, 0, 63 [SEP] 10, Fork, 1.029, 0.911, -0.034, 0, 0, 0, 61 [SEP] 11, Spoon, -0.642, 0.781, -0.659, 0, 90, 0, 81 [SEP] 12, Spoon, -0.624, 0.934, -1.618, 0, 0, 0, 60 [SEP] 13, Knife, -0.772, 0.957, 0.162, 0, 270, 0, 60 [SEP] 14, Egg, 0.905, 1.439, 1.540, 0, 270, 0, 83 [SEP] 15, Cup, 0.688, 0.908, -2.136, 0, 0, 0, 66 [SEP] 16, Plate, 0.966, 0.866, 1.063, 0, 270, 0, 83 [SEP] 17, SoapBottle, 1.101, 1.666, -1.961, 0, 270, 0, 59 [SEP] 18, SoapBottle, 0.688, 0.911, -1.879, 0, 0, 0, 66 [SEP] 19, Bowl, 0.965, 0.866, 1.444, 0, 270, 0, 83 [SEP] 20, SaltShaker, -1.363, 0.550, 2.718, 0, 0, 0, 86 [SEP] 21, SaltShaker, 1.126, 2.204, -1.408, 0, 270, 0, 67 [SEP] 22, PepperShaker, -1.778, 0.550, 2.874, 0, 0, 0, 86 [SEP] 23, Lettuce, -0.912, 0.254, 0.543, 0, 90, 0, 80 [SEP] 24, Lettuce, 1.026, 1.212, 1.254, 0, 270, 0, 83 [SEP] 25, Bread, 1.029, 0.992, -0.381, 0, 0, 0, 61 [SEP] 26, Statue, -1.167, 0.936, -0.118, 0, 0, 0, 60 [SEP] 27, Glassbottle, 1.056, 1.667, -0.593, 0, 270, 0, 69 [SEP] 28, Bread, -1.167, 1.014, 0.144, 0, 0, 0, 60 [SEP] 29, CreditCard, -1.363, 0.551, 2.563, 0, 0, 0, 86 [SEP] 30, CellPhone, -0.920, 0.930, -1.463, 0, 0, 0, 60 [SEP] 31, Potato, 0.844, 1.432, 0.967, 0, 270, 0, 83 [SEP] 32, Knife, -0.698, 0.957, 0.315, 0, 0, 0, 60 [SEP] 33, Fork, 0.794, 0.495, -0.690, 0, 180, 0, 64 [SEP] 34, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 54 [SEP] 35, Lettuce, 1.114, 0.988, -0.034, 0, 0, 0, 61 [SEP] 36, Plate, 1.101, 1.669, -2.166, 0, 270, 0, 59 [SEP] 37, Apple, -0.698, 0.826, -0.486, 0, 90, 0, 81 [SEP] 38, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 56 [SEP] 39, Spatula, -0.753, 0.791, -0.400, 0, 180, 0, 81 [SEP] 40, PaperTowelRoll, -1.674, 0.986, 2.746, 0, 0, 0, 87 [SEP] 41, Tomato, -0.869, 0.962, -0.096, 0, 0, 0, 60 [SEP] 42, Egg, 1.026, 1.680, 0.967, 0, 270, 0, 83 [SEP] 43, SaltShaker, 1.199, 0.907, -0.381, 0, 0, 0, 61 [SEP] 44, PepperShaker, -0.772, 0.929, -1.463, 0, 0, 0, 60 [SEP] 45, Vase, 0.760, 0.120, 0.374, 0, 270, 0, 55 [SEP] 46, ButterKnife, -1.229, 0.933, -0.380, 0, 0, 0, 60 [SEP] 47, SoapBottle, 0.859, 0.911, -1.793, 0, 0, 0, 66 [SEP] 48, Vase, -1.985, 0.555, 2.770, 0, 0, 0, 86 [SEP] 49, Bowl, 1.193, 1.669, 0.280, 0, 270, 0, 68 [SEP] 50, DishSponge, 0.915, 0.701, -0.690, 0, 270, 0, 58 [SEP] 51, Spoon, 0.773, 0.912, -1.879, 0, 90, 0, 66 [SEP] 52, Cup, 0.966, 1.640, 1.349, 0, 270, 0, 83 [SEP] 53, Mug, 1.199, 0.906, 0.139, 0, 90, 0, 61 [SEP] 54, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 55, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 56, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 57, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 58, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 59, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 60, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 61, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 62, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 63, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 64, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 65, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 66, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 67, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 68, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 69, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 70, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 71, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 72, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 73, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 74, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 75, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 76, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 77, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 78, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 79, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 80, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 81, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 82, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 83, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 84, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 85, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 86, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 87, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 88, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 89, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 90, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 91, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 92, NorthWall, , , , , , , [SEP] 93, EastWall, , , , , , , [SEP] 94, SouthWall, , , , , , , [SEP] 95, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and begin walking to the door, then turn right and walk to the fridge, then hang a right and walk up to the knives on the kitchen island. | STEP 2: Pick up the left most metal knife with a golden handle. | STEP 3: Turn left and walk over to the loaf of bread on the kitchen counter. | STEP 4: Slice the loaf of bread with the metal knife. | STEP 5: Turn left and take a step forward, then turn right to face the kitchen counter. | STEP 6: Place the metal knife onto the kitchen counter in front of the fork. | STEP 7: Turn right, take a step forward then face left so you are facing the sliced bread on the kitchen counter.. | STEP 8: Pick up a slice of bread. | STEP 9: Turn left and walk over to the fridge. | STEP 10: Open the fridge door and place the sliced bread inside, then close the door and wait a few seconds, after that open the fridge door back up and remove the slice of bread and close the door again. | STEP 11: Turn right and walk over to the stove, then look up at the microwave in the upper cabinets. | STEP 12: Open the microwave door, place the slice of bread inside, then close the microwave door. | END"]} +{"id": "trial_T20190906_224718_745017-2", "input": "Place a cool 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, -3.5, 0.900, 0.25, 0, 90, 0, [SEP] 1, Vase, 1.169, 2.209, -1.626, 0, 270, 0, 67 [SEP] 2, Potato, -0.808, 0.807, -0.745, 0, 90, 0, 81 [SEP] 3, CellPhone, -0.624, 0.930, -1.463, 0, 0, 0, 60 [SEP] 4, CellPhone, -1.418, 0.930, -0.380, 0, 0, 0, 60 [SEP] 5, DishSponge, -0.587, 0.780, -0.573, 0, 90, 0, 81 [SEP] 6, DishSponge, 1.114, 0.910, -0.729, 0, 0, 0, 61 [SEP] 7, Glassbottle, -1.571, 0.882, 2.692, 0, 0, 0, 87 [SEP] 8, Glassbottle, 1.193, 1.667, 0.025, 0, 270, 0, 68 [SEP] 9, Fork, 0.874, 0.154, -0.611, 0, 0, 0, 63 [SEP] 10, Fork, 1.029, 0.911, -0.034, 0, 0, 0, 61 [SEP] 11, Spoon, -0.642, 0.781, -0.659, 0, 90, 0, 81 [SEP] 12, Spoon, -0.624, 0.934, -1.618, 0, 0, 0, 60 [SEP] 13, Knife, -0.772, 0.957, 0.162, 0, 270, 0, 60 [SEP] 14, Egg, 0.905, 1.439, 1.540, 0, 270, 0, 83 [SEP] 15, Cup, 0.688, 0.908, -2.136, 0, 0, 0, 66 [SEP] 16, Plate, 0.966, 0.866, 1.063, 0, 270, 0, 83 [SEP] 17, SoapBottle, 1.101, 1.666, -1.961, 0, 270, 0, 59 [SEP] 18, SoapBottle, 0.688, 0.911, -1.879, 0, 0, 0, 66 [SEP] 19, Bowl, 0.965, 0.866, 1.444, 0, 270, 0, 83 [SEP] 20, SaltShaker, -1.363, 0.550, 2.718, 0, 0, 0, 86 [SEP] 21, SaltShaker, 1.126, 2.204, -1.408, 0, 270, 0, 67 [SEP] 22, PepperShaker, -1.778, 0.550, 2.874, 0, 0, 0, 86 [SEP] 23, Lettuce, -0.912, 0.254, 0.543, 0, 90, 0, 80 [SEP] 24, Lettuce, 1.026, 1.212, 1.254, 0, 270, 0, 83 [SEP] 25, Bread, 1.029, 0.992, -0.381, 0, 0, 0, 61 [SEP] 26, Statue, -1.167, 0.936, -0.118, 0, 0, 0, 60 [SEP] 27, Glassbottle, 1.056, 1.667, -0.593, 0, 270, 0, 69 [SEP] 28, Bread, -1.167, 1.014, 0.144, 0, 0, 0, 60 [SEP] 29, CreditCard, -1.363, 0.551, 2.563, 0, 0, 0, 86 [SEP] 30, CellPhone, -0.920, 0.930, -1.463, 0, 0, 0, 60 [SEP] 31, Potato, 0.844, 1.432, 0.967, 0, 270, 0, 83 [SEP] 32, Knife, -0.698, 0.957, 0.315, 0, 0, 0, 60 [SEP] 33, Fork, 0.794, 0.495, -0.690, 0, 180, 0, 64 [SEP] 34, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 54 [SEP] 35, Lettuce, 1.114, 0.988, -0.034, 0, 0, 0, 61 [SEP] 36, Plate, 1.101, 1.669, -2.166, 0, 270, 0, 59 [SEP] 37, Apple, -0.698, 0.826, -0.486, 0, 90, 0, 81 [SEP] 38, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 56 [SEP] 39, Spatula, -0.753, 0.791, -0.400, 0, 180, 0, 81 [SEP] 40, PaperTowelRoll, -1.674, 0.986, 2.746, 0, 0, 0, 87 [SEP] 41, Tomato, -0.869, 0.962, -0.096, 0, 0, 0, 60 [SEP] 42, Egg, 1.026, 1.680, 0.967, 0, 270, 0, 83 [SEP] 43, SaltShaker, 1.199, 0.907, -0.381, 0, 0, 0, 61 [SEP] 44, PepperShaker, -0.772, 0.929, -1.463, 0, 0, 0, 60 [SEP] 45, Vase, 0.760, 0.120, 0.374, 0, 270, 0, 55 [SEP] 46, ButterKnife, -1.229, 0.933, -0.380, 0, 0, 0, 60 [SEP] 47, SoapBottle, 0.859, 0.911, -1.793, 0, 0, 0, 66 [SEP] 48, Vase, -1.985, 0.555, 2.770, 0, 0, 0, 86 [SEP] 49, Bowl, 1.193, 1.669, 0.280, 0, 270, 0, 68 [SEP] 50, DishSponge, 0.915, 0.701, -0.690, 0, 270, 0, 58 [SEP] 51, Spoon, 0.773, 0.912, -1.879, 0, 90, 0, 66 [SEP] 52, Cup, 0.966, 1.640, 1.349, 0, 270, 0, 83 [SEP] 53, Mug, 1.199, 0.906, 0.139, 0, 90, 0, 61 [SEP] 54, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 55, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 56, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 57, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 58, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 59, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 60, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 61, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 62, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 63, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 64, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 65, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 66, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 67, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 68, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 69, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 70, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 71, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 72, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 73, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 74, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 75, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 76, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 77, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 78, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 79, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 80, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 81, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 82, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 83, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 84, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 85, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 86, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 87, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 88, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 89, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 90, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 91, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 92, NorthWall, , , , , , , [SEP] 93, EastWall, , , , , , , [SEP] 94, SouthWall, , , , , , , [SEP] 95, WestWall, , , , , , , ", "output": ["STEP 1: Turn left, take a step, then turn right towards the fridge, and then turn right towards the counter on your right. | STEP 2: Pick up the left yellow knife from the counter. | STEP 3: Turn around and head towards the loaf of bread on the counter. | STEP 4: Slice the bread into slices. | STEP 5: Take a step to the left. | STEP 6: Place the knife in front of the fork on the counter. | STEP 7: Take a step to the right. | STEP 8: Pick up a slice of bread from the counter. | STEP 9: Turn left and head towards the fridge on your right. | STEP 10: Open the fridge, place the slice bread in between the bowl and plate, close the fridge to let it cool down, and then take the bread back out. | STEP 11: Turn right, walk towards the stove on your left, and look up to find a microwave. | STEP 12: Open the microwave, place the slice bread in it, and close the door. | END"]} +{"id": "trial_T20190908_021537_611374-0", "input": "Move a plunger 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, -1.75, 0.901, 1.75, 0, 0, 0, [SEP] 1, SprayBottle, -0.388, 0.955, 2.878, 0, 0, 0, 22 [SEP] 2, SprayBottle, -0.280, 0.077, 2.698, 0, 0, 0, 19 [SEP] 3, Candle, -0.158, 0.953, 1.481, 0, 0, 0, 30 [SEP] 4, SoapBar, -0.326, 0.954, 2.807, 0, 0, 0, 22 [SEP] 5, HandTowel, -0.038, 1.619, 1.887, 0, 90, 0, 28 [SEP] 6, Towel, -1.082, 1.326, 1.302, 0, 0, 0, 25 [SEP] 7, SoapBar, -0.347, 0.826, 3.354, 0, 0, 0, 32 [SEP] 8, ToiletPaper, -0.280, 0.073, 3.372, 0, 0, 0, 23 [SEP] 9, Plunger, -0.112, -0.000, 1.848, 0, 0, 0, [SEP] 10, Candle, -0.131, 0.953, 1.544, 0, 0, 0, 30 [SEP] 11, ToiletPaper, -0.280, 0.654, 1.985, 0, 180, 90, 27 [SEP] 12, SprayBottle, -0.024, 0.954, 1.356, 0, 90, 0, 30 [SEP] 13, Cloth, -0.381, 0.075, 2.202, 0, 90, 0, 24 [SEP] 14, ScrubBrush, -0.322, 3.109, 1.950, 0, 0, 0, [SEP] 15, SoapBottle, -0.381, 0.076, 3.100, 0, 0, 0, 18 [SEP] 16, Mirror, -0.030, 1.544, 2.864, 0, 0, 0, [SEP] 17, Sink, -0.302, 0.799, 3.263, 0, 270, 0, [SEP] 18, Cabinet, -0.491, 0.404, 2.863, 0, 0, 0, [SEP] 19, Cabinet, -0.495, 0.384, 2.842, 0, 0, 0, [SEP] 20, ShowerDoor, -1.647, 1.017, 1.180, 0, 0, 0, [SEP] 21, ShowerGlass, -0.909, 0.788, 0.485, 0, 0, 0, [SEP] 22, CounterTop, -0.261, 0.927, 2.843, 0, 0, 0, [SEP] 23, Cabinet, -0.495, 0.384, 3.650, 0, 0, 0, [SEP] 24, Cabinet, -0.491, 0.404, 2.055, 0, 0, 0, [SEP] 25, TowelHolder, -1.082, 1.312, 1.195, 0, 0, 0, [SEP] 26, LightSwitch, -2.424, 1.447, 3.338, 0, 90, 0, [SEP] 27, ToiletPaperHanger, -0.266, 0.786, 2.043, 0, 180, 0, [SEP] 28, HandTowelHolder, 0.000, 1.721, 1.887, 0, 180, 0, [SEP] 29, HandTowelHolder, 0.000, 1.721, 3.799, 0, 180, 0, [SEP] 30, Toilet, -0.542, 3.109, 1.493, 0, 270, 0, [SEP] 31, GarbageCan, -2.159, -0.000, 3.756, 0, 0, 0, [SEP] 32, SinkBasin, -0.308, 0.820, 3.266, 0, 0, 0, [SEP] 33, ShowerHead, -0.134, 1.888, 0.564, 0, 90, 0, [SEP] 34, Faucet, 0.0, 1.009, 3.265, 0, 0, 0, [SEP] 35, Faucet, 0.0, 1.009, 2.421, 0, 0, 0, [SEP] 36, SinkBasin, -0.308, 0.820, 2.422, 0, 0, 0, [SEP] 37, Sink, -0.302, 0.799, 2.419, 0, 270, 0, [SEP] 38, NorthWall, , , , , , , [SEP] 39, SouthWall, , , , , , , [SEP] 40, SouthWall, , , , , , , ", "output": ["STEP 1: Move to the right facing the plunger on the floor to the left of the toilet | STEP 2: Pick up the plunger on the floor | STEP 3: Move to the left facing the white cabinet door | STEP 4: Open the cabinet and place the plunger inside the cabinet, close the cabinet | END"]} +{"id": "trial_T20190908_021537_611374-1", "input": "move the plunger from the floor 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, -1.75, 0.901, 1.75, 0, 0, 0, [SEP] 1, SprayBottle, -0.388, 0.955, 2.878, 0, 0, 0, 22 [SEP] 2, SprayBottle, -0.280, 0.077, 2.698, 0, 0, 0, 19 [SEP] 3, Candle, -0.158, 0.953, 1.481, 0, 0, 0, 30 [SEP] 4, SoapBar, -0.326, 0.954, 2.807, 0, 0, 0, 22 [SEP] 5, HandTowel, -0.038, 1.619, 1.887, 0, 90, 0, 28 [SEP] 6, Towel, -1.082, 1.326, 1.302, 0, 0, 0, 25 [SEP] 7, SoapBar, -0.347, 0.826, 3.354, 0, 0, 0, 32 [SEP] 8, ToiletPaper, -0.280, 0.073, 3.372, 0, 0, 0, 23 [SEP] 9, Plunger, -0.112, -0.000, 1.848, 0, 0, 0, [SEP] 10, Candle, -0.131, 0.953, 1.544, 0, 0, 0, 30 [SEP] 11, ToiletPaper, -0.280, 0.654, 1.985, 0, 180, 90, 27 [SEP] 12, SprayBottle, -0.024, 0.954, 1.356, 0, 90, 0, 30 [SEP] 13, Cloth, -0.381, 0.075, 2.202, 0, 90, 0, 24 [SEP] 14, ScrubBrush, -0.322, 3.109, 1.950, 0, 0, 0, [SEP] 15, SoapBottle, -0.381, 0.076, 3.100, 0, 0, 0, 18 [SEP] 16, Mirror, -0.030, 1.544, 2.864, 0, 0, 0, [SEP] 17, Sink, -0.302, 0.799, 3.263, 0, 270, 0, [SEP] 18, Cabinet, -0.491, 0.404, 2.863, 0, 0, 0, [SEP] 19, Cabinet, -0.495, 0.384, 2.842, 0, 0, 0, [SEP] 20, ShowerDoor, -1.647, 1.017, 1.180, 0, 0, 0, [SEP] 21, ShowerGlass, -0.909, 0.788, 0.485, 0, 0, 0, [SEP] 22, CounterTop, -0.261, 0.927, 2.843, 0, 0, 0, [SEP] 23, Cabinet, -0.495, 0.384, 3.650, 0, 0, 0, [SEP] 24, Cabinet, -0.491, 0.404, 2.055, 0, 0, 0, [SEP] 25, TowelHolder, -1.082, 1.312, 1.195, 0, 0, 0, [SEP] 26, LightSwitch, -2.424, 1.447, 3.338, 0, 90, 0, [SEP] 27, ToiletPaperHanger, -0.266, 0.786, 2.043, 0, 180, 0, [SEP] 28, HandTowelHolder, 0.000, 1.721, 1.887, 0, 180, 0, [SEP] 29, HandTowelHolder, 0.000, 1.721, 3.799, 0, 180, 0, [SEP] 30, Toilet, -0.542, 3.109, 1.493, 0, 270, 0, [SEP] 31, GarbageCan, -2.159, -0.000, 3.756, 0, 0, 0, [SEP] 32, SinkBasin, -0.308, 0.820, 3.266, 0, 0, 0, [SEP] 33, ShowerHead, -0.134, 1.888, 0.564, 0, 90, 0, [SEP] 34, Faucet, 0.0, 1.009, 3.265, 0, 0, 0, [SEP] 35, Faucet, 0.0, 1.009, 2.421, 0, 0, 0, [SEP] 36, SinkBasin, -0.308, 0.820, 2.422, 0, 0, 0, [SEP] 37, Sink, -0.302, 0.799, 2.419, 0, 270, 0, [SEP] 38, NorthWall, , , , , , , [SEP] 39, SouthWall, , , , , , , [SEP] 40, SouthWall, , , , , , , ", "output": ["STEP 1: walk over to the sink to your right | STEP 2: pick up the green plunger from the floor between the sink and toilet | STEP 3: back up and approach the cabinet under the sink | STEP 4: open the left side of the cabinet and place the plunger in the cabinet | END"]} +{"id": "trial_T20190908_021537_611374-2", "input": "Put the plunger 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, -1.75, 0.901, 1.75, 0, 0, 0, [SEP] 1, SprayBottle, -0.388, 0.955, 2.878, 0, 0, 0, 22 [SEP] 2, SprayBottle, -0.280, 0.077, 2.698, 0, 0, 0, 19 [SEP] 3, Candle, -0.158, 0.953, 1.481, 0, 0, 0, 30 [SEP] 4, SoapBar, -0.326, 0.954, 2.807, 0, 0, 0, 22 [SEP] 5, HandTowel, -0.038, 1.619, 1.887, 0, 90, 0, 28 [SEP] 6, Towel, -1.082, 1.326, 1.302, 0, 0, 0, 25 [SEP] 7, SoapBar, -0.347, 0.826, 3.354, 0, 0, 0, 32 [SEP] 8, ToiletPaper, -0.280, 0.073, 3.372, 0, 0, 0, 23 [SEP] 9, Plunger, -0.112, -0.000, 1.848, 0, 0, 0, [SEP] 10, Candle, -0.131, 0.953, 1.544, 0, 0, 0, 30 [SEP] 11, ToiletPaper, -0.280, 0.654, 1.985, 0, 180, 90, 27 [SEP] 12, SprayBottle, -0.024, 0.954, 1.356, 0, 90, 0, 30 [SEP] 13, Cloth, -0.381, 0.075, 2.202, 0, 90, 0, 24 [SEP] 14, ScrubBrush, -0.322, 3.109, 1.950, 0, 0, 0, [SEP] 15, SoapBottle, -0.381, 0.076, 3.100, 0, 0, 0, 18 [SEP] 16, Mirror, -0.030, 1.544, 2.864, 0, 0, 0, [SEP] 17, Sink, -0.302, 0.799, 3.263, 0, 270, 0, [SEP] 18, Cabinet, -0.491, 0.404, 2.863, 0, 0, 0, [SEP] 19, Cabinet, -0.495, 0.384, 2.842, 0, 0, 0, [SEP] 20, ShowerDoor, -1.647, 1.017, 1.180, 0, 0, 0, [SEP] 21, ShowerGlass, -0.909, 0.788, 0.485, 0, 0, 0, [SEP] 22, CounterTop, -0.261, 0.927, 2.843, 0, 0, 0, [SEP] 23, Cabinet, -0.495, 0.384, 3.650, 0, 0, 0, [SEP] 24, Cabinet, -0.491, 0.404, 2.055, 0, 0, 0, [SEP] 25, TowelHolder, -1.082, 1.312, 1.195, 0, 0, 0, [SEP] 26, LightSwitch, -2.424, 1.447, 3.338, 0, 90, 0, [SEP] 27, ToiletPaperHanger, -0.266, 0.786, 2.043, 0, 180, 0, [SEP] 28, HandTowelHolder, 0.000, 1.721, 1.887, 0, 180, 0, [SEP] 29, HandTowelHolder, 0.000, 1.721, 3.799, 0, 180, 0, [SEP] 30, Toilet, -0.542, 3.109, 1.493, 0, 270, 0, [SEP] 31, GarbageCan, -2.159, -0.000, 3.756, 0, 0, 0, [SEP] 32, SinkBasin, -0.308, 0.820, 3.266, 0, 0, 0, [SEP] 33, ShowerHead, -0.134, 1.888, 0.564, 0, 90, 0, [SEP] 34, Faucet, 0.0, 1.009, 3.265, 0, 0, 0, [SEP] 35, Faucet, 0.0, 1.009, 2.421, 0, 0, 0, [SEP] 36, SinkBasin, -0.308, 0.820, 2.422, 0, 0, 0, [SEP] 37, Sink, -0.302, 0.799, 2.419, 0, 270, 0, [SEP] 38, NorthWall, , , , , , , [SEP] 39, SouthWall, , , , , , , [SEP] 40, SouthWall, , , , , , , ", "output": ["STEP 1: Turn around towards the sink and the toilet | STEP 2: Pick up the plunger from between the sink and the toilet | STEP 3: Turn towards the sink to the left | STEP 4: Open the cabinet just to the left and place the plunger inside | END"]} +{"id": "trial_T20190907_155109_353266-0", "input": "Put a mug with a spoon inside of 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, -3.0, 0.900, 0.25, 0, 180, 0, [SEP] 1, Potato, -0.550, 0.963, 0.086, 0, 0, 0, 61 [SEP] 2, Potato, 0.688, 0.941, -2.308, 0, 0, 0, 67 [SEP] 3, CreditCard, 0.874, 0.150, -0.729, 0, 270, 0, 64 [SEP] 4, CreditCard, -1.467, 0.551, 2.822, 0, 0, 0, 87 [SEP] 5, CellPhone, -1.041, 0.930, -0.380, 0, 0, 0, 61 [SEP] 6, CellPhone, 0.875, 0.492, -0.648, 0, 270, 0, 65 [SEP] 7, DishSponge, -0.808, 0.780, -0.486, 0, 90, 0, 82 [SEP] 8, ButterKnife, -0.846, 0.933, -0.143, 0, 0, 0, 61 [SEP] 9, Glassbottle, 1.126, 2.208, -1.626, 0, 270, 0, 68 [SEP] 10, Fork, 0.773, 0.911, 0.313, 0, 0, 0, 62 [SEP] 11, Spoon, 0.944, 0.912, 0.139, 0, 270, 0, 62 [SEP] 12, Knife, 1.114, 0.934, -0.034, 0, 90, 0, 62 [SEP] 13, Egg, -0.587, 0.814, -0.745, 0, 90, 0, 82 [SEP] 14, Egg, -0.698, 0.971, -1.386, 0, 0, 0, 61 [SEP] 15, Plate, 1.082, 2.211, -1.408, 0, 270, 0, 68 [SEP] 16, Plate, -1.363, 0.557, 2.667, 0, 0, 0, 87 [SEP] 17, Tomato, 1.026, 0.903, 1.349, 0, 270, 0, 84 [SEP] 18, Tomato, 0.905, 1.442, 1.254, 0, 270, 0, 84 [SEP] 19, SoapBottle, -1.571, 0.882, 2.692, 0, 0, 0, 88 [SEP] 20, SoapBottle, 1.212, 2.208, -1.191, 0, 270, 0, 68 [SEP] 21, PepperShaker, 1.240, 1.662, -2.097, 0, 270, 0, 60 [SEP] 22, PepperShaker, 0.956, 0.699, -0.648, 0, 270, 0, 59 [SEP] 23, Lettuce, 0.773, 0.988, -0.381, 0, 0, 0, 62 [SEP] 24, Lettuce, 1.026, 0.940, 1.158, 0, 270, 0, 84 [SEP] 25, Apple, -0.697, 0.830, -0.745, 0, 90, 0, 82 [SEP] 26, Apple, 0.859, 0.961, -1.879, 0, 0, 0, 67 [SEP] 27, Statue, -1.167, 0.936, -0.643, 0, 0, 0, 61 [SEP] 28, Glassbottle, -0.808, 0.781, -0.745, 0, 90, 0, 82 [SEP] 29, Bread, -0.779, 0.996, 0.209, 0, 258.641, 0, 61 [SEP] 30, CreditCard, -1.570, 0.551, 2.615, 0, 0, 0, 87 [SEP] 31, CellPhone, 0.944, 0.908, -0.381, 0, 0, 0, 62 [SEP] 32, Potato, -0.808, 0.811, -0.400, 0, 180, 0, 82 [SEP] 33, Knife, -1.229, 0.957, 0.144, 0, 0, 0, 61 [SEP] 34, Fork, -0.753, 0.780, -0.659, 0, 180, 0, 82 [SEP] 35, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 55 [SEP] 36, Lettuce, 1.029, 0.988, -0.208, 0, 0, 0, 62 [SEP] 37, Plate, 1.193, 1.669, 0.216, 0, 270, 0, 69 [SEP] 38, Apple, -0.960, 0.229, 0.608, 0, 180, 0, 81 [SEP] 39, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 57 [SEP] 40, Spatula, 0.914, 0.168, -0.769, 0, 0, 0, 64 [SEP] 41, PaperTowelRoll, -1.041, 1.037, -0.118, 0, 0, 0, 61 [SEP] 42, Tomato, 0.844, 1.175, 1.540, 0, 270, 0, 84 [SEP] 43, Egg, -0.477, 0.971, -1.231, 0, 0, 0, 61 [SEP] 44, SaltShaker, -1.363, 0.550, 2.874, 0, 0, 0, 87 [SEP] 45, PepperShaker, 0.793, 0.150, -0.690, 0, 270, 0, 64 [SEP] 46, Vase, -1.981, 0.881, 2.719, 0, 0, 0, 88 [SEP] 47, ButterKnife, -1.229, 0.933, -1.167, 0, 0, 0, 61 [SEP] 48, SoapBottle, 1.055, 1.666, -2.097, 0, 270, 0, 60 [SEP] 49, Vase, -1.985, 0.555, 2.822, 0, 0, 0, 87 [SEP] 50, Bowl, 1.029, 0.914, -1.793, 0, 0, 0, 67 [SEP] 51, DishSponge, -0.624, 0.933, -0.143, 0, 0, 0, 61 [SEP] 52, Spoon, -0.642, 0.777, -0.573, 0, 0, 0, 82 [SEP] 53, Cup, -0.587, 0.777, -0.918, 0, 90, 0, 82 [SEP] 54, Mug, 0.783, 1.129, 0.967, 0, 270, 0, 84 [SEP] 55, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 56, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 57, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 58, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 59, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 60, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 61, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 62, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 63, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 64, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 65, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 66, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 67, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 68, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 69, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 70, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 71, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 72, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 73, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 74, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 75, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 76, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 77, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 78, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 79, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 80, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 81, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 82, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 83, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 84, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 85, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 86, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 87, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 88, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 89, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 90, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 91, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 92, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 93, NorthWall, , , , , , , [SEP] 94, EastWall, , , , , , , [SEP] 95, SouthWall, , , , , , , [SEP] 96, WestWall, , , , , , , ", "output": ["STEP 1: Turn around, then begin walking to the door, hang a right and walk up to the fridge, then turn right again and walk over to where the toaster is on the counter. | STEP 2: Pick up the metal spoon that is to the right of the toaster on the counter. | STEP 3: Turn left and walk over to the fridge. | STEP 4: Open the fridge door and place the metal spoon inside the white mug that is in the fridge. | STEP 5: Remove the white mug with the spoon inside of it from the fridge and close the fridge door. | STEP 6: Turn right and walk over to the section of counter above the dishwasher. | STEP 7: Place the mug with the spoon inside of it onto the front edge of the counter just above the middle of the dishwasher. | END"]} +{"id": "trial_T20190907_155109_353266-1", "input": "Put a mug with a spoon in 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, -3.0, 0.900, 0.25, 0, 180, 0, [SEP] 1, Potato, -0.550, 0.963, 0.086, 0, 0, 0, 61 [SEP] 2, Potato, 0.688, 0.941, -2.308, 0, 0, 0, 67 [SEP] 3, CreditCard, 0.874, 0.150, -0.729, 0, 270, 0, 64 [SEP] 4, CreditCard, -1.467, 0.551, 2.822, 0, 0, 0, 87 [SEP] 5, CellPhone, -1.041, 0.930, -0.380, 0, 0, 0, 61 [SEP] 6, CellPhone, 0.875, 0.492, -0.648, 0, 270, 0, 65 [SEP] 7, DishSponge, -0.808, 0.780, -0.486, 0, 90, 0, 82 [SEP] 8, ButterKnife, -0.846, 0.933, -0.143, 0, 0, 0, 61 [SEP] 9, Glassbottle, 1.126, 2.208, -1.626, 0, 270, 0, 68 [SEP] 10, Fork, 0.773, 0.911, 0.313, 0, 0, 0, 62 [SEP] 11, Spoon, 0.944, 0.912, 0.139, 0, 270, 0, 62 [SEP] 12, Knife, 1.114, 0.934, -0.034, 0, 90, 0, 62 [SEP] 13, Egg, -0.587, 0.814, -0.745, 0, 90, 0, 82 [SEP] 14, Egg, -0.698, 0.971, -1.386, 0, 0, 0, 61 [SEP] 15, Plate, 1.082, 2.211, -1.408, 0, 270, 0, 68 [SEP] 16, Plate, -1.363, 0.557, 2.667, 0, 0, 0, 87 [SEP] 17, Tomato, 1.026, 0.903, 1.349, 0, 270, 0, 84 [SEP] 18, Tomato, 0.905, 1.442, 1.254, 0, 270, 0, 84 [SEP] 19, SoapBottle, -1.571, 0.882, 2.692, 0, 0, 0, 88 [SEP] 20, SoapBottle, 1.212, 2.208, -1.191, 0, 270, 0, 68 [SEP] 21, PepperShaker, 1.240, 1.662, -2.097, 0, 270, 0, 60 [SEP] 22, PepperShaker, 0.956, 0.699, -0.648, 0, 270, 0, 59 [SEP] 23, Lettuce, 0.773, 0.988, -0.381, 0, 0, 0, 62 [SEP] 24, Lettuce, 1.026, 0.940, 1.158, 0, 270, 0, 84 [SEP] 25, Apple, -0.697, 0.830, -0.745, 0, 90, 0, 82 [SEP] 26, Apple, 0.859, 0.961, -1.879, 0, 0, 0, 67 [SEP] 27, Statue, -1.167, 0.936, -0.643, 0, 0, 0, 61 [SEP] 28, Glassbottle, -0.808, 0.781, -0.745, 0, 90, 0, 82 [SEP] 29, Bread, -0.779, 0.996, 0.209, 0, 258.641, 0, 61 [SEP] 30, CreditCard, -1.570, 0.551, 2.615, 0, 0, 0, 87 [SEP] 31, CellPhone, 0.944, 0.908, -0.381, 0, 0, 0, 62 [SEP] 32, Potato, -0.808, 0.811, -0.400, 0, 180, 0, 82 [SEP] 33, Knife, -1.229, 0.957, 0.144, 0, 0, 0, 61 [SEP] 34, Fork, -0.753, 0.780, -0.659, 0, 180, 0, 82 [SEP] 35, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 55 [SEP] 36, Lettuce, 1.029, 0.988, -0.208, 0, 0, 0, 62 [SEP] 37, Plate, 1.193, 1.669, 0.216, 0, 270, 0, 69 [SEP] 38, Apple, -0.960, 0.229, 0.608, 0, 180, 0, 81 [SEP] 39, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 57 [SEP] 40, Spatula, 0.914, 0.168, -0.769, 0, 0, 0, 64 [SEP] 41, PaperTowelRoll, -1.041, 1.037, -0.118, 0, 0, 0, 61 [SEP] 42, Tomato, 0.844, 1.175, 1.540, 0, 270, 0, 84 [SEP] 43, Egg, -0.477, 0.971, -1.231, 0, 0, 0, 61 [SEP] 44, SaltShaker, -1.363, 0.550, 2.874, 0, 0, 0, 87 [SEP] 45, PepperShaker, 0.793, 0.150, -0.690, 0, 270, 0, 64 [SEP] 46, Vase, -1.981, 0.881, 2.719, 0, 0, 0, 88 [SEP] 47, ButterKnife, -1.229, 0.933, -1.167, 0, 0, 0, 61 [SEP] 48, SoapBottle, 1.055, 1.666, -2.097, 0, 270, 0, 60 [SEP] 49, Vase, -1.985, 0.555, 2.822, 0, 0, 0, 87 [SEP] 50, Bowl, 1.029, 0.914, -1.793, 0, 0, 0, 67 [SEP] 51, DishSponge, -0.624, 0.933, -0.143, 0, 0, 0, 61 [SEP] 52, Spoon, -0.642, 0.777, -0.573, 0, 0, 0, 82 [SEP] 53, Cup, -0.587, 0.777, -0.918, 0, 90, 0, 82 [SEP] 54, Mug, 0.783, 1.129, 0.967, 0, 270, 0, 84 [SEP] 55, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 56, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 57, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 58, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 59, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 60, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 61, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 62, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 63, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 64, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 65, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 66, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 67, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 68, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 69, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 70, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 71, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 72, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 73, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 74, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 75, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 76, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 77, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 78, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 79, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 80, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 81, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 82, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 83, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 84, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 85, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 86, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 87, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 88, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 89, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 90, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 91, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 92, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 93, NorthWall, , , , , , , [SEP] 94, EastWall, , , , , , , [SEP] 95, SouthWall, , , , , , , [SEP] 96, WestWall, , , , , , , ", "output": ["STEP 1: Turn around, go straight, turn right, turn right at the refrigerator, move forward, then turn left to face the counter with the dishwasher. | STEP 2: Pick up the spoon on the counter, to the right of the toaster. | STEP 3: Turn left, go forward, then turn right to go to the fridge. | STEP 4: Put the spoon in the mug inside of the fridge. | STEP 5: Pick up the mug with the spoon in it from in the fridge. | STEP 6: Turn right, go forward, then turn left to return to the counter above the dishwasher. | STEP 7: Put the mug with the spoon in it on the counter, to the right of the fork. | END"]} +{"id": "trial_T20190907_155109_353266-2", "input": "To get a chilled mug for coffee. 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, 0.25, 0, 180, 0, [SEP] 1, Potato, -0.550, 0.963, 0.086, 0, 0, 0, 61 [SEP] 2, Potato, 0.688, 0.941, -2.308, 0, 0, 0, 67 [SEP] 3, CreditCard, 0.874, 0.150, -0.729, 0, 270, 0, 64 [SEP] 4, CreditCard, -1.467, 0.551, 2.822, 0, 0, 0, 87 [SEP] 5, CellPhone, -1.041, 0.930, -0.380, 0, 0, 0, 61 [SEP] 6, CellPhone, 0.875, 0.492, -0.648, 0, 270, 0, 65 [SEP] 7, DishSponge, -0.808, 0.780, -0.486, 0, 90, 0, 82 [SEP] 8, ButterKnife, -0.846, 0.933, -0.143, 0, 0, 0, 61 [SEP] 9, Glassbottle, 1.126, 2.208, -1.626, 0, 270, 0, 68 [SEP] 10, Fork, 0.773, 0.911, 0.313, 0, 0, 0, 62 [SEP] 11, Spoon, 0.944, 0.912, 0.139, 0, 270, 0, 62 [SEP] 12, Knife, 1.114, 0.934, -0.034, 0, 90, 0, 62 [SEP] 13, Egg, -0.587, 0.814, -0.745, 0, 90, 0, 82 [SEP] 14, Egg, -0.698, 0.971, -1.386, 0, 0, 0, 61 [SEP] 15, Plate, 1.082, 2.211, -1.408, 0, 270, 0, 68 [SEP] 16, Plate, -1.363, 0.557, 2.667, 0, 0, 0, 87 [SEP] 17, Tomato, 1.026, 0.903, 1.349, 0, 270, 0, 84 [SEP] 18, Tomato, 0.905, 1.442, 1.254, 0, 270, 0, 84 [SEP] 19, SoapBottle, -1.571, 0.882, 2.692, 0, 0, 0, 88 [SEP] 20, SoapBottle, 1.212, 2.208, -1.191, 0, 270, 0, 68 [SEP] 21, PepperShaker, 1.240, 1.662, -2.097, 0, 270, 0, 60 [SEP] 22, PepperShaker, 0.956, 0.699, -0.648, 0, 270, 0, 59 [SEP] 23, Lettuce, 0.773, 0.988, -0.381, 0, 0, 0, 62 [SEP] 24, Lettuce, 1.026, 0.940, 1.158, 0, 270, 0, 84 [SEP] 25, Apple, -0.697, 0.830, -0.745, 0, 90, 0, 82 [SEP] 26, Apple, 0.859, 0.961, -1.879, 0, 0, 0, 67 [SEP] 27, Statue, -1.167, 0.936, -0.643, 0, 0, 0, 61 [SEP] 28, Glassbottle, -0.808, 0.781, -0.745, 0, 90, 0, 82 [SEP] 29, Bread, -0.779, 0.996, 0.209, 0, 258.641, 0, 61 [SEP] 30, CreditCard, -1.570, 0.551, 2.615, 0, 0, 0, 87 [SEP] 31, CellPhone, 0.944, 0.908, -0.381, 0, 0, 0, 62 [SEP] 32, Potato, -0.808, 0.811, -0.400, 0, 180, 0, 82 [SEP] 33, Knife, -1.229, 0.957, 0.144, 0, 0, 0, 61 [SEP] 34, Fork, -0.753, 0.780, -0.659, 0, 180, 0, 82 [SEP] 35, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 55 [SEP] 36, Lettuce, 1.029, 0.988, -0.208, 0, 0, 0, 62 [SEP] 37, Plate, 1.193, 1.669, 0.216, 0, 270, 0, 69 [SEP] 38, Apple, -0.960, 0.229, 0.608, 0, 180, 0, 81 [SEP] 39, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 57 [SEP] 40, Spatula, 0.914, 0.168, -0.769, 0, 0, 0, 64 [SEP] 41, PaperTowelRoll, -1.041, 1.037, -0.118, 0, 0, 0, 61 [SEP] 42, Tomato, 0.844, 1.175, 1.540, 0, 270, 0, 84 [SEP] 43, Egg, -0.477, 0.971, -1.231, 0, 0, 0, 61 [SEP] 44, SaltShaker, -1.363, 0.550, 2.874, 0, 0, 0, 87 [SEP] 45, PepperShaker, 0.793, 0.150, -0.690, 0, 270, 0, 64 [SEP] 46, Vase, -1.981, 0.881, 2.719, 0, 0, 0, 88 [SEP] 47, ButterKnife, -1.229, 0.933, -1.167, 0, 0, 0, 61 [SEP] 48, SoapBottle, 1.055, 1.666, -2.097, 0, 270, 0, 60 [SEP] 49, Vase, -1.985, 0.555, 2.822, 0, 0, 0, 87 [SEP] 50, Bowl, 1.029, 0.914, -1.793, 0, 0, 0, 67 [SEP] 51, DishSponge, -0.624, 0.933, -0.143, 0, 0, 0, 61 [SEP] 52, Spoon, -0.642, 0.777, -0.573, 0, 0, 0, 82 [SEP] 53, Cup, -0.587, 0.777, -0.918, 0, 90, 0, 82 [SEP] 54, Mug, 0.783, 1.129, 0.967, 0, 270, 0, 84 [SEP] 55, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 56, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 57, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 58, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 59, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 60, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 61, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 62, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 63, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 64, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 65, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 66, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 67, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 68, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 69, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 70, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 71, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 72, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 73, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 74, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 75, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 76, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 77, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 78, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 79, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 80, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 81, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 82, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 83, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 84, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 85, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 86, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 87, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 88, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 89, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 90, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 91, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 92, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 93, NorthWall, , , , , , , [SEP] 94, EastWall, , , , , , , [SEP] 95, SouthWall, , , , , , , [SEP] 96, WestWall, , , , , , , ", "output": ["STEP 1: Turn to the left and walk in front of the counter with the toaster on it. | STEP 2: Pick up the spoon that's next to the toaster. | STEP 3: Move to the front of the fridge. | STEP 4: Open the fridge and put the spoon in the white mug. | STEP 5: Take the mug out of the fridge and close the door. | STEP 6: Turn to the right and stand in front of the counter with two heads of lettuce on it. | STEP 7: Put the mug down on the edge of the counter. | END"]} +{"id": "trial_T20190907_155109_353266-3", "input": "Put a mug with a spoon in 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, -3.0, 0.900, 0.25, 0, 180, 0, [SEP] 1, Potato, -0.550, 0.963, 0.086, 0, 0, 0, 61 [SEP] 2, Potato, 0.688, 0.941, -2.308, 0, 0, 0, 67 [SEP] 3, CreditCard, 0.874, 0.150, -0.729, 0, 270, 0, 64 [SEP] 4, CreditCard, -1.467, 0.551, 2.822, 0, 0, 0, 87 [SEP] 5, CellPhone, -1.041, 0.930, -0.380, 0, 0, 0, 61 [SEP] 6, CellPhone, 0.875, 0.492, -0.648, 0, 270, 0, 65 [SEP] 7, DishSponge, -0.808, 0.780, -0.486, 0, 90, 0, 82 [SEP] 8, ButterKnife, -0.846, 0.933, -0.143, 0, 0, 0, 61 [SEP] 9, Glassbottle, 1.126, 2.208, -1.626, 0, 270, 0, 68 [SEP] 10, Fork, 0.773, 0.911, 0.313, 0, 0, 0, 62 [SEP] 11, Spoon, 0.944, 0.912, 0.139, 0, 270, 0, 62 [SEP] 12, Knife, 1.114, 0.934, -0.034, 0, 90, 0, 62 [SEP] 13, Egg, -0.587, 0.814, -0.745, 0, 90, 0, 82 [SEP] 14, Egg, -0.698, 0.971, -1.386, 0, 0, 0, 61 [SEP] 15, Plate, 1.082, 2.211, -1.408, 0, 270, 0, 68 [SEP] 16, Plate, -1.363, 0.557, 2.667, 0, 0, 0, 87 [SEP] 17, Tomato, 1.026, 0.903, 1.349, 0, 270, 0, 84 [SEP] 18, Tomato, 0.905, 1.442, 1.254, 0, 270, 0, 84 [SEP] 19, SoapBottle, -1.571, 0.882, 2.692, 0, 0, 0, 88 [SEP] 20, SoapBottle, 1.212, 2.208, -1.191, 0, 270, 0, 68 [SEP] 21, PepperShaker, 1.240, 1.662, -2.097, 0, 270, 0, 60 [SEP] 22, PepperShaker, 0.956, 0.699, -0.648, 0, 270, 0, 59 [SEP] 23, Lettuce, 0.773, 0.988, -0.381, 0, 0, 0, 62 [SEP] 24, Lettuce, 1.026, 0.940, 1.158, 0, 270, 0, 84 [SEP] 25, Apple, -0.697, 0.830, -0.745, 0, 90, 0, 82 [SEP] 26, Apple, 0.859, 0.961, -1.879, 0, 0, 0, 67 [SEP] 27, Statue, -1.167, 0.936, -0.643, 0, 0, 0, 61 [SEP] 28, Glassbottle, -0.808, 0.781, -0.745, 0, 90, 0, 82 [SEP] 29, Bread, -0.779, 0.996, 0.209, 0, 258.641, 0, 61 [SEP] 30, CreditCard, -1.570, 0.551, 2.615, 0, 0, 0, 87 [SEP] 31, CellPhone, 0.944, 0.908, -0.381, 0, 0, 0, 62 [SEP] 32, Potato, -0.808, 0.811, -0.400, 0, 180, 0, 82 [SEP] 33, Knife, -1.229, 0.957, 0.144, 0, 0, 0, 61 [SEP] 34, Fork, -0.753, 0.780, -0.659, 0, 180, 0, 82 [SEP] 35, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 55 [SEP] 36, Lettuce, 1.029, 0.988, -0.208, 0, 0, 0, 62 [SEP] 37, Plate, 1.193, 1.669, 0.216, 0, 270, 0, 69 [SEP] 38, Apple, -0.960, 0.229, 0.608, 0, 180, 0, 81 [SEP] 39, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 57 [SEP] 40, Spatula, 0.914, 0.168, -0.769, 0, 0, 0, 64 [SEP] 41, PaperTowelRoll, -1.041, 1.037, -0.118, 0, 0, 0, 61 [SEP] 42, Tomato, 0.844, 1.175, 1.540, 0, 270, 0, 84 [SEP] 43, Egg, -0.477, 0.971, -1.231, 0, 0, 0, 61 [SEP] 44, SaltShaker, -1.363, 0.550, 2.874, 0, 0, 0, 87 [SEP] 45, PepperShaker, 0.793, 0.150, -0.690, 0, 270, 0, 64 [SEP] 46, Vase, -1.981, 0.881, 2.719, 0, 0, 0, 88 [SEP] 47, ButterKnife, -1.229, 0.933, -1.167, 0, 0, 0, 61 [SEP] 48, SoapBottle, 1.055, 1.666, -2.097, 0, 270, 0, 60 [SEP] 49, Vase, -1.985, 0.555, 2.822, 0, 0, 0, 87 [SEP] 50, Bowl, 1.029, 0.914, -1.793, 0, 0, 0, 67 [SEP] 51, DishSponge, -0.624, 0.933, -0.143, 0, 0, 0, 61 [SEP] 52, Spoon, -0.642, 0.777, -0.573, 0, 0, 0, 82 [SEP] 53, Cup, -0.587, 0.777, -0.918, 0, 90, 0, 82 [SEP] 54, Mug, 0.783, 1.129, 0.967, 0, 270, 0, 84 [SEP] 55, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 56, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 57, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 58, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 59, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 60, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 61, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 62, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 63, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 64, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 65, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 66, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 67, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 68, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 69, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 70, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 71, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 72, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 73, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 74, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 75, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 76, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 77, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 78, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 79, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 80, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 81, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 82, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 83, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 84, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 85, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 86, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 87, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 88, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 89, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 90, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 91, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 92, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 93, NorthWall, , , , , , , [SEP] 94, EastWall, , , , , , , [SEP] 95, SouthWall, , , , , , , [SEP] 96, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and take a step then turn right and walk to the fridge then take a step to your right. | STEP 2: Pick up the spoon that's in front of you. | STEP 3: Take a step to your left. | STEP 4: Put the spoon in the mug in the fridge. | STEP 5: Pick up the mug with the spoon in it and close the door. | STEP 6: Take two steps to your right. | STEP 7: Put the mug to the left of the head of lettuce nearest the edge. | END"]} +{"id": "trial_T20190907_155109_353266-4", "input": "Put a cup with a spoon in 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, -3.0, 0.900, 0.25, 0, 180, 0, [SEP] 1, Potato, -0.550, 0.963, 0.086, 0, 0, 0, 61 [SEP] 2, Potato, 0.688, 0.941, -2.308, 0, 0, 0, 67 [SEP] 3, CreditCard, 0.874, 0.150, -0.729, 0, 270, 0, 64 [SEP] 4, CreditCard, -1.467, 0.551, 2.822, 0, 0, 0, 87 [SEP] 5, CellPhone, -1.041, 0.930, -0.380, 0, 0, 0, 61 [SEP] 6, CellPhone, 0.875, 0.492, -0.648, 0, 270, 0, 65 [SEP] 7, DishSponge, -0.808, 0.780, -0.486, 0, 90, 0, 82 [SEP] 8, ButterKnife, -0.846, 0.933, -0.143, 0, 0, 0, 61 [SEP] 9, Glassbottle, 1.126, 2.208, -1.626, 0, 270, 0, 68 [SEP] 10, Fork, 0.773, 0.911, 0.313, 0, 0, 0, 62 [SEP] 11, Spoon, 0.944, 0.912, 0.139, 0, 270, 0, 62 [SEP] 12, Knife, 1.114, 0.934, -0.034, 0, 90, 0, 62 [SEP] 13, Egg, -0.587, 0.814, -0.745, 0, 90, 0, 82 [SEP] 14, Egg, -0.698, 0.971, -1.386, 0, 0, 0, 61 [SEP] 15, Plate, 1.082, 2.211, -1.408, 0, 270, 0, 68 [SEP] 16, Plate, -1.363, 0.557, 2.667, 0, 0, 0, 87 [SEP] 17, Tomato, 1.026, 0.903, 1.349, 0, 270, 0, 84 [SEP] 18, Tomato, 0.905, 1.442, 1.254, 0, 270, 0, 84 [SEP] 19, SoapBottle, -1.571, 0.882, 2.692, 0, 0, 0, 88 [SEP] 20, SoapBottle, 1.212, 2.208, -1.191, 0, 270, 0, 68 [SEP] 21, PepperShaker, 1.240, 1.662, -2.097, 0, 270, 0, 60 [SEP] 22, PepperShaker, 0.956, 0.699, -0.648, 0, 270, 0, 59 [SEP] 23, Lettuce, 0.773, 0.988, -0.381, 0, 0, 0, 62 [SEP] 24, Lettuce, 1.026, 0.940, 1.158, 0, 270, 0, 84 [SEP] 25, Apple, -0.697, 0.830, -0.745, 0, 90, 0, 82 [SEP] 26, Apple, 0.859, 0.961, -1.879, 0, 0, 0, 67 [SEP] 27, Statue, -1.167, 0.936, -0.643, 0, 0, 0, 61 [SEP] 28, Glassbottle, -0.808, 0.781, -0.745, 0, 90, 0, 82 [SEP] 29, Bread, -0.779, 0.996, 0.209, 0, 258.641, 0, 61 [SEP] 30, CreditCard, -1.570, 0.551, 2.615, 0, 0, 0, 87 [SEP] 31, CellPhone, 0.944, 0.908, -0.381, 0, 0, 0, 62 [SEP] 32, Potato, -0.808, 0.811, -0.400, 0, 180, 0, 82 [SEP] 33, Knife, -1.229, 0.957, 0.144, 0, 0, 0, 61 [SEP] 34, Fork, -0.753, 0.780, -0.659, 0, 180, 0, 82 [SEP] 35, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 55 [SEP] 36, Lettuce, 1.029, 0.988, -0.208, 0, 0, 0, 62 [SEP] 37, Plate, 1.193, 1.669, 0.216, 0, 270, 0, 69 [SEP] 38, Apple, -0.960, 0.229, 0.608, 0, 180, 0, 81 [SEP] 39, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 57 [SEP] 40, Spatula, 0.914, 0.168, -0.769, 0, 0, 0, 64 [SEP] 41, PaperTowelRoll, -1.041, 1.037, -0.118, 0, 0, 0, 61 [SEP] 42, Tomato, 0.844, 1.175, 1.540, 0, 270, 0, 84 [SEP] 43, Egg, -0.477, 0.971, -1.231, 0, 0, 0, 61 [SEP] 44, SaltShaker, -1.363, 0.550, 2.874, 0, 0, 0, 87 [SEP] 45, PepperShaker, 0.793, 0.150, -0.690, 0, 270, 0, 64 [SEP] 46, Vase, -1.981, 0.881, 2.719, 0, 0, 0, 88 [SEP] 47, ButterKnife, -1.229, 0.933, -1.167, 0, 0, 0, 61 [SEP] 48, SoapBottle, 1.055, 1.666, -2.097, 0, 270, 0, 60 [SEP] 49, Vase, -1.985, 0.555, 2.822, 0, 0, 0, 87 [SEP] 50, Bowl, 1.029, 0.914, -1.793, 0, 0, 0, 67 [SEP] 51, DishSponge, -0.624, 0.933, -0.143, 0, 0, 0, 61 [SEP] 52, Spoon, -0.642, 0.777, -0.573, 0, 0, 0, 82 [SEP] 53, Cup, -0.587, 0.777, -0.918, 0, 90, 0, 82 [SEP] 54, Mug, 0.783, 1.129, 0.967, 0, 270, 0, 84 [SEP] 55, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 56, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 57, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 58, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 59, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 60, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 61, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 62, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 63, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 64, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 65, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 66, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 67, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 68, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 69, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 70, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 71, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 72, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 73, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 74, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 75, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 76, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 77, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 78, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 79, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 80, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 81, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 82, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 83, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 84, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 85, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 86, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 87, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 88, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 89, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 90, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 91, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 92, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 93, NorthWall, , , , , , , [SEP] 94, EastWall, , , , , , , [SEP] 95, SouthWall, , , , , , , [SEP] 96, WestWall, , , , , , , ", "output": ["STEP 1: Cross the room to face the counter to the right of the fridge. | STEP 2: Pick the spoon up from the counter. | STEP 3: Move to the left and face the fridge. | STEP 4: Open the fridge and put the spoon in the cup. | STEP 5: Pick the cup up from inside the fridge. | STEP 6: Turn and go to face the counter to the right of the fridge. | STEP 7: Put the cup on the counter. | END"]} +{"id": "trial_T20190907_155109_353266-5", "input": "Put a spoon inside a white mug, place the 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, -3.0, 0.900, 0.25, 0, 180, 0, [SEP] 1, Potato, -0.550, 0.963, 0.086, 0, 0, 0, 61 [SEP] 2, Potato, 0.688, 0.941, -2.308, 0, 0, 0, 67 [SEP] 3, CreditCard, 0.874, 0.150, -0.729, 0, 270, 0, 64 [SEP] 4, CreditCard, -1.467, 0.551, 2.822, 0, 0, 0, 87 [SEP] 5, CellPhone, -1.041, 0.930, -0.380, 0, 0, 0, 61 [SEP] 6, CellPhone, 0.875, 0.492, -0.648, 0, 270, 0, 65 [SEP] 7, DishSponge, -0.808, 0.780, -0.486, 0, 90, 0, 82 [SEP] 8, ButterKnife, -0.846, 0.933, -0.143, 0, 0, 0, 61 [SEP] 9, Glassbottle, 1.126, 2.208, -1.626, 0, 270, 0, 68 [SEP] 10, Fork, 0.773, 0.911, 0.313, 0, 0, 0, 62 [SEP] 11, Spoon, 0.944, 0.912, 0.139, 0, 270, 0, 62 [SEP] 12, Knife, 1.114, 0.934, -0.034, 0, 90, 0, 62 [SEP] 13, Egg, -0.587, 0.814, -0.745, 0, 90, 0, 82 [SEP] 14, Egg, -0.698, 0.971, -1.386, 0, 0, 0, 61 [SEP] 15, Plate, 1.082, 2.211, -1.408, 0, 270, 0, 68 [SEP] 16, Plate, -1.363, 0.557, 2.667, 0, 0, 0, 87 [SEP] 17, Tomato, 1.026, 0.903, 1.349, 0, 270, 0, 84 [SEP] 18, Tomato, 0.905, 1.442, 1.254, 0, 270, 0, 84 [SEP] 19, SoapBottle, -1.571, 0.882, 2.692, 0, 0, 0, 88 [SEP] 20, SoapBottle, 1.212, 2.208, -1.191, 0, 270, 0, 68 [SEP] 21, PepperShaker, 1.240, 1.662, -2.097, 0, 270, 0, 60 [SEP] 22, PepperShaker, 0.956, 0.699, -0.648, 0, 270, 0, 59 [SEP] 23, Lettuce, 0.773, 0.988, -0.381, 0, 0, 0, 62 [SEP] 24, Lettuce, 1.026, 0.940, 1.158, 0, 270, 0, 84 [SEP] 25, Apple, -0.697, 0.830, -0.745, 0, 90, 0, 82 [SEP] 26, Apple, 0.859, 0.961, -1.879, 0, 0, 0, 67 [SEP] 27, Statue, -1.167, 0.936, -0.643, 0, 0, 0, 61 [SEP] 28, Glassbottle, -0.808, 0.781, -0.745, 0, 90, 0, 82 [SEP] 29, Bread, -0.779, 0.996, 0.209, 0, 258.641, 0, 61 [SEP] 30, CreditCard, -1.570, 0.551, 2.615, 0, 0, 0, 87 [SEP] 31, CellPhone, 0.944, 0.908, -0.381, 0, 0, 0, 62 [SEP] 32, Potato, -0.808, 0.811, -0.400, 0, 180, 0, 82 [SEP] 33, Knife, -1.229, 0.957, 0.144, 0, 0, 0, 61 [SEP] 34, Fork, -0.753, 0.780, -0.659, 0, 180, 0, 82 [SEP] 35, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 55 [SEP] 36, Lettuce, 1.029, 0.988, -0.208, 0, 0, 0, 62 [SEP] 37, Plate, 1.193, 1.669, 0.216, 0, 270, 0, 69 [SEP] 38, Apple, -0.960, 0.229, 0.608, 0, 180, 0, 81 [SEP] 39, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 57 [SEP] 40, Spatula, 0.914, 0.168, -0.769, 0, 0, 0, 64 [SEP] 41, PaperTowelRoll, -1.041, 1.037, -0.118, 0, 0, 0, 61 [SEP] 42, Tomato, 0.844, 1.175, 1.540, 0, 270, 0, 84 [SEP] 43, Egg, -0.477, 0.971, -1.231, 0, 0, 0, 61 [SEP] 44, SaltShaker, -1.363, 0.550, 2.874, 0, 0, 0, 87 [SEP] 45, PepperShaker, 0.793, 0.150, -0.690, 0, 270, 0, 64 [SEP] 46, Vase, -1.981, 0.881, 2.719, 0, 0, 0, 88 [SEP] 47, ButterKnife, -1.229, 0.933, -1.167, 0, 0, 0, 61 [SEP] 48, SoapBottle, 1.055, 1.666, -2.097, 0, 270, 0, 60 [SEP] 49, Vase, -1.985, 0.555, 2.822, 0, 0, 0, 87 [SEP] 50, Bowl, 1.029, 0.914, -1.793, 0, 0, 0, 67 [SEP] 51, DishSponge, -0.624, 0.933, -0.143, 0, 0, 0, 61 [SEP] 52, Spoon, -0.642, 0.777, -0.573, 0, 0, 0, 82 [SEP] 53, Cup, -0.587, 0.777, -0.918, 0, 90, 0, 82 [SEP] 54, Mug, 0.783, 1.129, 0.967, 0, 270, 0, 84 [SEP] 55, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 56, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 57, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 58, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 59, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 60, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 61, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 62, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 63, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 64, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 65, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 66, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 67, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 68, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 69, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 70, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 71, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 72, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 73, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 74, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 75, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 76, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 77, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 78, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 79, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 80, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 81, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 82, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 83, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 84, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 85, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 86, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 87, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 88, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 89, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 90, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 91, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 92, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 93, NorthWall, , , , , , , [SEP] 94, EastWall, , , , , , , [SEP] 95, SouthWall, , , , , , , [SEP] 96, WestWall, , , , , , , ", "output": ["STEP 1: Turn around, head in to the kitchen | STEP 2: Stand in front of the counter next to the fridge | STEP 3: Take the spoon from the counter | STEP 4: Go to the fridge, open the door | STEP 5: Put the spoon inside the white mug inside the fridge | STEP 6: Take the white mug out of the fridge, close the door | STEP 7: Turn right, walk in to kitchen, put the white mug on the counter | END"]} +{"id": "trial_T20190909_174807_646433-0", "input": "Put chilled 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, -2.5, 0.900, -0.25, 0, 0, 0, [SEP] 1, Pan, 0.905, 1.399, 1.063, 0, 180, 0, 87 [SEP] 2, CellPhone, 1.114, 0.908, -1.879, 0, 0, 0, 70 [SEP] 3, DishSponge, -1.467, 0.553, 2.667, 0, 0, 0, 90 [SEP] 4, ButterKnife, -0.550, 0.920, 0.315, 0, 0, 0, 64 [SEP] 5, ButterKnife, -0.697, 0.780, -0.745, 0, 90, 0, 85 [SEP] 6, Glassbottle, 0.913, 0.121, 0.374, 0, 270, 0, 59 [SEP] 7, Glassbottle, 0.688, 0.912, -2.308, 0, 0, 0, 70 [SEP] 8, Fork, 0.944, 0.911, -0.208, 0, 0, 0, 65 [SEP] 9, Fork, 0.859, 0.911, -0.381, 0, 90, 0, 65 [SEP] 10, Spatula, 0.859, 0.926, -0.729, 0, 0, 0, 65 [SEP] 11, Knife, -1.229, 0.957, -0.905, 0, 0, 0, 64 [SEP] 12, Knife, 0.944, 0.934, -0.034, 0, 180, 0, 65 [SEP] 13, Egg, 1.087, 1.680, 1.158, 0, 270, 0, 87 [SEP] 14, Egg, -0.808, 0.818, -0.573, 0, 90, 0, 85 [SEP] 15, Cup, 0.859, 0.908, -1.879, 0, 0, 0, 70 [SEP] 16, Plate, 1.026, 1.138, 1.349, 0, 270, 0, 87 [SEP] 17, Plate, 0.811, 0.111, -2.132, 0, 0, 0, 69 [SEP] 18, Tomato, 1.026, 0.903, 0.967, 0, 270, 0, 87 [SEP] 19, Tomato, 1.114, 0.952, -0.381, 0, 0, 0, 65 [SEP] 20, SoapBottle, -1.229, 0.933, -0.118, 0, 0, 0, 64 [SEP] 21, Bowl, 1.199, 0.914, -0.729, 0, 0, 0, 65 [SEP] 22, Bowl, 1.026, 1.138, 0.967, 0, 270, 0, 87 [SEP] 23, PepperShaker, 0.834, 0.491, -0.607, 0, 270, 0, 68 [SEP] 24, Lettuce, -0.624, 1.010, -1.308, 0, 0, 0, 64 [SEP] 25, Bread, 0.905, 0.944, 1.254, 0, 270, 0, 87 [SEP] 26, Bread, 0.859, 0.992, 0.139, 0, 0, 0, 65 [SEP] 27, Mug, -0.753, 0.775, -0.659, 0, 90, 0, 85 [SEP] 28, Apple, 1.199, 0.961, -1.965, 0, 0, 0, 70 [SEP] 29, Apple, -0.772, 0.983, 0.009, 0, 0, 0, 64 [SEP] 30, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 64 [SEP] 31, Glassbottle, -0.587, 0.781, -0.573, 0, 90, 0, 85 [SEP] 32, Bread, -0.790, 0.996, 0.220, 0, 253.194, 0, 64 [SEP] 33, CreditCard, -1.363, 0.551, 2.615, 0, 0, 0, 90 [SEP] 34, CellPhone, 0.834, 0.700, -0.607, 0, 270, 0, 62 [SEP] 35, Potato, 1.148, 1.165, 1.540, 0, 270, 0, 87 [SEP] 36, Knife, -0.698, 0.957, -1.540, 0, 0, 0, 64 [SEP] 37, Fork, 0.794, 0.495, -0.690, 0, 180, 0, 68 [SEP] 38, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 58 [SEP] 39, Lettuce, 0.688, 0.988, -1.879, 0, 0, 0, 70 [SEP] 40, Plate, 1.114, 0.914, -0.208, 0, 0, 0, 65 [SEP] 41, Apple, -1.054, 0.229, 0.543, 0, 180, 0, 84 [SEP] 42, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 60 [SEP] 43, Spatula, 0.859, 0.926, -1.879, 0, 0, 0, 70 [SEP] 44, PaperTowelRoll, -0.960, 0.283, 0.543, 0, 180, 0, 84 [SEP] 45, Tomato, -0.808, 0.821, -0.832, 0, 90, 0, 85 [SEP] 46, Egg, -0.624, 0.971, 0.009, 0, 0, 0, 64 [SEP] 47, SaltShaker, 1.114, 0.907, 0.139, 0, 0, 0, 65 [SEP] 48, PepperShaker, 0.811, 0.104, -1.972, 0, 0, 0, 69 [SEP] 49, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 90 [SEP] 50, ButterKnife, 0.944, 0.911, -0.381, 0, 0, 0, 65 [SEP] 51, SoapBottle, 0.773, 0.911, -0.381, 0, 0, 0, 65 [SEP] 52, Vase, -1.985, 0.555, 2.770, 0, 0, 0, 90 [SEP] 53, Bowl, 1.102, 1.669, -0.337, 0, 270, 0, 73 [SEP] 54, DishSponge, -1.104, 0.933, -0.643, 0, 0, 0, 64 [SEP] 55, Spoon, -0.550, 0.919, 0.162, 0, 0, 0, 64 [SEP] 56, Cup, 0.966, 1.640, 1.158, 0, 270, 0, 87 [SEP] 57, Mug, 1.148, 1.661, -1.893, 0, 270, 0, 63 [SEP] 58, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 59, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 60, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 61, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 62, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 63, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 64, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 65, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 66, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 67, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 68, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 69, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 70, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 71, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 72, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 73, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 74, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 75, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 76, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 77, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 78, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 79, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 80, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 81, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 82, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 83, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 84, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 85, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 86, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 87, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 88, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 89, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 90, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 91, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 92, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 93, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 94, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 95, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 96, NorthWall, , , , , , , [SEP] 97, EastWall, , , , , , , [SEP] 98, SouthWall, , , , , , , [SEP] 99, WestWall, , , , , , , ", "output": ["STEP 1: Move forward, turn right, go to the fridge, turn right, go to face the lettuce on the counter, past the sink on the right. | STEP 2: Pick up the lettuce on the counter. | STEP 3: Turn right, bring the lettuce to the fridge on the right. | STEP 4: Chill the lettuce in the fridge. | STEP 5: Take the chilled lettuce to the counter, right of the fridge. | STEP 6: Put the chilled lettuce on the counter, in front of the bread. | END"]} +{"id": "trial_T20190909_174807_646433-1", "input": "chill the lettuce in the fridge then put it on the counter 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, -0.25, 0, 0, 0, [SEP] 1, Pan, 0.905, 1.399, 1.063, 0, 180, 0, 87 [SEP] 2, CellPhone, 1.114, 0.908, -1.879, 0, 0, 0, 70 [SEP] 3, DishSponge, -1.467, 0.553, 2.667, 0, 0, 0, 90 [SEP] 4, ButterKnife, -0.550, 0.920, 0.315, 0, 0, 0, 64 [SEP] 5, ButterKnife, -0.697, 0.780, -0.745, 0, 90, 0, 85 [SEP] 6, Glassbottle, 0.913, 0.121, 0.374, 0, 270, 0, 59 [SEP] 7, Glassbottle, 0.688, 0.912, -2.308, 0, 0, 0, 70 [SEP] 8, Fork, 0.944, 0.911, -0.208, 0, 0, 0, 65 [SEP] 9, Fork, 0.859, 0.911, -0.381, 0, 90, 0, 65 [SEP] 10, Spatula, 0.859, 0.926, -0.729, 0, 0, 0, 65 [SEP] 11, Knife, -1.229, 0.957, -0.905, 0, 0, 0, 64 [SEP] 12, Knife, 0.944, 0.934, -0.034, 0, 180, 0, 65 [SEP] 13, Egg, 1.087, 1.680, 1.158, 0, 270, 0, 87 [SEP] 14, Egg, -0.808, 0.818, -0.573, 0, 90, 0, 85 [SEP] 15, Cup, 0.859, 0.908, -1.879, 0, 0, 0, 70 [SEP] 16, Plate, 1.026, 1.138, 1.349, 0, 270, 0, 87 [SEP] 17, Plate, 0.811, 0.111, -2.132, 0, 0, 0, 69 [SEP] 18, Tomato, 1.026, 0.903, 0.967, 0, 270, 0, 87 [SEP] 19, Tomato, 1.114, 0.952, -0.381, 0, 0, 0, 65 [SEP] 20, SoapBottle, -1.229, 0.933, -0.118, 0, 0, 0, 64 [SEP] 21, Bowl, 1.199, 0.914, -0.729, 0, 0, 0, 65 [SEP] 22, Bowl, 1.026, 1.138, 0.967, 0, 270, 0, 87 [SEP] 23, PepperShaker, 0.834, 0.491, -0.607, 0, 270, 0, 68 [SEP] 24, Lettuce, -0.624, 1.010, -1.308, 0, 0, 0, 64 [SEP] 25, Bread, 0.905, 0.944, 1.254, 0, 270, 0, 87 [SEP] 26, Bread, 0.859, 0.992, 0.139, 0, 0, 0, 65 [SEP] 27, Mug, -0.753, 0.775, -0.659, 0, 90, 0, 85 [SEP] 28, Apple, 1.199, 0.961, -1.965, 0, 0, 0, 70 [SEP] 29, Apple, -0.772, 0.983, 0.009, 0, 0, 0, 64 [SEP] 30, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 64 [SEP] 31, Glassbottle, -0.587, 0.781, -0.573, 0, 90, 0, 85 [SEP] 32, Bread, -0.790, 0.996, 0.220, 0, 253.194, 0, 64 [SEP] 33, CreditCard, -1.363, 0.551, 2.615, 0, 0, 0, 90 [SEP] 34, CellPhone, 0.834, 0.700, -0.607, 0, 270, 0, 62 [SEP] 35, Potato, 1.148, 1.165, 1.540, 0, 270, 0, 87 [SEP] 36, Knife, -0.698, 0.957, -1.540, 0, 0, 0, 64 [SEP] 37, Fork, 0.794, 0.495, -0.690, 0, 180, 0, 68 [SEP] 38, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 58 [SEP] 39, Lettuce, 0.688, 0.988, -1.879, 0, 0, 0, 70 [SEP] 40, Plate, 1.114, 0.914, -0.208, 0, 0, 0, 65 [SEP] 41, Apple, -1.054, 0.229, 0.543, 0, 180, 0, 84 [SEP] 42, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 60 [SEP] 43, Spatula, 0.859, 0.926, -1.879, 0, 0, 0, 70 [SEP] 44, PaperTowelRoll, -0.960, 0.283, 0.543, 0, 180, 0, 84 [SEP] 45, Tomato, -0.808, 0.821, -0.832, 0, 90, 0, 85 [SEP] 46, Egg, -0.624, 0.971, 0.009, 0, 0, 0, 64 [SEP] 47, SaltShaker, 1.114, 0.907, 0.139, 0, 0, 0, 65 [SEP] 48, PepperShaker, 0.811, 0.104, -1.972, 0, 0, 0, 69 [SEP] 49, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 90 [SEP] 50, ButterKnife, 0.944, 0.911, -0.381, 0, 0, 0, 65 [SEP] 51, SoapBottle, 0.773, 0.911, -0.381, 0, 0, 0, 65 [SEP] 52, Vase, -1.985, 0.555, 2.770, 0, 0, 0, 90 [SEP] 53, Bowl, 1.102, 1.669, -0.337, 0, 270, 0, 73 [SEP] 54, DishSponge, -1.104, 0.933, -0.643, 0, 0, 0, 64 [SEP] 55, Spoon, -0.550, 0.919, 0.162, 0, 0, 0, 64 [SEP] 56, Cup, 0.966, 1.640, 1.158, 0, 270, 0, 87 [SEP] 57, Mug, 1.148, 1.661, -1.893, 0, 270, 0, 63 [SEP] 58, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 59, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 60, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 61, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 62, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 63, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 64, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 65, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 66, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 67, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 68, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 69, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 70, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 71, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 72, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 73, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 74, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 75, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 76, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 77, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 78, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 79, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 80, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 81, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 82, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 83, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 84, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 85, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 86, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 87, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 88, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 89, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 90, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 91, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 92, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 93, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 94, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 95, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 96, NorthWall, , , , , , , [SEP] 97, EastWall, , , , , , , [SEP] 98, SouthWall, , , , , , , [SEP] 99, WestWall, , , , , , , ", "output": ["STEP 1: walk straight then turn right and walk straight towards the fridge then turn right and walk straight towards the counter and turn right | STEP 2: pick up the lettuce off of the counter | STEP 3: turn right and walk straight towards the fridge and turn right | STEP 4: open the fridge and put the lettuce inside then re open the fridge and remove the lettuce and close the door | STEP 5: turn right and walk straight then turn left towards the counter top | STEP 6: put the lettuce down on the counter | END"]} +{"id": "trial_T20190909_174807_646433-2", "input": "Put cold lettuce on the counter next to the other food. 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, 0, 0, [SEP] 1, Pan, 0.905, 1.399, 1.063, 0, 180, 0, 87 [SEP] 2, CellPhone, 1.114, 0.908, -1.879, 0, 0, 0, 70 [SEP] 3, DishSponge, -1.467, 0.553, 2.667, 0, 0, 0, 90 [SEP] 4, ButterKnife, -0.550, 0.920, 0.315, 0, 0, 0, 64 [SEP] 5, ButterKnife, -0.697, 0.780, -0.745, 0, 90, 0, 85 [SEP] 6, Glassbottle, 0.913, 0.121, 0.374, 0, 270, 0, 59 [SEP] 7, Glassbottle, 0.688, 0.912, -2.308, 0, 0, 0, 70 [SEP] 8, Fork, 0.944, 0.911, -0.208, 0, 0, 0, 65 [SEP] 9, Fork, 0.859, 0.911, -0.381, 0, 90, 0, 65 [SEP] 10, Spatula, 0.859, 0.926, -0.729, 0, 0, 0, 65 [SEP] 11, Knife, -1.229, 0.957, -0.905, 0, 0, 0, 64 [SEP] 12, Knife, 0.944, 0.934, -0.034, 0, 180, 0, 65 [SEP] 13, Egg, 1.087, 1.680, 1.158, 0, 270, 0, 87 [SEP] 14, Egg, -0.808, 0.818, -0.573, 0, 90, 0, 85 [SEP] 15, Cup, 0.859, 0.908, -1.879, 0, 0, 0, 70 [SEP] 16, Plate, 1.026, 1.138, 1.349, 0, 270, 0, 87 [SEP] 17, Plate, 0.811, 0.111, -2.132, 0, 0, 0, 69 [SEP] 18, Tomato, 1.026, 0.903, 0.967, 0, 270, 0, 87 [SEP] 19, Tomato, 1.114, 0.952, -0.381, 0, 0, 0, 65 [SEP] 20, SoapBottle, -1.229, 0.933, -0.118, 0, 0, 0, 64 [SEP] 21, Bowl, 1.199, 0.914, -0.729, 0, 0, 0, 65 [SEP] 22, Bowl, 1.026, 1.138, 0.967, 0, 270, 0, 87 [SEP] 23, PepperShaker, 0.834, 0.491, -0.607, 0, 270, 0, 68 [SEP] 24, Lettuce, -0.624, 1.010, -1.308, 0, 0, 0, 64 [SEP] 25, Bread, 0.905, 0.944, 1.254, 0, 270, 0, 87 [SEP] 26, Bread, 0.859, 0.992, 0.139, 0, 0, 0, 65 [SEP] 27, Mug, -0.753, 0.775, -0.659, 0, 90, 0, 85 [SEP] 28, Apple, 1.199, 0.961, -1.965, 0, 0, 0, 70 [SEP] 29, Apple, -0.772, 0.983, 0.009, 0, 0, 0, 64 [SEP] 30, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 64 [SEP] 31, Glassbottle, -0.587, 0.781, -0.573, 0, 90, 0, 85 [SEP] 32, Bread, -0.790, 0.996, 0.220, 0, 253.194, 0, 64 [SEP] 33, CreditCard, -1.363, 0.551, 2.615, 0, 0, 0, 90 [SEP] 34, CellPhone, 0.834, 0.700, -0.607, 0, 270, 0, 62 [SEP] 35, Potato, 1.148, 1.165, 1.540, 0, 270, 0, 87 [SEP] 36, Knife, -0.698, 0.957, -1.540, 0, 0, 0, 64 [SEP] 37, Fork, 0.794, 0.495, -0.690, 0, 180, 0, 68 [SEP] 38, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 58 [SEP] 39, Lettuce, 0.688, 0.988, -1.879, 0, 0, 0, 70 [SEP] 40, Plate, 1.114, 0.914, -0.208, 0, 0, 0, 65 [SEP] 41, Apple, -1.054, 0.229, 0.543, 0, 180, 0, 84 [SEP] 42, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 60 [SEP] 43, Spatula, 0.859, 0.926, -1.879, 0, 0, 0, 70 [SEP] 44, PaperTowelRoll, -0.960, 0.283, 0.543, 0, 180, 0, 84 [SEP] 45, Tomato, -0.808, 0.821, -0.832, 0, 90, 0, 85 [SEP] 46, Egg, -0.624, 0.971, 0.009, 0, 0, 0, 64 [SEP] 47, SaltShaker, 1.114, 0.907, 0.139, 0, 0, 0, 65 [SEP] 48, PepperShaker, 0.811, 0.104, -1.972, 0, 0, 0, 69 [SEP] 49, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 90 [SEP] 50, ButterKnife, 0.944, 0.911, -0.381, 0, 0, 0, 65 [SEP] 51, SoapBottle, 0.773, 0.911, -0.381, 0, 0, 0, 65 [SEP] 52, Vase, -1.985, 0.555, 2.770, 0, 0, 0, 90 [SEP] 53, Bowl, 1.102, 1.669, -0.337, 0, 270, 0, 73 [SEP] 54, DishSponge, -1.104, 0.933, -0.643, 0, 0, 0, 64 [SEP] 55, Spoon, -0.550, 0.919, 0.162, 0, 0, 0, 64 [SEP] 56, Cup, 0.966, 1.640, 1.158, 0, 270, 0, 87 [SEP] 57, Mug, 1.148, 1.661, -1.893, 0, 270, 0, 63 [SEP] 58, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 59, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 60, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 61, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 62, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 63, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 64, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 65, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 66, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 67, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 68, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 69, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 70, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 71, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 72, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 73, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 74, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 75, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 76, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 77, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 78, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 79, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 80, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 81, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 82, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 83, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 84, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 85, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 86, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 87, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 88, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 89, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 90, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 91, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 92, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 93, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 94, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 95, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 96, NorthWall, , , , , , , [SEP] 97, EastWall, , , , , , , [SEP] 98, SouthWall, , , , , , , [SEP] 99, WestWall, , , , , , , ", "output": ["STEP 1: Turn right, and walk around the kitchen island to the lettuce on the counter. | STEP 2: Pick up the lettuce from the counter. | STEP 3: Take the lettuce to the refrigerator. | STEP 4: Put the lettuce in the refrigerator, and close the door. Wait, and then open the refrigerator and remove the lettuce. | STEP 5: Carry the lettuce to the counter with the other food. | STEP 6: Put the lettuce on the counter next to the bread. | END"]} +{"id": "trial_T20190906_191445_723170-0", "input": "To acquire an odd item as place it where it is not useful. 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, 90, 0, [SEP] 1, Statue, 0.944, 0.914, -0.729, 0, 0, 0, 63 [SEP] 2, Potato, 1.026, 1.165, 1.444, 0, 270, 0, 85 [SEP] 3, Potato, 1.087, 1.432, 1.158, 0, 270, 0, 85 [SEP] 4, CreditCard, -1.674, 0.878, 2.746, 0, 0, 0, 89 [SEP] 5, CreditCard, 0.688, 0.908, -0.729, 0, 0, 0, 63 [SEP] 6, CellPhone, -1.229, 0.930, -1.167, 0, 0, 0, 62 [SEP] 7, CellPhone, 0.773, 0.908, 0.139, 0, 0, 0, 63 [SEP] 8, DishSponge, 1.055, 1.665, -2.029, 0, 270, 0, 61 [SEP] 9, DishSponge, 1.114, 0.910, -0.729, 0, 0, 0, 63 [SEP] 10, ButterKnife, -1.292, 0.933, -0.118, 0, 0, 0, 62 [SEP] 11, Glassbottle, -1.054, 0.179, 0.608, 0, 180, 0, 82 [SEP] 12, Fork, -0.697, 0.780, -0.745, 0, 90, 0, 83 [SEP] 13, Spoon, 0.834, 0.495, -0.607, 0, 270, 0, 66 [SEP] 14, Spatula, 0.944, 0.926, -0.208, 0, 90, 0, 63 [SEP] 15, Spatula, 0.754, 0.718, -0.772, 0, 180, 0, 60 [SEP] 16, Egg, 0.905, 1.439, 1.063, 0, 270, 0, 85 [SEP] 17, Cup, -0.808, 0.777, -0.573, 0, 90, 0, 83 [SEP] 18, Cup, 1.026, 0.860, 1.444, 0, 270, 0, 85 [SEP] 19, Plate, 1.194, 1.669, -1.961, 0, 270, 0, 61 [SEP] 20, Tomato, -0.753, 0.817, -0.832, 0, 90, 0, 83 [SEP] 21, Tomato, 0.844, 1.683, 1.540, 0, 270, 0, 85 [SEP] 22, SoapBottle, -1.167, 0.933, -0.118, 0, 0, 0, 62 [SEP] 23, SoapBottle, -0.912, 0.179, 0.543, 0, 180, 0, 82 [SEP] 24, PepperShaker, 0.811, 0.117, 0.423, 0, 270, 0, 63 [SEP] 25, Mug, -1.363, 0.549, 2.770, 0, 0, 0, 88 [SEP] 26, Apple, 0.688, 0.961, -0.555, 0, 0, 0, 63 [SEP] 27, Apple, 1.114, 0.961, 0.139, 0, 0, 0, 63 [SEP] 28, Statue, -1.355, 0.936, -0.643, 0, 0, 0, 62 [SEP] 29, Glassbottle, -1.881, 0.554, 2.615, 0, 0, 0, 88 [SEP] 30, Bread, 0.773, 0.992, -0.208, 0, 0, 0, 63 [SEP] 31, CreditCard, -1.363, 0.551, 2.563, 0, 0, 0, 88 [SEP] 32, CellPhone, 0.793, 0.150, -0.650, 0, 270, 0, 65 [SEP] 33, Potato, -0.587, 0.811, -0.486, 0, 90, 0, 83 [SEP] 34, Knife, -0.624, 0.957, -0.067, 0, 0, 0, 62 [SEP] 35, Fork, -0.772, 0.934, -1.463, 0, 0, 0, 62 [SEP] 36, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 56 [SEP] 37, Lettuce, 0.866, 1.688, 1.209, 9.746, 11.103, 0, 85 [SEP] 38, Plate, 1.194, 1.669, -2.166, 0, 270, 0, 61 [SEP] 39, Apple, 1.199, 0.961, -0.208, 0, 0, 0, 63 [SEP] 40, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 58 [SEP] 41, Spatula, -0.550, 0.948, -1.154, 0, 0, 0, 62 [SEP] 42, PaperTowelRoll, -0.818, 0.281, 0.608, 0, 270, 0, 82 [SEP] 43, Tomato, 0.905, 0.903, 1.158, 0, 270, 0, 85 [SEP] 44, Egg, -0.642, 0.818, -0.659, 0, 90, 0, 83 [SEP] 45, SaltShaker, -1.469, 0.878, 2.719, 0, 0, 0, 89 [SEP] 46, PepperShaker, -1.167, 0.929, 0.144, 0, 0, 0, 62 [SEP] 47, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 88 [SEP] 48, ButterKnife, -0.846, 0.933, -1.308, 0, 180, 0, 62 [SEP] 49, SoapBottle, 1.212, 2.208, -1.191, 0, 270, 0, 69 [SEP] 50, Vase, 1.126, 2.209, -1.408, 0, 270, 0, 69 [SEP] 51, Bowl, -1.881, 0.557, 2.770, 0, 0, 0, 88 [SEP] 52, DishSponge, 0.754, 0.493, -0.731, 0, 270, 0, 66 [SEP] 53, Spoon, -1.229, 0.934, -0.905, 0, 0, 0, 62 [SEP] 54, Cup, 0.905, 1.132, 1.444, 0, 270, 0, 85 [SEP] 55, Mug, 0.995, 1.790, -1.132, 0, 180, 0, 84 [SEP] 56, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 57, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 58, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 59, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 60, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 61, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 62, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 63, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 64, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 65, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 66, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 67, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 68, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 69, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 70, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 71, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 72, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 73, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 74, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 75, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 76, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 77, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 78, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 79, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 80, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 81, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 82, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 83, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 84, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 85, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 86, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 87, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 88, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 89, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 90, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 91, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 92, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 93, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 94, NorthWall, , , , , , , [SEP] 95, EastWall, , , , , , , [SEP] 96, SouthWall, , , , , , , [SEP] 97, WestWall, , , , , , , ", "output": ["STEP 1: Turn to the left and make an semi circle as to reach the wooden table. | STEP 2: Take only the salt container from the table. | STEP 3: turn left and to your right with the salt container. | STEP 4: Place the container under the cabin drawer under in the drawer on the left. | END"]} +{"id": "trial_T20190906_191445_723170-1", "input": "Place the salt shaker from the wooden shelf into the cabinet. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.900, 1.0, 0, 90, 0, [SEP] 1, Statue, 0.944, 0.914, -0.729, 0, 0, 0, 63 [SEP] 2, Potato, 1.026, 1.165, 1.444, 0, 270, 0, 85 [SEP] 3, Potato, 1.087, 1.432, 1.158, 0, 270, 0, 85 [SEP] 4, CreditCard, -1.674, 0.878, 2.746, 0, 0, 0, 89 [SEP] 5, CreditCard, 0.688, 0.908, -0.729, 0, 0, 0, 63 [SEP] 6, CellPhone, -1.229, 0.930, -1.167, 0, 0, 0, 62 [SEP] 7, CellPhone, 0.773, 0.908, 0.139, 0, 0, 0, 63 [SEP] 8, DishSponge, 1.055, 1.665, -2.029, 0, 270, 0, 61 [SEP] 9, DishSponge, 1.114, 0.910, -0.729, 0, 0, 0, 63 [SEP] 10, ButterKnife, -1.292, 0.933, -0.118, 0, 0, 0, 62 [SEP] 11, Glassbottle, -1.054, 0.179, 0.608, 0, 180, 0, 82 [SEP] 12, Fork, -0.697, 0.780, -0.745, 0, 90, 0, 83 [SEP] 13, Spoon, 0.834, 0.495, -0.607, 0, 270, 0, 66 [SEP] 14, Spatula, 0.944, 0.926, -0.208, 0, 90, 0, 63 [SEP] 15, Spatula, 0.754, 0.718, -0.772, 0, 180, 0, 60 [SEP] 16, Egg, 0.905, 1.439, 1.063, 0, 270, 0, 85 [SEP] 17, Cup, -0.808, 0.777, -0.573, 0, 90, 0, 83 [SEP] 18, Cup, 1.026, 0.860, 1.444, 0, 270, 0, 85 [SEP] 19, Plate, 1.194, 1.669, -1.961, 0, 270, 0, 61 [SEP] 20, Tomato, -0.753, 0.817, -0.832, 0, 90, 0, 83 [SEP] 21, Tomato, 0.844, 1.683, 1.540, 0, 270, 0, 85 [SEP] 22, SoapBottle, -1.167, 0.933, -0.118, 0, 0, 0, 62 [SEP] 23, SoapBottle, -0.912, 0.179, 0.543, 0, 180, 0, 82 [SEP] 24, PepperShaker, 0.811, 0.117, 0.423, 0, 270, 0, 63 [SEP] 25, Mug, -1.363, 0.549, 2.770, 0, 0, 0, 88 [SEP] 26, Apple, 0.688, 0.961, -0.555, 0, 0, 0, 63 [SEP] 27, Apple, 1.114, 0.961, 0.139, 0, 0, 0, 63 [SEP] 28, Statue, -1.355, 0.936, -0.643, 0, 0, 0, 62 [SEP] 29, Glassbottle, -1.881, 0.554, 2.615, 0, 0, 0, 88 [SEP] 30, Bread, 0.773, 0.992, -0.208, 0, 0, 0, 63 [SEP] 31, CreditCard, -1.363, 0.551, 2.563, 0, 0, 0, 88 [SEP] 32, CellPhone, 0.793, 0.150, -0.650, 0, 270, 0, 65 [SEP] 33, Potato, -0.587, 0.811, -0.486, 0, 90, 0, 83 [SEP] 34, Knife, -0.624, 0.957, -0.067, 0, 0, 0, 62 [SEP] 35, Fork, -0.772, 0.934, -1.463, 0, 0, 0, 62 [SEP] 36, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 56 [SEP] 37, Lettuce, 0.866, 1.688, 1.209, 9.746, 11.103, 0, 85 [SEP] 38, Plate, 1.194, 1.669, -2.166, 0, 270, 0, 61 [SEP] 39, Apple, 1.199, 0.961, -0.208, 0, 0, 0, 63 [SEP] 40, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 58 [SEP] 41, Spatula, -0.550, 0.948, -1.154, 0, 0, 0, 62 [SEP] 42, PaperTowelRoll, -0.818, 0.281, 0.608, 0, 270, 0, 82 [SEP] 43, Tomato, 0.905, 0.903, 1.158, 0, 270, 0, 85 [SEP] 44, Egg, -0.642, 0.818, -0.659, 0, 90, 0, 83 [SEP] 45, SaltShaker, -1.469, 0.878, 2.719, 0, 0, 0, 89 [SEP] 46, PepperShaker, -1.167, 0.929, 0.144, 0, 0, 0, 62 [SEP] 47, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 88 [SEP] 48, ButterKnife, -0.846, 0.933, -1.308, 0, 180, 0, 62 [SEP] 49, SoapBottle, 1.212, 2.208, -1.191, 0, 270, 0, 69 [SEP] 50, Vase, 1.126, 2.209, -1.408, 0, 270, 0, 69 [SEP] 51, Bowl, -1.881, 0.557, 2.770, 0, 0, 0, 88 [SEP] 52, DishSponge, 0.754, 0.493, -0.731, 0, 270, 0, 66 [SEP] 53, Spoon, -1.229, 0.934, -0.905, 0, 0, 0, 62 [SEP] 54, Cup, 0.905, 1.132, 1.444, 0, 270, 0, 85 [SEP] 55, Mug, 0.995, 1.790, -1.132, 0, 180, 0, 84 [SEP] 56, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 57, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 58, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 59, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 60, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 61, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 62, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 63, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 64, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 65, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 66, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 67, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 68, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 69, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 70, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 71, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 72, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 73, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 74, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 75, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 76, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 77, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 78, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 79, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 80, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 81, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 82, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 83, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 84, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 85, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 86, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 87, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 88, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 89, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 90, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 91, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 92, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 93, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 94, NorthWall, , , , , , , [SEP] 95, EastWall, , , , , , , [SEP] 96, SouthWall, , , , , , , [SEP] 97, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and head towards the wooden shelves. | STEP 2: Pick up the salt shaker on the top shelf. | STEP 3: Turn around and head towards the fridge to your left. | STEP 4: Open the lower cabinet to the left of the fridge, place the shaker in it, and close the door. | END"]} +{"id": "trial_T20190906_191445_723170-2", "input": "Put the salt in the bottom cabinet next to 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, 1.0, 0, 90, 0, [SEP] 1, Statue, 0.944, 0.914, -0.729, 0, 0, 0, 63 [SEP] 2, Potato, 1.026, 1.165, 1.444, 0, 270, 0, 85 [SEP] 3, Potato, 1.087, 1.432, 1.158, 0, 270, 0, 85 [SEP] 4, CreditCard, -1.674, 0.878, 2.746, 0, 0, 0, 89 [SEP] 5, CreditCard, 0.688, 0.908, -0.729, 0, 0, 0, 63 [SEP] 6, CellPhone, -1.229, 0.930, -1.167, 0, 0, 0, 62 [SEP] 7, CellPhone, 0.773, 0.908, 0.139, 0, 0, 0, 63 [SEP] 8, DishSponge, 1.055, 1.665, -2.029, 0, 270, 0, 61 [SEP] 9, DishSponge, 1.114, 0.910, -0.729, 0, 0, 0, 63 [SEP] 10, ButterKnife, -1.292, 0.933, -0.118, 0, 0, 0, 62 [SEP] 11, Glassbottle, -1.054, 0.179, 0.608, 0, 180, 0, 82 [SEP] 12, Fork, -0.697, 0.780, -0.745, 0, 90, 0, 83 [SEP] 13, Spoon, 0.834, 0.495, -0.607, 0, 270, 0, 66 [SEP] 14, Spatula, 0.944, 0.926, -0.208, 0, 90, 0, 63 [SEP] 15, Spatula, 0.754, 0.718, -0.772, 0, 180, 0, 60 [SEP] 16, Egg, 0.905, 1.439, 1.063, 0, 270, 0, 85 [SEP] 17, Cup, -0.808, 0.777, -0.573, 0, 90, 0, 83 [SEP] 18, Cup, 1.026, 0.860, 1.444, 0, 270, 0, 85 [SEP] 19, Plate, 1.194, 1.669, -1.961, 0, 270, 0, 61 [SEP] 20, Tomato, -0.753, 0.817, -0.832, 0, 90, 0, 83 [SEP] 21, Tomato, 0.844, 1.683, 1.540, 0, 270, 0, 85 [SEP] 22, SoapBottle, -1.167, 0.933, -0.118, 0, 0, 0, 62 [SEP] 23, SoapBottle, -0.912, 0.179, 0.543, 0, 180, 0, 82 [SEP] 24, PepperShaker, 0.811, 0.117, 0.423, 0, 270, 0, 63 [SEP] 25, Mug, -1.363, 0.549, 2.770, 0, 0, 0, 88 [SEP] 26, Apple, 0.688, 0.961, -0.555, 0, 0, 0, 63 [SEP] 27, Apple, 1.114, 0.961, 0.139, 0, 0, 0, 63 [SEP] 28, Statue, -1.355, 0.936, -0.643, 0, 0, 0, 62 [SEP] 29, Glassbottle, -1.881, 0.554, 2.615, 0, 0, 0, 88 [SEP] 30, Bread, 0.773, 0.992, -0.208, 0, 0, 0, 63 [SEP] 31, CreditCard, -1.363, 0.551, 2.563, 0, 0, 0, 88 [SEP] 32, CellPhone, 0.793, 0.150, -0.650, 0, 270, 0, 65 [SEP] 33, Potato, -0.587, 0.811, -0.486, 0, 90, 0, 83 [SEP] 34, Knife, -0.624, 0.957, -0.067, 0, 0, 0, 62 [SEP] 35, Fork, -0.772, 0.934, -1.463, 0, 0, 0, 62 [SEP] 36, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 56 [SEP] 37, Lettuce, 0.866, 1.688, 1.209, 9.746, 11.103, 0, 85 [SEP] 38, Plate, 1.194, 1.669, -2.166, 0, 270, 0, 61 [SEP] 39, Apple, 1.199, 0.961, -0.208, 0, 0, 0, 63 [SEP] 40, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 58 [SEP] 41, Spatula, -0.550, 0.948, -1.154, 0, 0, 0, 62 [SEP] 42, PaperTowelRoll, -0.818, 0.281, 0.608, 0, 270, 0, 82 [SEP] 43, Tomato, 0.905, 0.903, 1.158, 0, 270, 0, 85 [SEP] 44, Egg, -0.642, 0.818, -0.659, 0, 90, 0, 83 [SEP] 45, SaltShaker, -1.469, 0.878, 2.719, 0, 0, 0, 89 [SEP] 46, PepperShaker, -1.167, 0.929, 0.144, 0, 0, 0, 62 [SEP] 47, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 88 [SEP] 48, ButterKnife, -0.846, 0.933, -1.308, 0, 180, 0, 62 [SEP] 49, SoapBottle, 1.212, 2.208, -1.191, 0, 270, 0, 69 [SEP] 50, Vase, 1.126, 2.209, -1.408, 0, 270, 0, 69 [SEP] 51, Bowl, -1.881, 0.557, 2.770, 0, 0, 0, 88 [SEP] 52, DishSponge, 0.754, 0.493, -0.731, 0, 270, 0, 66 [SEP] 53, Spoon, -1.229, 0.934, -0.905, 0, 0, 0, 62 [SEP] 54, Cup, 0.905, 1.132, 1.444, 0, 270, 0, 85 [SEP] 55, Mug, 0.995, 1.790, -1.132, 0, 180, 0, 84 [SEP] 56, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 57, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 58, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 59, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 60, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 61, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 62, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 63, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 64, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 65, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 66, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 67, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 68, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 69, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 70, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 71, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 72, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 73, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 74, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 75, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 76, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 77, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 78, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 79, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 80, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 81, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 82, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 83, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 84, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 85, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 86, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 87, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 88, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 89, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 90, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 91, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 92, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 93, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 94, NorthWall, , , , , , , [SEP] 95, EastWall, , , , , , , [SEP] 96, SouthWall, , , , , , , [SEP] 97, WestWall, , , , , , , ", "output": ["STEP 1: Move to the wooden shelf. | STEP 2: Pick up the salt from the shelf. | STEP 3: Bring the salt to the counter right of the fridge. | STEP 4: Place the salt in the cabinet under the counter. | END"]} +{"id": "trial_T20190908_041333_727215-0", "input": "Examine a statue trophy 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, -1.25, 0.901, 1.0, 0, 270, 0, [SEP] 1, TissueBox, -3.638, 0.205, 4.331, 0, 90, 0, 57 [SEP] 2, Newspaper, -3.052, 0.205, 4.528, 0, 90, 0, 58 [SEP] 3, Newspaper, -1.458, 0.079, 0.262, 0, 0, 0, 48 [SEP] 4, Statue, -0.222, 0.598, 1.193, 0, 270, 0, 43 [SEP] 5, Statue, -5.534, 1.044, 0.372, 0, 0, 0, 41 [SEP] 6, Statue, -1.094, 1.107, 0.192, 0, 0, 0, 45 [SEP] 7, Vase, -3.864, 1.111, 4.786, 0, 90, 0, 59 [SEP] 8, Watch, -4.682, 0.997, 4.290, 0, 90, 0, 60 [SEP] 9, KeyChain, -2.876, 0.996, 4.267, 0, 90, 0, 61 [SEP] 10, KeyChain, -4.505, 1.108, 4.292, 0, 90, 0, 59 [SEP] 11, RemoteControl, -1.117, 0.611, 3.281, 0, 0, 0, 63 [SEP] 12, RemoteControl, -0.787, 0.611, 2.224, 0, 0, 0, 63 [SEP] 13, Laptop, -4.184, 1.105, 4.588, 0, 90, 0, 59 [SEP] 14, Pillow, -0.952, 0.700, 2.753, 0, 0, 0, 63 [SEP] 15, Box, -4.741, 0.425, 4.459, 0, 90, 0, 62 [SEP] 16, Watch, -2.244, 0.034, 0.317, 0, 90, 0, 42 [SEP] 17, Pillow, -2.031, 0.668, 4.421, 0, 0, 0, 53 [SEP] 18, TissueBox, -4.085, 0.201, 4.466, 0, 90, 0, 56 [SEP] 19, Newspaper, -0.787, 0.615, 3.545, 0, 0, 0, 63 [SEP] 20, CreditCard, -0.117, 1.591, 0.823, 0, 270, 0, 46 [SEP] 21, KeyChain, -1.584, 0.590, 4.124, 0, 0, 0, 53 [SEP] 22, CellPhone, -4.826, 1.111, 4.588, 0, 90, 0, 59 [SEP] 23, Statue, -0.192, 1.107, 1.192, 0, 270, 0, 50 [SEP] 24, Laptop, -3.393, 1.104, 4.492, 0, 191.867, 0, 59 [SEP] 25, RemoteControl, -0.221, 1.594, 1.006, 0, 270, 0, 46 [SEP] 26, Vase, -3.570, 0.207, 4.523, 0, 90, 0, 57 [SEP] 27, DeskLamp, -4.649, 1.051, 0.268, 0, 0, 0, [SEP] 28, DeskLamp, -2.992, 1.107, 4.522, 0, 0, 0, [SEP] 29, FloorLamp, -0.650, 0.007, 4.431, 0, 0, 0, [SEP] 30, FloorLamp, -5.607, 0.007, 4.641, 0, 0, 0, [SEP] 31, Shelf, -5.237, 1.776, 0.070, 0, 0, 0, [SEP] 32, Shelf, -5.238, 1.968, 0.085, 0, 0, 0, [SEP] 33, Shelf, -5.242, 1.391, 0.086, 0, 0, 0, [SEP] 34, Shelf, -5.241, 1.582, 0.065, 0, 0, 0, [SEP] 35, LightSwitch, -6.002, 1.353, 3.404, 0, 90, 0, [SEP] 36, GarbageCan, -5.794, -0.033, 4.073, 0, 90, 0, [SEP] 37, Painting, -6.017, 1.802, 4.177, 90, 270, 0, [SEP] 38, HousePlant, -3.966, 1.625, 0.135, 0, 315, 0, [SEP] 39, Television, -3.355, 0.833, 0.027, 0, 0, 0, [SEP] 40, Drawer, -5.024, 0.903, 0.370, 0, 0, 0, [SEP] 41, SideTable, -5.024, 0.008, 0.267, 0, 0, 0, [SEP] 42, Safe, -2.298, 5.778, 0.268, 0, 90, 0, [SEP] 43, Shelf, -0.253, 0.781, 1.058, 0, 270, 0, [SEP] 44, Shelf, -0.283, 0.274, 1.066, 0, 270, 0, [SEP] 45, Shelf, -1.224, 1.288, 0.270, 0, 0, 0, [SEP] 46, Shelf, -1.218, 1.810, 0.275, 0, 0, 0, [SEP] 47, Shelf, -0.280, 1.810, 1.057, 0, 270, 0, [SEP] 48, Shelf, -1.218, 0.274, 0.262, 0, 0, 0, [SEP] 49, Shelf, -1.223, 0.782, 0.237, 0, 0, 0, [SEP] 50, Shelf, -0.280, 1.288, 1.055, 0, 270, 0, [SEP] 51, ShelvingUnit, -0.268, 0.004, 1.067, 0, 270, 0, [SEP] 52, ShelvingUnit, -1.218, 0.004, 0.244, 0, 0, 0, [SEP] 53, ArmChair, -2.027, 0.001, 4.422, 0, 178.692, 0, [SEP] 54, Drawer, -4.329, 1.014, 4.311, 0, 180, 0, [SEP] 55, Drawer, -3.750, 1.014, 4.311, 0, 180, 0, [SEP] 56, Cabinet, -4.049, 0.561, 4.212, 0, 180, 0, [SEP] 57, Cabinet, -4.032, 0.561, 4.212, 0, 180, 0, [SEP] 58, Cabinet, -2.884, 0.561, 4.212, 0, 180, 0, [SEP] 59, Dresser, -4.041, -0.000, 4.589, 0, 180, 0, [SEP] 60, Drawer, -4.916, 1.014, 4.311, 0, 180, 0, [SEP] 61, Drawer, -3.166, 1.014, 4.311, 0, 180, 0, [SEP] 62, Cabinet, -5.196, 0.561, 4.212, 0, 180, 0, [SEP] 63, Sofa, -0.705, -0.002, 2.753, 0, 270, 0, [SEP] 64, NorthWall, , , , , , , [SEP] 65, SouthWall, , , , , , , [SEP] 66, SouthWall, , , , , , , ", "output": ["STEP 1: Turn around and walk towards the white shelves. | STEP 2: Pick up the statue trophy on the top shelf. | STEP 3: Turn left and walk towards the tall lamp. | STEP 4: Turn on the lamp. | END"]} +{"id": "trial_T20190908_041333_727215-1", "input": "Look at a statue 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, -1.25, 0.901, 1.0, 0, 270, 0, [SEP] 1, TissueBox, -3.638, 0.205, 4.331, 0, 90, 0, 57 [SEP] 2, Newspaper, -3.052, 0.205, 4.528, 0, 90, 0, 58 [SEP] 3, Newspaper, -1.458, 0.079, 0.262, 0, 0, 0, 48 [SEP] 4, Statue, -0.222, 0.598, 1.193, 0, 270, 0, 43 [SEP] 5, Statue, -5.534, 1.044, 0.372, 0, 0, 0, 41 [SEP] 6, Statue, -1.094, 1.107, 0.192, 0, 0, 0, 45 [SEP] 7, Vase, -3.864, 1.111, 4.786, 0, 90, 0, 59 [SEP] 8, Watch, -4.682, 0.997, 4.290, 0, 90, 0, 60 [SEP] 9, KeyChain, -2.876, 0.996, 4.267, 0, 90, 0, 61 [SEP] 10, KeyChain, -4.505, 1.108, 4.292, 0, 90, 0, 59 [SEP] 11, RemoteControl, -1.117, 0.611, 3.281, 0, 0, 0, 63 [SEP] 12, RemoteControl, -0.787, 0.611, 2.224, 0, 0, 0, 63 [SEP] 13, Laptop, -4.184, 1.105, 4.588, 0, 90, 0, 59 [SEP] 14, Pillow, -0.952, 0.700, 2.753, 0, 0, 0, 63 [SEP] 15, Box, -4.741, 0.425, 4.459, 0, 90, 0, 62 [SEP] 16, Watch, -2.244, 0.034, 0.317, 0, 90, 0, 42 [SEP] 17, Pillow, -2.031, 0.668, 4.421, 0, 0, 0, 53 [SEP] 18, TissueBox, -4.085, 0.201, 4.466, 0, 90, 0, 56 [SEP] 19, Newspaper, -0.787, 0.615, 3.545, 0, 0, 0, 63 [SEP] 20, CreditCard, -0.117, 1.591, 0.823, 0, 270, 0, 46 [SEP] 21, KeyChain, -1.584, 0.590, 4.124, 0, 0, 0, 53 [SEP] 22, CellPhone, -4.826, 1.111, 4.588, 0, 90, 0, 59 [SEP] 23, Statue, -0.192, 1.107, 1.192, 0, 270, 0, 50 [SEP] 24, Laptop, -3.393, 1.104, 4.492, 0, 191.867, 0, 59 [SEP] 25, RemoteControl, -0.221, 1.594, 1.006, 0, 270, 0, 46 [SEP] 26, Vase, -3.570, 0.207, 4.523, 0, 90, 0, 57 [SEP] 27, DeskLamp, -4.649, 1.051, 0.268, 0, 0, 0, [SEP] 28, DeskLamp, -2.992, 1.107, 4.522, 0, 0, 0, [SEP] 29, FloorLamp, -0.650, 0.007, 4.431, 0, 0, 0, [SEP] 30, FloorLamp, -5.607, 0.007, 4.641, 0, 0, 0, [SEP] 31, Shelf, -5.237, 1.776, 0.070, 0, 0, 0, [SEP] 32, Shelf, -5.238, 1.968, 0.085, 0, 0, 0, [SEP] 33, Shelf, -5.242, 1.391, 0.086, 0, 0, 0, [SEP] 34, Shelf, -5.241, 1.582, 0.065, 0, 0, 0, [SEP] 35, LightSwitch, -6.002, 1.353, 3.404, 0, 90, 0, [SEP] 36, GarbageCan, -5.794, -0.033, 4.073, 0, 90, 0, [SEP] 37, Painting, -6.017, 1.802, 4.177, 90, 270, 0, [SEP] 38, HousePlant, -3.966, 1.625, 0.135, 0, 315, 0, [SEP] 39, Television, -3.355, 0.833, 0.027, 0, 0, 0, [SEP] 40, Drawer, -5.024, 0.903, 0.370, 0, 0, 0, [SEP] 41, SideTable, -5.024, 0.008, 0.267, 0, 0, 0, [SEP] 42, Safe, -2.298, 5.778, 0.268, 0, 90, 0, [SEP] 43, Shelf, -0.253, 0.781, 1.058, 0, 270, 0, [SEP] 44, Shelf, -0.283, 0.274, 1.066, 0, 270, 0, [SEP] 45, Shelf, -1.224, 1.288, 0.270, 0, 0, 0, [SEP] 46, Shelf, -1.218, 1.810, 0.275, 0, 0, 0, [SEP] 47, Shelf, -0.280, 1.810, 1.057, 0, 270, 0, [SEP] 48, Shelf, -1.218, 0.274, 0.262, 0, 0, 0, [SEP] 49, Shelf, -1.223, 0.782, 0.237, 0, 0, 0, [SEP] 50, Shelf, -0.280, 1.288, 1.055, 0, 270, 0, [SEP] 51, ShelvingUnit, -0.268, 0.004, 1.067, 0, 270, 0, [SEP] 52, ShelvingUnit, -1.218, 0.004, 0.244, 0, 0, 0, [SEP] 53, ArmChair, -2.027, 0.001, 4.422, 0, 178.692, 0, [SEP] 54, Drawer, -4.329, 1.014, 4.311, 0, 180, 0, [SEP] 55, Drawer, -3.750, 1.014, 4.311, 0, 180, 0, [SEP] 56, Cabinet, -4.049, 0.561, 4.212, 0, 180, 0, [SEP] 57, Cabinet, -4.032, 0.561, 4.212, 0, 180, 0, [SEP] 58, Cabinet, -2.884, 0.561, 4.212, 0, 180, 0, [SEP] 59, Dresser, -4.041, -0.000, 4.589, 0, 180, 0, [SEP] 60, Drawer, -4.916, 1.014, 4.311, 0, 180, 0, [SEP] 61, Drawer, -3.166, 1.014, 4.311, 0, 180, 0, [SEP] 62, Cabinet, -5.196, 0.561, 4.212, 0, 180, 0, [SEP] 63, Sofa, -0.705, -0.002, 2.753, 0, 270, 0, [SEP] 64, NorthWall, , , , , , , [SEP] 65, SouthWall, , , , , , , [SEP] 66, SouthWall, , , , , , , ", "output": ["STEP 1: Turn around and face the shelf behind you. | STEP 2: Pick up the statue from the top shelf. | STEP 3: Turn around and walk in front of the couch to the lamp. | STEP 4: Turn on the lamp. | END"]} +{"id": "trial_T20190908_041333_727215-2", "input": "Look at the statue in lamp light. 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, 270, 0, [SEP] 1, TissueBox, -3.638, 0.205, 4.331, 0, 90, 0, 57 [SEP] 2, Newspaper, -3.052, 0.205, 4.528, 0, 90, 0, 58 [SEP] 3, Newspaper, -1.458, 0.079, 0.262, 0, 0, 0, 48 [SEP] 4, Statue, -0.222, 0.598, 1.193, 0, 270, 0, 43 [SEP] 5, Statue, -5.534, 1.044, 0.372, 0, 0, 0, 41 [SEP] 6, Statue, -1.094, 1.107, 0.192, 0, 0, 0, 45 [SEP] 7, Vase, -3.864, 1.111, 4.786, 0, 90, 0, 59 [SEP] 8, Watch, -4.682, 0.997, 4.290, 0, 90, 0, 60 [SEP] 9, KeyChain, -2.876, 0.996, 4.267, 0, 90, 0, 61 [SEP] 10, KeyChain, -4.505, 1.108, 4.292, 0, 90, 0, 59 [SEP] 11, RemoteControl, -1.117, 0.611, 3.281, 0, 0, 0, 63 [SEP] 12, RemoteControl, -0.787, 0.611, 2.224, 0, 0, 0, 63 [SEP] 13, Laptop, -4.184, 1.105, 4.588, 0, 90, 0, 59 [SEP] 14, Pillow, -0.952, 0.700, 2.753, 0, 0, 0, 63 [SEP] 15, Box, -4.741, 0.425, 4.459, 0, 90, 0, 62 [SEP] 16, Watch, -2.244, 0.034, 0.317, 0, 90, 0, 42 [SEP] 17, Pillow, -2.031, 0.668, 4.421, 0, 0, 0, 53 [SEP] 18, TissueBox, -4.085, 0.201, 4.466, 0, 90, 0, 56 [SEP] 19, Newspaper, -0.787, 0.615, 3.545, 0, 0, 0, 63 [SEP] 20, CreditCard, -0.117, 1.591, 0.823, 0, 270, 0, 46 [SEP] 21, KeyChain, -1.584, 0.590, 4.124, 0, 0, 0, 53 [SEP] 22, CellPhone, -4.826, 1.111, 4.588, 0, 90, 0, 59 [SEP] 23, Statue, -0.192, 1.107, 1.192, 0, 270, 0, 50 [SEP] 24, Laptop, -3.393, 1.104, 4.492, 0, 191.867, 0, 59 [SEP] 25, RemoteControl, -0.221, 1.594, 1.006, 0, 270, 0, 46 [SEP] 26, Vase, -3.570, 0.207, 4.523, 0, 90, 0, 57 [SEP] 27, DeskLamp, -4.649, 1.051, 0.268, 0, 0, 0, [SEP] 28, DeskLamp, -2.992, 1.107, 4.522, 0, 0, 0, [SEP] 29, FloorLamp, -0.650, 0.007, 4.431, 0, 0, 0, [SEP] 30, FloorLamp, -5.607, 0.007, 4.641, 0, 0, 0, [SEP] 31, Shelf, -5.237, 1.776, 0.070, 0, 0, 0, [SEP] 32, Shelf, -5.238, 1.968, 0.085, 0, 0, 0, [SEP] 33, Shelf, -5.242, 1.391, 0.086, 0, 0, 0, [SEP] 34, Shelf, -5.241, 1.582, 0.065, 0, 0, 0, [SEP] 35, LightSwitch, -6.002, 1.353, 3.404, 0, 90, 0, [SEP] 36, GarbageCan, -5.794, -0.033, 4.073, 0, 90, 0, [SEP] 37, Painting, -6.017, 1.802, 4.177, 90, 270, 0, [SEP] 38, HousePlant, -3.966, 1.625, 0.135, 0, 315, 0, [SEP] 39, Television, -3.355, 0.833, 0.027, 0, 0, 0, [SEP] 40, Drawer, -5.024, 0.903, 0.370, 0, 0, 0, [SEP] 41, SideTable, -5.024, 0.008, 0.267, 0, 0, 0, [SEP] 42, Safe, -2.298, 5.778, 0.268, 0, 90, 0, [SEP] 43, Shelf, -0.253, 0.781, 1.058, 0, 270, 0, [SEP] 44, Shelf, -0.283, 0.274, 1.066, 0, 270, 0, [SEP] 45, Shelf, -1.224, 1.288, 0.270, 0, 0, 0, [SEP] 46, Shelf, -1.218, 1.810, 0.275, 0, 0, 0, [SEP] 47, Shelf, -0.280, 1.810, 1.057, 0, 270, 0, [SEP] 48, Shelf, -1.218, 0.274, 0.262, 0, 0, 0, [SEP] 49, Shelf, -1.223, 0.782, 0.237, 0, 0, 0, [SEP] 50, Shelf, -0.280, 1.288, 1.055, 0, 270, 0, [SEP] 51, ShelvingUnit, -0.268, 0.004, 1.067, 0, 270, 0, [SEP] 52, ShelvingUnit, -1.218, 0.004, 0.244, 0, 0, 0, [SEP] 53, ArmChair, -2.027, 0.001, 4.422, 0, 178.692, 0, [SEP] 54, Drawer, -4.329, 1.014, 4.311, 0, 180, 0, [SEP] 55, Drawer, -3.750, 1.014, 4.311, 0, 180, 0, [SEP] 56, Cabinet, -4.049, 0.561, 4.212, 0, 180, 0, [SEP] 57, Cabinet, -4.032, 0.561, 4.212, 0, 180, 0, [SEP] 58, Cabinet, -2.884, 0.561, 4.212, 0, 180, 0, [SEP] 59, Dresser, -4.041, -0.000, 4.589, 0, 180, 0, [SEP] 60, Drawer, -4.916, 1.014, 4.311, 0, 180, 0, [SEP] 61, Drawer, -3.166, 1.014, 4.311, 0, 180, 0, [SEP] 62, Cabinet, -5.196, 0.561, 4.212, 0, 180, 0, [SEP] 63, Sofa, -0.705, -0.002, 2.753, 0, 270, 0, [SEP] 64, NorthWall, , , , , , , [SEP] 65, SouthWall, , , , , , , [SEP] 66, SouthWall, , , , , , , ", "output": ["STEP 1: Turn around, and go forward to the shelves. | STEP 2: Pick up the statue on the top shelf. | STEP 3: Turn around, go straight, turn right, go straight, then turn right to face the lamp. | STEP 4: Turn on the lamp. | END"]} +{"id": "trial_T20190907_194135_468990-0", "input": "Place a pan with a knife in it 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, 0.25, 0.900, 2.5, 0, 270, 0, [SEP] 1, CreditCard, -0.698, 0.930, -1.231, 0, 0, 0, 52 [SEP] 2, CreditCard, 0.793, 0.150, -0.690, 0, 270, 0, 55 [SEP] 3, CellPhone, -1.167, 0.930, 0.144, 0, 0, 0, 52 [SEP] 4, CellPhone, 1.029, 0.908, -0.208, 0, 0, 0, 53 [SEP] 5, ButterKnife, -0.550, 0.920, 0.162, 0, 0, 0, 52 [SEP] 6, ButterKnife, 0.859, 0.911, -0.729, 0, 90, 0, 53 [SEP] 7, Glassbottle, 0.688, 0.912, -0.729, 0, 0, 0, 53 [SEP] 8, Glassbottle, 1.194, 1.667, -2.234, 0, 270, 0, 51 [SEP] 9, Knife, 0.773, 0.934, -1.879, 0, 270, 0, 58 [SEP] 10, Tomato, -0.865, 0.219, 0.543, 0, 180, 0, 72 [SEP] 11, Tomato, 0.965, 1.442, 1.444, 0, 270, 0, 75 [SEP] 12, SoapBottle, -1.007, 0.177, 0.543, 0, 180, 0, 72 [SEP] 13, Bowl, 0.910, 0.111, -2.212, 0, 0, 0, 57 [SEP] 14, Bowl, -0.550, 0.936, -0.067, 0, 0, 0, 52 [SEP] 15, PepperShaker, -1.778, 0.550, 2.874, 0, 0, 0, 78 [SEP] 16, Lettuce, 1.114, 0.988, 0.139, 0, 0, 0, 53 [SEP] 17, Bread, 0.773, 0.992, 0.139, 0, 0, 0, 53 [SEP] 18, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 52 [SEP] 19, Glassbottle, 1.029, 0.912, -0.555, 0, 0, 0, 53 [SEP] 20, Bread, -0.778, 0.996, 0.209, 0, 258.629, 0, 52 [SEP] 21, CreditCard, 1.114, 0.908, -1.793, 0, 0, 0, 58 [SEP] 22, CellPhone, -1.467, 0.550, 2.615, 0, 0, 0, 78 [SEP] 23, Potato, 0.859, 0.941, -0.555, 0, 0, 0, 53 [SEP] 24, Knife, 0.944, 0.934, -0.207, 0, 0, 0, 53 [SEP] 25, Fork, 0.794, 0.703, -0.648, 0, 180, 0, 50 [SEP] 26, Pan, 0.842, 0.950, -1.098, 0, 0, 0, 46 [SEP] 27, Lettuce, 1.026, 0.940, 1.254, 0, 270, 0, 75 [SEP] 28, Plate, 1.102, 1.669, -0.337, 0, 270, 0, 61 [SEP] 29, Apple, 1.114, 0.961, -0.381, 0, 0, 0, 53 [SEP] 30, Pot, -1.221, 0.92, -0.49, 0, 0, 0, 52 [SEP] 31, Spatula, -0.477, 0.948, -1.308, 0, 90, 0, 52 [SEP] 32, PaperTowelRoll, -1.674, 0.658, 2.718, 0, 0, 0, 78 [SEP] 33, Tomato, 1.199, 0.952, -0.729, 0, 0, 0, 53 [SEP] 34, Egg, 0.995, 1.833, -1.132, 0, 270, 0, 74 [SEP] 35, SaltShaker, 0.954, 0.150, -0.729, 0, 270, 0, 55 [SEP] 36, PepperShaker, 0.713, 0.699, -0.524, 0, 270, 0, 50 [SEP] 37, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 78 [SEP] 38, ButterKnife, -1.229, 0.933, -0.905, 0, 0, 0, 52 [SEP] 39, SoapBottle, 0.688, 0.911, -2.051, 0, 0, 0, 58 [SEP] 40, Vase, 1.147, 1.667, 0.025, 0, 270, 0, 60 [SEP] 41, Bowl, 1.026, 1.138, 1.540, 0, 270, 0, 75 [SEP] 42, DishSponge, 0.875, 0.493, -0.690, 0, 270, 0, 56 [SEP] 43, Spoon, 0.944, 0.912, -0.034, 0, 0, 0, 53 [SEP] 44, Cup, 1.087, 1.640, 1.540, 0, 270, 0, 75 [SEP] 45, Mug, 0.905, 1.129, 1.349, 0, 270, 0, 75 [SEP] 46, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 47, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 48, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 49, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 50, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 51, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 52, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 53, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 54, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 55, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 56, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 57, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 58, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 59, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 60, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 61, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 62, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 63, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 64, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 65, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 66, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 67, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 68, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 69, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 70, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 71, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 72, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 73, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 74, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 75, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 76, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 77, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 78, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 79, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 80, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 81, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 82, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 83, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 84, NorthWall, , , , , , , [SEP] 85, EastWall, , , , , , , [SEP] 86, SouthWall, , , , , , , [SEP] 87, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and walk to the counter to the left of the stove. | STEP 2: Pick up the knife behind the glass vase on the counter. | STEP 3: Walk to the pan on the stove. | STEP 4: Place the knife in the pan on the stove. | STEP 5: Pick up the pan on the stove. | STEP 6: Turn around and walk to the sink. | STEP 7: Place the pan in the sink. | END"]} +{"id": "trial_T20190907_194135_468990-1", "input": "Take the knife and plate, put them 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, 2.5, 0, 270, 0, [SEP] 1, CreditCard, -0.698, 0.930, -1.231, 0, 0, 0, 52 [SEP] 2, CreditCard, 0.793, 0.150, -0.690, 0, 270, 0, 55 [SEP] 3, CellPhone, -1.167, 0.930, 0.144, 0, 0, 0, 52 [SEP] 4, CellPhone, 1.029, 0.908, -0.208, 0, 0, 0, 53 [SEP] 5, ButterKnife, -0.550, 0.920, 0.162, 0, 0, 0, 52 [SEP] 6, ButterKnife, 0.859, 0.911, -0.729, 0, 90, 0, 53 [SEP] 7, Glassbottle, 0.688, 0.912, -0.729, 0, 0, 0, 53 [SEP] 8, Glassbottle, 1.194, 1.667, -2.234, 0, 270, 0, 51 [SEP] 9, Knife, 0.773, 0.934, -1.879, 0, 270, 0, 58 [SEP] 10, Tomato, -0.865, 0.219, 0.543, 0, 180, 0, 72 [SEP] 11, Tomato, 0.965, 1.442, 1.444, 0, 270, 0, 75 [SEP] 12, SoapBottle, -1.007, 0.177, 0.543, 0, 180, 0, 72 [SEP] 13, Bowl, 0.910, 0.111, -2.212, 0, 0, 0, 57 [SEP] 14, Bowl, -0.550, 0.936, -0.067, 0, 0, 0, 52 [SEP] 15, PepperShaker, -1.778, 0.550, 2.874, 0, 0, 0, 78 [SEP] 16, Lettuce, 1.114, 0.988, 0.139, 0, 0, 0, 53 [SEP] 17, Bread, 0.773, 0.992, 0.139, 0, 0, 0, 53 [SEP] 18, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 52 [SEP] 19, Glassbottle, 1.029, 0.912, -0.555, 0, 0, 0, 53 [SEP] 20, Bread, -0.778, 0.996, 0.209, 0, 258.629, 0, 52 [SEP] 21, CreditCard, 1.114, 0.908, -1.793, 0, 0, 0, 58 [SEP] 22, CellPhone, -1.467, 0.550, 2.615, 0, 0, 0, 78 [SEP] 23, Potato, 0.859, 0.941, -0.555, 0, 0, 0, 53 [SEP] 24, Knife, 0.944, 0.934, -0.207, 0, 0, 0, 53 [SEP] 25, Fork, 0.794, 0.703, -0.648, 0, 180, 0, 50 [SEP] 26, Pan, 0.842, 0.950, -1.098, 0, 0, 0, 46 [SEP] 27, Lettuce, 1.026, 0.940, 1.254, 0, 270, 0, 75 [SEP] 28, Plate, 1.102, 1.669, -0.337, 0, 270, 0, 61 [SEP] 29, Apple, 1.114, 0.961, -0.381, 0, 0, 0, 53 [SEP] 30, Pot, -1.221, 0.92, -0.49, 0, 0, 0, 52 [SEP] 31, Spatula, -0.477, 0.948, -1.308, 0, 90, 0, 52 [SEP] 32, PaperTowelRoll, -1.674, 0.658, 2.718, 0, 0, 0, 78 [SEP] 33, Tomato, 1.199, 0.952, -0.729, 0, 0, 0, 53 [SEP] 34, Egg, 0.995, 1.833, -1.132, 0, 270, 0, 74 [SEP] 35, SaltShaker, 0.954, 0.150, -0.729, 0, 270, 0, 55 [SEP] 36, PepperShaker, 0.713, 0.699, -0.524, 0, 270, 0, 50 [SEP] 37, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 78 [SEP] 38, ButterKnife, -1.229, 0.933, -0.905, 0, 0, 0, 52 [SEP] 39, SoapBottle, 0.688, 0.911, -2.051, 0, 0, 0, 58 [SEP] 40, Vase, 1.147, 1.667, 0.025, 0, 270, 0, 60 [SEP] 41, Bowl, 1.026, 1.138, 1.540, 0, 270, 0, 75 [SEP] 42, DishSponge, 0.875, 0.493, -0.690, 0, 270, 0, 56 [SEP] 43, Spoon, 0.944, 0.912, -0.034, 0, 0, 0, 53 [SEP] 44, Cup, 1.087, 1.640, 1.540, 0, 270, 0, 75 [SEP] 45, Mug, 0.905, 1.129, 1.349, 0, 270, 0, 75 [SEP] 46, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 47, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 48, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 49, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 50, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 51, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 52, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 53, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 54, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 55, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 56, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 57, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 58, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 59, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 60, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 61, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 62, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 63, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 64, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 65, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 66, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 67, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 68, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 69, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 70, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 71, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 72, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 73, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 74, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 75, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 76, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 77, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 78, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 79, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 80, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 81, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 82, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 83, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 84, NorthWall, , , , , , , [SEP] 85, EastWall, , , , , , , [SEP] 86, SouthWall, , , , , , , [SEP] 87, WestWall, , , , , , , ", "output": ["STEP 1: Turn to the left, head to the stove | STEP 2: Take the knife from the counter | STEP 3: Take a couple steps to the right, face the stove | STEP 4: Put the knife on the plate on the stove | STEP 5: take the plate with knife | STEP 6: Turn around, head to the sink | STEP 7: put the plate with knife in the sink | END"]} +{"id": "trial_T20190907_194135_468990-2", "input": "Drop a frying pan with a knife in it 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, 0.25, 0.900, 2.5, 0, 270, 0, [SEP] 1, CreditCard, -0.698, 0.930, -1.231, 0, 0, 0, 52 [SEP] 2, CreditCard, 0.793, 0.150, -0.690, 0, 270, 0, 55 [SEP] 3, CellPhone, -1.167, 0.930, 0.144, 0, 0, 0, 52 [SEP] 4, CellPhone, 1.029, 0.908, -0.208, 0, 0, 0, 53 [SEP] 5, ButterKnife, -0.550, 0.920, 0.162, 0, 0, 0, 52 [SEP] 6, ButterKnife, 0.859, 0.911, -0.729, 0, 90, 0, 53 [SEP] 7, Glassbottle, 0.688, 0.912, -0.729, 0, 0, 0, 53 [SEP] 8, Glassbottle, 1.194, 1.667, -2.234, 0, 270, 0, 51 [SEP] 9, Knife, 0.773, 0.934, -1.879, 0, 270, 0, 58 [SEP] 10, Tomato, -0.865, 0.219, 0.543, 0, 180, 0, 72 [SEP] 11, Tomato, 0.965, 1.442, 1.444, 0, 270, 0, 75 [SEP] 12, SoapBottle, -1.007, 0.177, 0.543, 0, 180, 0, 72 [SEP] 13, Bowl, 0.910, 0.111, -2.212, 0, 0, 0, 57 [SEP] 14, Bowl, -0.550, 0.936, -0.067, 0, 0, 0, 52 [SEP] 15, PepperShaker, -1.778, 0.550, 2.874, 0, 0, 0, 78 [SEP] 16, Lettuce, 1.114, 0.988, 0.139, 0, 0, 0, 53 [SEP] 17, Bread, 0.773, 0.992, 0.139, 0, 0, 0, 53 [SEP] 18, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 52 [SEP] 19, Glassbottle, 1.029, 0.912, -0.555, 0, 0, 0, 53 [SEP] 20, Bread, -0.778, 0.996, 0.209, 0, 258.629, 0, 52 [SEP] 21, CreditCard, 1.114, 0.908, -1.793, 0, 0, 0, 58 [SEP] 22, CellPhone, -1.467, 0.550, 2.615, 0, 0, 0, 78 [SEP] 23, Potato, 0.859, 0.941, -0.555, 0, 0, 0, 53 [SEP] 24, Knife, 0.944, 0.934, -0.207, 0, 0, 0, 53 [SEP] 25, Fork, 0.794, 0.703, -0.648, 0, 180, 0, 50 [SEP] 26, Pan, 0.842, 0.950, -1.098, 0, 0, 0, 46 [SEP] 27, Lettuce, 1.026, 0.940, 1.254, 0, 270, 0, 75 [SEP] 28, Plate, 1.102, 1.669, -0.337, 0, 270, 0, 61 [SEP] 29, Apple, 1.114, 0.961, -0.381, 0, 0, 0, 53 [SEP] 30, Pot, -1.221, 0.92, -0.49, 0, 0, 0, 52 [SEP] 31, Spatula, -0.477, 0.948, -1.308, 0, 90, 0, 52 [SEP] 32, PaperTowelRoll, -1.674, 0.658, 2.718, 0, 0, 0, 78 [SEP] 33, Tomato, 1.199, 0.952, -0.729, 0, 0, 0, 53 [SEP] 34, Egg, 0.995, 1.833, -1.132, 0, 270, 0, 74 [SEP] 35, SaltShaker, 0.954, 0.150, -0.729, 0, 270, 0, 55 [SEP] 36, PepperShaker, 0.713, 0.699, -0.524, 0, 270, 0, 50 [SEP] 37, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 78 [SEP] 38, ButterKnife, -1.229, 0.933, -0.905, 0, 0, 0, 52 [SEP] 39, SoapBottle, 0.688, 0.911, -2.051, 0, 0, 0, 58 [SEP] 40, Vase, 1.147, 1.667, 0.025, 0, 270, 0, 60 [SEP] 41, Bowl, 1.026, 1.138, 1.540, 0, 270, 0, 75 [SEP] 42, DishSponge, 0.875, 0.493, -0.690, 0, 270, 0, 56 [SEP] 43, Spoon, 0.944, 0.912, -0.034, 0, 0, 0, 53 [SEP] 44, Cup, 1.087, 1.640, 1.540, 0, 270, 0, 75 [SEP] 45, Mug, 0.905, 1.129, 1.349, 0, 270, 0, 75 [SEP] 46, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 47, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 48, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 49, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 50, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 51, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 52, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 53, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 54, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 55, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 56, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 57, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 58, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 59, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 60, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 61, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 62, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 63, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 64, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 65, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 66, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 67, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 68, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 69, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 70, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 71, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 72, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 73, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 74, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 75, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 76, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 77, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 78, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 79, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 80, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 81, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 82, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 83, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 84, NorthWall, , , , , , , [SEP] 85, EastWall, , , , , , , [SEP] 86, SouthWall, , , , , , , [SEP] 87, WestWall, , , , , , , ", "output": ["STEP 1: Turn left into the kitchen and then turn to your left to face the kitchen counter on the left of the stove | STEP 2: Pick up a knife off of the kitchen counter | STEP 3: Move a step to your right and face the stove | STEP 4: Drop the knife in to the frying pan | STEP 5: Pick up the frying pan with the knife in it | STEP 6: Turn right around and face the sink | STEP 7: Drop the frying pan in to the sink | END"]} +{"id": "trial_T20190909_123732_489327-0", "input": "To heat a potato slice 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, -1.0, 0.900, -2.0, 0, 0, 0, [SEP] 1, Pan, -0.698, 0.931, -1.308, 0, 0, 0, 55 [SEP] 2, Statue, -1.167, 0.936, -0.118, 0, 0, 0, 55 [SEP] 3, Potato, 0.966, 1.673, 1.444, 0, 270, 0, 78 [SEP] 4, Potato, 0.844, 0.893, 1.063, 0, 270, 0, 78 [SEP] 5, Potato, -0.865, 0.207, 0.510, 0, 0, 0, 75 [SEP] 6, CreditCard, -1.292, 0.930, -0.905, 0, 0, 0, 55 [SEP] 7, CellPhone, 0.944, 0.908, -0.555, 0, 0, 0, 56 [SEP] 8, DishSponge, 0.811, 0.107, -2.052, 0, 0, 0, 60 [SEP] 9, Fork, -0.642, 0.781, -0.745, 0, 0, 0, 76 [SEP] 10, Spatula, 0.834, 0.509, -0.731, 0, 90, 0, 59 [SEP] 11, Egg, 1.093, 1.833, -1.132, 0, 270, 0, 77 [SEP] 12, Egg, -0.753, 0.818, -0.918, 0, 90, 0, 76 [SEP] 13, Cup, 1.056, 1.663, -0.273, 0, 270, 0, 64 [SEP] 14, Plate, 0.905, 1.405, 1.444, 0, 270, 0, 78 [SEP] 15, Tomato, -0.960, 0.217, 0.608, 0, 180, 0, 75 [SEP] 16, Tomato, 0.688, 0.952, 0.313, 0, 0, 0, 56 [SEP] 17, SaltShaker, 0.794, 0.699, -0.565, 0, 270, 0, 53 [SEP] 18, PepperShaker, 0.944, 0.907, -1.793, 0, 0, 0, 61 [SEP] 19, PepperShaker, -1.418, 0.929, -0.905, 0, 0, 0, 55 [SEP] 20, Mug, 0.773, 0.906, -1.965, 0, 0, 0, 61 [SEP] 21, Statue, -1.355, 0.936, 0.144, 0, 0, 0, 55 [SEP] 22, Glassbottle, 0.944, 0.912, -0.034, 0, 0, 0, 56 [SEP] 23, Bread, 1.114, 0.992, 0.139, 0, 0, 0, 56 [SEP] 24, CreditCard, -1.981, 0.878, 2.692, 0, 0, 0, 82 [SEP] 25, CellPhone, 1.199, 0.908, -1.879, 0, 0, 0, 61 [SEP] 26, Potato, -0.960, 0.207, 0.510, 0, 90, 0, 75 [SEP] 27, Knife, -1.418, 0.957, -0.118, 0, 270, 0, 55 [SEP] 28, Fork, 0.793, 0.154, -0.531, 0, 180, 0, 58 [SEP] 29, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 49 [SEP] 30, Lettuce, 0.688, 0.988, 0.139, 0, 0, 0, 56 [SEP] 31, Plate, 1.082, 2.211, -0.973, 0, 270, 0, 62 [SEP] 32, Apple, 0.688, 0.961, -2.136, 0, 0, 0, 61 [SEP] 33, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 51 [SEP] 34, Spatula, 0.915, 0.510, -0.524, 0, 0, 0, 59 [SEP] 35, PaperTowelRoll, -1.367, 0.986, 2.719, 0, 0, 0, 82 [SEP] 36, Tomato, -1.104, 0.974, -1.430, 0, 0, 0, 55 [SEP] 37, Egg, -1.101, 0.214, 0.576, 0, 180, 0, 75 [SEP] 38, SaltShaker, -1.571, 0.878, 2.692, 0, 0, 0, 82 [SEP] 39, PepperShaker, 1.055, 1.662, -1.961, 0, 270, 0, 54 [SEP] 40, Vase, 1.194, 1.666, -1.961, 0, 270, 0, 54 [SEP] 41, ButterKnife, -1.229, 0.933, -0.643, 0, 0, 0, 55 [SEP] 42, SoapBottle, 1.114, 0.911, -0.208, 0, 0, 0, 56 [SEP] 43, Vase, -0.846, 0.934, -1.540, 0, 0, 0, 55 [SEP] 44, Bowl, 1.126, 2.211, -1.299, 0, 270, 0, 62 [SEP] 45, DishSponge, 0.915, 0.493, -0.690, 0, 270, 0, 59 [SEP] 46, Spoon, 0.859, 0.912, -0.555, 0, 0, 0, 56 [SEP] 47, Cup, -0.808, 0.773, -0.832, 0, 90, 0, 76 [SEP] 48, Mug, -0.808, 0.775, -0.659, 0, 180, 0, 76 [SEP] 49, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 50, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 51, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 52, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 53, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 54, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 55, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 56, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 57, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 58, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 59, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 60, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 61, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 62, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 63, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 64, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 65, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 66, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 67, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 68, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 69, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 70, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 71, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 72, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 73, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 74, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 75, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 76, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 77, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 78, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 79, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 80, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 81, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 82, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 83, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 84, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 85, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 86, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 87, NorthWall, , , , , , , [SEP] 88, EastWall, , , , , , , [SEP] 89, SouthWall, , , , , , , [SEP] 90, WestWall, , , , , , , ", "output": ["STEP 1: Walk around the center table to the left and turn right to face the knife on the table. | STEP 2: Pick up the knife on the table. | STEP 3: Turn left and walk forward and turn around to the right to face the trash can. | STEP 4: Cut the potato in the trash can into slices. | STEP 5: Place the knife in the trash can. | STEP 6: Pick up a slice of potato in the trash can. | STEP 7: Turn left and walk to the right around the table and turn left to face the microwave. | STEP 8: Heat the potato slice in the microwave and remove it. | STEP 9: Turn left and step forward and turn right to face the fridge. | STEP 10: Place the potato slice in the fridge. | END"]} +{"id": "trial_T20190909_123732_489327-1", "input": "Put a cooked slice of 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, -1.0, 0.900, -2.0, 0, 0, 0, [SEP] 1, Pan, -0.698, 0.931, -1.308, 0, 0, 0, 55 [SEP] 2, Statue, -1.167, 0.936, -0.118, 0, 0, 0, 55 [SEP] 3, Potato, 0.966, 1.673, 1.444, 0, 270, 0, 78 [SEP] 4, Potato, 0.844, 0.893, 1.063, 0, 270, 0, 78 [SEP] 5, Potato, -0.865, 0.207, 0.510, 0, 0, 0, 75 [SEP] 6, CreditCard, -1.292, 0.930, -0.905, 0, 0, 0, 55 [SEP] 7, CellPhone, 0.944, 0.908, -0.555, 0, 0, 0, 56 [SEP] 8, DishSponge, 0.811, 0.107, -2.052, 0, 0, 0, 60 [SEP] 9, Fork, -0.642, 0.781, -0.745, 0, 0, 0, 76 [SEP] 10, Spatula, 0.834, 0.509, -0.731, 0, 90, 0, 59 [SEP] 11, Egg, 1.093, 1.833, -1.132, 0, 270, 0, 77 [SEP] 12, Egg, -0.753, 0.818, -0.918, 0, 90, 0, 76 [SEP] 13, Cup, 1.056, 1.663, -0.273, 0, 270, 0, 64 [SEP] 14, Plate, 0.905, 1.405, 1.444, 0, 270, 0, 78 [SEP] 15, Tomato, -0.960, 0.217, 0.608, 0, 180, 0, 75 [SEP] 16, Tomato, 0.688, 0.952, 0.313, 0, 0, 0, 56 [SEP] 17, SaltShaker, 0.794, 0.699, -0.565, 0, 270, 0, 53 [SEP] 18, PepperShaker, 0.944, 0.907, -1.793, 0, 0, 0, 61 [SEP] 19, PepperShaker, -1.418, 0.929, -0.905, 0, 0, 0, 55 [SEP] 20, Mug, 0.773, 0.906, -1.965, 0, 0, 0, 61 [SEP] 21, Statue, -1.355, 0.936, 0.144, 0, 0, 0, 55 [SEP] 22, Glassbottle, 0.944, 0.912, -0.034, 0, 0, 0, 56 [SEP] 23, Bread, 1.114, 0.992, 0.139, 0, 0, 0, 56 [SEP] 24, CreditCard, -1.981, 0.878, 2.692, 0, 0, 0, 82 [SEP] 25, CellPhone, 1.199, 0.908, -1.879, 0, 0, 0, 61 [SEP] 26, Potato, -0.960, 0.207, 0.510, 0, 90, 0, 75 [SEP] 27, Knife, -1.418, 0.957, -0.118, 0, 270, 0, 55 [SEP] 28, Fork, 0.793, 0.154, -0.531, 0, 180, 0, 58 [SEP] 29, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 49 [SEP] 30, Lettuce, 0.688, 0.988, 0.139, 0, 0, 0, 56 [SEP] 31, Plate, 1.082, 2.211, -0.973, 0, 270, 0, 62 [SEP] 32, Apple, 0.688, 0.961, -2.136, 0, 0, 0, 61 [SEP] 33, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 51 [SEP] 34, Spatula, 0.915, 0.510, -0.524, 0, 0, 0, 59 [SEP] 35, PaperTowelRoll, -1.367, 0.986, 2.719, 0, 0, 0, 82 [SEP] 36, Tomato, -1.104, 0.974, -1.430, 0, 0, 0, 55 [SEP] 37, Egg, -1.101, 0.214, 0.576, 0, 180, 0, 75 [SEP] 38, SaltShaker, -1.571, 0.878, 2.692, 0, 0, 0, 82 [SEP] 39, PepperShaker, 1.055, 1.662, -1.961, 0, 270, 0, 54 [SEP] 40, Vase, 1.194, 1.666, -1.961, 0, 270, 0, 54 [SEP] 41, ButterKnife, -1.229, 0.933, -0.643, 0, 0, 0, 55 [SEP] 42, SoapBottle, 1.114, 0.911, -0.208, 0, 0, 0, 56 [SEP] 43, Vase, -0.846, 0.934, -1.540, 0, 0, 0, 55 [SEP] 44, Bowl, 1.126, 2.211, -1.299, 0, 270, 0, 62 [SEP] 45, DishSponge, 0.915, 0.493, -0.690, 0, 270, 0, 59 [SEP] 46, Spoon, 0.859, 0.912, -0.555, 0, 0, 0, 56 [SEP] 47, Cup, -0.808, 0.773, -0.832, 0, 90, 0, 76 [SEP] 48, Mug, -0.808, 0.775, -0.659, 0, 180, 0, 76 [SEP] 49, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 50, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 51, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 52, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 53, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 54, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 55, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 56, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 57, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 58, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 59, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 60, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 61, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 62, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 63, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 64, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 65, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 66, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 67, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 68, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 69, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 70, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 71, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 72, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 73, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 74, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 75, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 76, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 77, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 78, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 79, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 80, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 81, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 82, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 83, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 84, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 85, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 86, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 87, NorthWall, , , , , , , [SEP] 88, EastWall, , , , , , , [SEP] 89, SouthWall, , , , , , , [SEP] 90, WestWall, , , , , , , ", "output": ["STEP 1: Go left and around the counter to the back of the sink. | STEP 2: Pick up the knife on the counter. | STEP 3: Go to the end of the counter and face the trash can. | STEP 4: Cut the potato in the trash can. | STEP 5: Put the knife in the trash can. | STEP 6: Pick up a slice of potato from the trash can. | STEP 7: Turn left and go to the stove. | STEP 8: Cook the slice of potato in the microwave above the stove and pick it back up. | STEP 9: Turn left and go to the fridge. | STEP 10: Put the slice of potato to the left of the potato on the shelf in the fridge. | END"]} +{"id": "trial_T20190909_123732_489327-2", "input": "Put a slice of heated 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, -1.0, 0.900, -2.0, 0, 0, 0, [SEP] 1, Pan, -0.698, 0.931, -1.308, 0, 0, 0, 55 [SEP] 2, Statue, -1.167, 0.936, -0.118, 0, 0, 0, 55 [SEP] 3, Potato, 0.966, 1.673, 1.444, 0, 270, 0, 78 [SEP] 4, Potato, 0.844, 0.893, 1.063, 0, 270, 0, 78 [SEP] 5, Potato, -0.865, 0.207, 0.510, 0, 0, 0, 75 [SEP] 6, CreditCard, -1.292, 0.930, -0.905, 0, 0, 0, 55 [SEP] 7, CellPhone, 0.944, 0.908, -0.555, 0, 0, 0, 56 [SEP] 8, DishSponge, 0.811, 0.107, -2.052, 0, 0, 0, 60 [SEP] 9, Fork, -0.642, 0.781, -0.745, 0, 0, 0, 76 [SEP] 10, Spatula, 0.834, 0.509, -0.731, 0, 90, 0, 59 [SEP] 11, Egg, 1.093, 1.833, -1.132, 0, 270, 0, 77 [SEP] 12, Egg, -0.753, 0.818, -0.918, 0, 90, 0, 76 [SEP] 13, Cup, 1.056, 1.663, -0.273, 0, 270, 0, 64 [SEP] 14, Plate, 0.905, 1.405, 1.444, 0, 270, 0, 78 [SEP] 15, Tomato, -0.960, 0.217, 0.608, 0, 180, 0, 75 [SEP] 16, Tomato, 0.688, 0.952, 0.313, 0, 0, 0, 56 [SEP] 17, SaltShaker, 0.794, 0.699, -0.565, 0, 270, 0, 53 [SEP] 18, PepperShaker, 0.944, 0.907, -1.793, 0, 0, 0, 61 [SEP] 19, PepperShaker, -1.418, 0.929, -0.905, 0, 0, 0, 55 [SEP] 20, Mug, 0.773, 0.906, -1.965, 0, 0, 0, 61 [SEP] 21, Statue, -1.355, 0.936, 0.144, 0, 0, 0, 55 [SEP] 22, Glassbottle, 0.944, 0.912, -0.034, 0, 0, 0, 56 [SEP] 23, Bread, 1.114, 0.992, 0.139, 0, 0, 0, 56 [SEP] 24, CreditCard, -1.981, 0.878, 2.692, 0, 0, 0, 82 [SEP] 25, CellPhone, 1.199, 0.908, -1.879, 0, 0, 0, 61 [SEP] 26, Potato, -0.960, 0.207, 0.510, 0, 90, 0, 75 [SEP] 27, Knife, -1.418, 0.957, -0.118, 0, 270, 0, 55 [SEP] 28, Fork, 0.793, 0.154, -0.531, 0, 180, 0, 58 [SEP] 29, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 49 [SEP] 30, Lettuce, 0.688, 0.988, 0.139, 0, 0, 0, 56 [SEP] 31, Plate, 1.082, 2.211, -0.973, 0, 270, 0, 62 [SEP] 32, Apple, 0.688, 0.961, -2.136, 0, 0, 0, 61 [SEP] 33, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 51 [SEP] 34, Spatula, 0.915, 0.510, -0.524, 0, 0, 0, 59 [SEP] 35, PaperTowelRoll, -1.367, 0.986, 2.719, 0, 0, 0, 82 [SEP] 36, Tomato, -1.104, 0.974, -1.430, 0, 0, 0, 55 [SEP] 37, Egg, -1.101, 0.214, 0.576, 0, 180, 0, 75 [SEP] 38, SaltShaker, -1.571, 0.878, 2.692, 0, 0, 0, 82 [SEP] 39, PepperShaker, 1.055, 1.662, -1.961, 0, 270, 0, 54 [SEP] 40, Vase, 1.194, 1.666, -1.961, 0, 270, 0, 54 [SEP] 41, ButterKnife, -1.229, 0.933, -0.643, 0, 0, 0, 55 [SEP] 42, SoapBottle, 1.114, 0.911, -0.208, 0, 0, 0, 56 [SEP] 43, Vase, -0.846, 0.934, -1.540, 0, 0, 0, 55 [SEP] 44, Bowl, 1.126, 2.211, -1.299, 0, 270, 0, 62 [SEP] 45, DishSponge, 0.915, 0.493, -0.690, 0, 270, 0, 59 [SEP] 46, Spoon, 0.859, 0.912, -0.555, 0, 0, 0, 56 [SEP] 47, Cup, -0.808, 0.773, -0.832, 0, 90, 0, 76 [SEP] 48, Mug, -0.808, 0.775, -0.659, 0, 180, 0, 76 [SEP] 49, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 50, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 51, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 52, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 53, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 54, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 55, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 56, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 57, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 58, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 59, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 60, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 61, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 62, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 63, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 64, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 65, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 66, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 67, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 68, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 69, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 70, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 71, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 72, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 73, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 74, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 75, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 76, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 77, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 78, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 79, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 80, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 81, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 82, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 83, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 84, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 85, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 86, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 87, NorthWall, , , , , , , [SEP] 88, EastWall, , , , , , , [SEP] 89, SouthWall, , , , , , , [SEP] 90, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and go to the side of the island without the sink. | STEP 2: Pick up the gray knife from the table. | STEP 3: Turn left and go to the black trash can on the floor at the end of the island. | STEP 4: Slice the potato on the right in the trash can. | STEP 5: Place the knife in the trash can. | STEP 6: Take out one slice of potato from the trash can. | STEP 7: Turn left and go around the island to the microwave above the stove. | STEP 8: Heat the potato slice in the microwave and take it out. | STEP 9: Turn left and go to the refrigerator on the right. | STEP 10: Place the potato slice in the refrigerator. | END"]} +{"id": "trial_T20190908_041411_333458-0", "input": "Examine a black statue in 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, -3.75, 0.901, 3.25, 0, 180, 0, [SEP] 1, TissueBox, -4.085, 0.201, 4.342, 0, 90, 0, 55 [SEP] 2, TissueBox, -4.291, 0.201, 4.589, 0, 90, 0, 55 [SEP] 3, CellPhone, -1.117, 0.609, 2.224, 0, 0, 0, 62 [SEP] 4, CellPhone, -4.505, 1.111, 4.786, 0, 90, 0, 58 [SEP] 5, Statue, -4.505, 1.117, 4.391, 0, 90, 0, 58 [SEP] 6, Statue, -0.265, 1.107, 1.100, 0, 270, 0, 49 [SEP] 7, Statue, -5.534, 1.044, 0.173, 0, 0, 0, 40 [SEP] 8, Watch, -5.364, 1.039, 0.438, 0, 0, 0, 40 [SEP] 9, Watch, -3.512, 0.997, 4.313, 0, 90, 0, 54 [SEP] 10, KeyChain, -5.534, 1.039, 0.372, 0, 0, 0, 40 [SEP] 11, KeyChain, -4.826, 1.112, 4.588, 0, 180, 0, 58 [SEP] 12, CreditCard, -0.258, 0.592, 1.284, 0, 270, 0, 42 [SEP] 13, CreditCard, -1.097, 1.591, 0.273, 0, 0, 0, 45 [SEP] 14, Box, -3.570, 0.425, 4.459, 0, 90, 0, 56 [SEP] 15, Watch, -2.458, 0.034, 0.421, 0, 90, 0, 41 [SEP] 16, Pillow, -2.031, 0.668, 4.421, 0, 0, 0, 52 [SEP] 17, TissueBox, -3.863, 1.112, 4.589, 0, 90, 0, 58 [SEP] 18, Newspaper, -4.184, 1.114, 4.786, 0, 90, 0, 58 [SEP] 19, CreditCard, -4.329, 0.997, 4.267, 0, 90, 0, 53 [SEP] 20, KeyChain, -1.459, 0.592, 4.124, 0, 0, 0, 52 [SEP] 21, CellPhone, -1.280, 1.592, 0.169, 0, 0, 0, 45 [SEP] 22, Statue, -4.184, 1.117, 4.490, 0, 90, 0, 58 [SEP] 23, Laptop, -3.393, 1.104, 4.492, 0, 191.867, 0, 58 [SEP] 24, RemoteControl, -3.222, 1.110, 4.885, 0, 90, 0, 58 [SEP] 25, Vase, -2.191, 0.037, 0.369, 0, 90, 0, 41 [SEP] 26, DeskLamp, -4.649, 1.051, 0.268, 0, 0, 0, [SEP] 27, DeskLamp, -2.992, 1.107, 4.522, 0, 0, 0, [SEP] 28, FloorLamp, -0.650, 0.007, 4.431, 0, 0, 0, [SEP] 29, FloorLamp, -5.607, 0.007, 4.641, 0, 0, 0, [SEP] 30, Shelf, -5.237, 1.776, 0.070, 0, 0, 0, [SEP] 31, Shelf, -5.238, 1.968, 0.085, 0, 0, 0, [SEP] 32, Shelf, -5.242, 1.391, 0.086, 0, 0, 0, [SEP] 33, Shelf, -5.241, 1.582, 0.065, 0, 0, 0, [SEP] 34, LightSwitch, -6.002, 1.353, 3.404, 0, 90, 0, [SEP] 35, GarbageCan, -5.794, -0.033, 4.073, 0, 90, 0, [SEP] 36, Painting, -6.017, 1.802, 4.177, 90, 270, 0, [SEP] 37, HousePlant, -3.966, 1.625, 0.135, 0, 315, 0, [SEP] 38, Television, -3.355, 0.833, 0.027, 0, 0, 0, [SEP] 39, Drawer, -5.024, 0.903, 0.370, 0, 0, 0, [SEP] 40, SideTable, -5.024, 0.008, 0.267, 0, 0, 0, [SEP] 41, Safe, -2.298, 5.778, 0.268, 0, 90, 0, [SEP] 42, Shelf, -0.253, 0.781, 1.058, 0, 270, 0, [SEP] 43, Shelf, -0.283, 0.274, 1.066, 0, 270, 0, [SEP] 44, Shelf, -1.224, 1.288, 0.270, 0, 0, 0, [SEP] 45, Shelf, -1.218, 1.810, 0.275, 0, 0, 0, [SEP] 46, Shelf, -0.280, 1.810, 1.057, 0, 270, 0, [SEP] 47, Shelf, -1.218, 0.274, 0.262, 0, 0, 0, [SEP] 48, Shelf, -1.223, 0.782, 0.237, 0, 0, 0, [SEP] 49, Shelf, -0.280, 1.288, 1.055, 0, 270, 0, [SEP] 50, ShelvingUnit, -0.268, 0.004, 1.067, 0, 270, 0, [SEP] 51, ShelvingUnit, -1.218, 0.004, 0.244, 0, 0, 0, [SEP] 52, ArmChair, -2.027, 0.001, 4.422, 0, 178.692, 0, [SEP] 53, Drawer, -4.329, 1.014, 4.311, 0, 180, 0, [SEP] 54, Drawer, -3.750, 1.014, 4.311, 0, 180, 0, [SEP] 55, Cabinet, -4.049, 0.561, 4.212, 0, 180, 0, [SEP] 56, Cabinet, -4.032, 0.561, 4.212, 0, 180, 0, [SEP] 57, Cabinet, -2.884, 0.561, 4.212, 0, 180, 0, [SEP] 58, Dresser, -4.041, -0.000, 4.589, 0, 180, 0, [SEP] 59, Drawer, -4.916, 1.014, 4.311, 0, 180, 0, [SEP] 60, Drawer, -3.166, 1.014, 4.311, 0, 180, 0, [SEP] 61, Cabinet, -5.196, 0.561, 4.212, 0, 180, 0, [SEP] 62, Sofa, -0.705, -0.002, 2.753, 0, 270, 0, [SEP] 63, NorthWall, , , , , , , [SEP] 64, SouthWall, , , , , , , [SEP] 65, SouthWall, , , , , , , ", "output": ["STEP 1: Turn right and walk towards the door, then hang a right and walk up to the wooden dresser. | STEP 2: Pick up the leftmost black statue off of the wooden dresser. | STEP 3: Turn left and walk over to the lamp that is to the left of the wooden dresser. | STEP 4: Turn on the light of the lamp. | END"]} +{"id": "trial_T20190908_041411_333458-1", "input": "Take a statue from the dresser to the lamp then examine it up to the light SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.75, 0.901, 3.25, 0, 180, 0, [SEP] 1, TissueBox, -4.085, 0.201, 4.342, 0, 90, 0, 55 [SEP] 2, TissueBox, -4.291, 0.201, 4.589, 0, 90, 0, 55 [SEP] 3, CellPhone, -1.117, 0.609, 2.224, 0, 0, 0, 62 [SEP] 4, CellPhone, -4.505, 1.111, 4.786, 0, 90, 0, 58 [SEP] 5, Statue, -4.505, 1.117, 4.391, 0, 90, 0, 58 [SEP] 6, Statue, -0.265, 1.107, 1.100, 0, 270, 0, 49 [SEP] 7, Statue, -5.534, 1.044, 0.173, 0, 0, 0, 40 [SEP] 8, Watch, -5.364, 1.039, 0.438, 0, 0, 0, 40 [SEP] 9, Watch, -3.512, 0.997, 4.313, 0, 90, 0, 54 [SEP] 10, KeyChain, -5.534, 1.039, 0.372, 0, 0, 0, 40 [SEP] 11, KeyChain, -4.826, 1.112, 4.588, 0, 180, 0, 58 [SEP] 12, CreditCard, -0.258, 0.592, 1.284, 0, 270, 0, 42 [SEP] 13, CreditCard, -1.097, 1.591, 0.273, 0, 0, 0, 45 [SEP] 14, Box, -3.570, 0.425, 4.459, 0, 90, 0, 56 [SEP] 15, Watch, -2.458, 0.034, 0.421, 0, 90, 0, 41 [SEP] 16, Pillow, -2.031, 0.668, 4.421, 0, 0, 0, 52 [SEP] 17, TissueBox, -3.863, 1.112, 4.589, 0, 90, 0, 58 [SEP] 18, Newspaper, -4.184, 1.114, 4.786, 0, 90, 0, 58 [SEP] 19, CreditCard, -4.329, 0.997, 4.267, 0, 90, 0, 53 [SEP] 20, KeyChain, -1.459, 0.592, 4.124, 0, 0, 0, 52 [SEP] 21, CellPhone, -1.280, 1.592, 0.169, 0, 0, 0, 45 [SEP] 22, Statue, -4.184, 1.117, 4.490, 0, 90, 0, 58 [SEP] 23, Laptop, -3.393, 1.104, 4.492, 0, 191.867, 0, 58 [SEP] 24, RemoteControl, -3.222, 1.110, 4.885, 0, 90, 0, 58 [SEP] 25, Vase, -2.191, 0.037, 0.369, 0, 90, 0, 41 [SEP] 26, DeskLamp, -4.649, 1.051, 0.268, 0, 0, 0, [SEP] 27, DeskLamp, -2.992, 1.107, 4.522, 0, 0, 0, [SEP] 28, FloorLamp, -0.650, 0.007, 4.431, 0, 0, 0, [SEP] 29, FloorLamp, -5.607, 0.007, 4.641, 0, 0, 0, [SEP] 30, Shelf, -5.237, 1.776, 0.070, 0, 0, 0, [SEP] 31, Shelf, -5.238, 1.968, 0.085, 0, 0, 0, [SEP] 32, Shelf, -5.242, 1.391, 0.086, 0, 0, 0, [SEP] 33, Shelf, -5.241, 1.582, 0.065, 0, 0, 0, [SEP] 34, LightSwitch, -6.002, 1.353, 3.404, 0, 90, 0, [SEP] 35, GarbageCan, -5.794, -0.033, 4.073, 0, 90, 0, [SEP] 36, Painting, -6.017, 1.802, 4.177, 90, 270, 0, [SEP] 37, HousePlant, -3.966, 1.625, 0.135, 0, 315, 0, [SEP] 38, Television, -3.355, 0.833, 0.027, 0, 0, 0, [SEP] 39, Drawer, -5.024, 0.903, 0.370, 0, 0, 0, [SEP] 40, SideTable, -5.024, 0.008, 0.267, 0, 0, 0, [SEP] 41, Safe, -2.298, 5.778, 0.268, 0, 90, 0, [SEP] 42, Shelf, -0.253, 0.781, 1.058, 0, 270, 0, [SEP] 43, Shelf, -0.283, 0.274, 1.066, 0, 270, 0, [SEP] 44, Shelf, -1.224, 1.288, 0.270, 0, 0, 0, [SEP] 45, Shelf, -1.218, 1.810, 0.275, 0, 0, 0, [SEP] 46, Shelf, -0.280, 1.810, 1.057, 0, 270, 0, [SEP] 47, Shelf, -1.218, 0.274, 0.262, 0, 0, 0, [SEP] 48, Shelf, -1.223, 0.782, 0.237, 0, 0, 0, [SEP] 49, Shelf, -0.280, 1.288, 1.055, 0, 270, 0, [SEP] 50, ShelvingUnit, -0.268, 0.004, 1.067, 0, 270, 0, [SEP] 51, ShelvingUnit, -1.218, 0.004, 0.244, 0, 0, 0, [SEP] 52, ArmChair, -2.027, 0.001, 4.422, 0, 178.692, 0, [SEP] 53, Drawer, -4.329, 1.014, 4.311, 0, 180, 0, [SEP] 54, Drawer, -3.750, 1.014, 4.311, 0, 180, 0, [SEP] 55, Cabinet, -4.049, 0.561, 4.212, 0, 180, 0, [SEP] 56, Cabinet, -4.032, 0.561, 4.212, 0, 180, 0, [SEP] 57, Cabinet, -2.884, 0.561, 4.212, 0, 180, 0, [SEP] 58, Dresser, -4.041, -0.000, 4.589, 0, 180, 0, [SEP] 59, Drawer, -4.916, 1.014, 4.311, 0, 180, 0, [SEP] 60, Drawer, -3.166, 1.014, 4.311, 0, 180, 0, [SEP] 61, Cabinet, -5.196, 0.561, 4.212, 0, 180, 0, [SEP] 62, Sofa, -0.705, -0.002, 2.753, 0, 270, 0, [SEP] 63, NorthWall, , , , , , , [SEP] 64, SouthWall, , , , , , , [SEP] 65, SouthWall, , , , , , , ", "output": ["STEP 1: walk over to the front of the dresser where the statues are | STEP 2: pick up the statue from the dresser | STEP 3: walk the statue over to the lamp on the stand and raise the statue | STEP 4: turn the lamp on to look at the statue | END"]} +{"id": "trial_T20190908_041411_333458-2", "input": "Turn on a lamp while holding a statue SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.75, 0.901, 3.25, 0, 180, 0, [SEP] 1, TissueBox, -4.085, 0.201, 4.342, 0, 90, 0, 55 [SEP] 2, TissueBox, -4.291, 0.201, 4.589, 0, 90, 0, 55 [SEP] 3, CellPhone, -1.117, 0.609, 2.224, 0, 0, 0, 62 [SEP] 4, CellPhone, -4.505, 1.111, 4.786, 0, 90, 0, 58 [SEP] 5, Statue, -4.505, 1.117, 4.391, 0, 90, 0, 58 [SEP] 6, Statue, -0.265, 1.107, 1.100, 0, 270, 0, 49 [SEP] 7, Statue, -5.534, 1.044, 0.173, 0, 0, 0, 40 [SEP] 8, Watch, -5.364, 1.039, 0.438, 0, 0, 0, 40 [SEP] 9, Watch, -3.512, 0.997, 4.313, 0, 90, 0, 54 [SEP] 10, KeyChain, -5.534, 1.039, 0.372, 0, 0, 0, 40 [SEP] 11, KeyChain, -4.826, 1.112, 4.588, 0, 180, 0, 58 [SEP] 12, CreditCard, -0.258, 0.592, 1.284, 0, 270, 0, 42 [SEP] 13, CreditCard, -1.097, 1.591, 0.273, 0, 0, 0, 45 [SEP] 14, Box, -3.570, 0.425, 4.459, 0, 90, 0, 56 [SEP] 15, Watch, -2.458, 0.034, 0.421, 0, 90, 0, 41 [SEP] 16, Pillow, -2.031, 0.668, 4.421, 0, 0, 0, 52 [SEP] 17, TissueBox, -3.863, 1.112, 4.589, 0, 90, 0, 58 [SEP] 18, Newspaper, -4.184, 1.114, 4.786, 0, 90, 0, 58 [SEP] 19, CreditCard, -4.329, 0.997, 4.267, 0, 90, 0, 53 [SEP] 20, KeyChain, -1.459, 0.592, 4.124, 0, 0, 0, 52 [SEP] 21, CellPhone, -1.280, 1.592, 0.169, 0, 0, 0, 45 [SEP] 22, Statue, -4.184, 1.117, 4.490, 0, 90, 0, 58 [SEP] 23, Laptop, -3.393, 1.104, 4.492, 0, 191.867, 0, 58 [SEP] 24, RemoteControl, -3.222, 1.110, 4.885, 0, 90, 0, 58 [SEP] 25, Vase, -2.191, 0.037, 0.369, 0, 90, 0, 41 [SEP] 26, DeskLamp, -4.649, 1.051, 0.268, 0, 0, 0, [SEP] 27, DeskLamp, -2.992, 1.107, 4.522, 0, 0, 0, [SEP] 28, FloorLamp, -0.650, 0.007, 4.431, 0, 0, 0, [SEP] 29, FloorLamp, -5.607, 0.007, 4.641, 0, 0, 0, [SEP] 30, Shelf, -5.237, 1.776, 0.070, 0, 0, 0, [SEP] 31, Shelf, -5.238, 1.968, 0.085, 0, 0, 0, [SEP] 32, Shelf, -5.242, 1.391, 0.086, 0, 0, 0, [SEP] 33, Shelf, -5.241, 1.582, 0.065, 0, 0, 0, [SEP] 34, LightSwitch, -6.002, 1.353, 3.404, 0, 90, 0, [SEP] 35, GarbageCan, -5.794, -0.033, 4.073, 0, 90, 0, [SEP] 36, Painting, -6.017, 1.802, 4.177, 90, 270, 0, [SEP] 37, HousePlant, -3.966, 1.625, 0.135, 0, 315, 0, [SEP] 38, Television, -3.355, 0.833, 0.027, 0, 0, 0, [SEP] 39, Drawer, -5.024, 0.903, 0.370, 0, 0, 0, [SEP] 40, SideTable, -5.024, 0.008, 0.267, 0, 0, 0, [SEP] 41, Safe, -2.298, 5.778, 0.268, 0, 90, 0, [SEP] 42, Shelf, -0.253, 0.781, 1.058, 0, 270, 0, [SEP] 43, Shelf, -0.283, 0.274, 1.066, 0, 270, 0, [SEP] 44, Shelf, -1.224, 1.288, 0.270, 0, 0, 0, [SEP] 45, Shelf, -1.218, 1.810, 0.275, 0, 0, 0, [SEP] 46, Shelf, -0.280, 1.810, 1.057, 0, 270, 0, [SEP] 47, Shelf, -1.218, 0.274, 0.262, 0, 0, 0, [SEP] 48, Shelf, -1.223, 0.782, 0.237, 0, 0, 0, [SEP] 49, Shelf, -0.280, 1.288, 1.055, 0, 270, 0, [SEP] 50, ShelvingUnit, -0.268, 0.004, 1.067, 0, 270, 0, [SEP] 51, ShelvingUnit, -1.218, 0.004, 0.244, 0, 0, 0, [SEP] 52, ArmChair, -2.027, 0.001, 4.422, 0, 178.692, 0, [SEP] 53, Drawer, -4.329, 1.014, 4.311, 0, 180, 0, [SEP] 54, Drawer, -3.750, 1.014, 4.311, 0, 180, 0, [SEP] 55, Cabinet, -4.049, 0.561, 4.212, 0, 180, 0, [SEP] 56, Cabinet, -4.032, 0.561, 4.212, 0, 180, 0, [SEP] 57, Cabinet, -2.884, 0.561, 4.212, 0, 180, 0, [SEP] 58, Dresser, -4.041, -0.000, 4.589, 0, 180, 0, [SEP] 59, Drawer, -4.916, 1.014, 4.311, 0, 180, 0, [SEP] 60, Drawer, -3.166, 1.014, 4.311, 0, 180, 0, [SEP] 61, Cabinet, -5.196, 0.561, 4.212, 0, 180, 0, [SEP] 62, Sofa, -0.705, -0.002, 2.753, 0, 270, 0, [SEP] 63, NorthWall, , , , , , , [SEP] 64, SouthWall, , , , , , , [SEP] 65, SouthWall, , , , , , , ", "output": ["STEP 1: Move right then right again and go straight to the wood end table | STEP 2: Pick up the statue on top of the end table | STEP 3: Move slightly left to face the floor lamp to the left of the end table | STEP 4: Turn on the lamp | END"]} +{"id": "trial_T20190908_113432_673307-0", "input": "Place a heated egg 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, -3.25, 0.900, -1.75, 0, 270, 0, [SEP] 1, Vase, -0.624, 0.934, -1.540, 0, 0, 0, 58 [SEP] 2, Potato, -0.587, 0.811, -0.486, 0, 90, 0, 79 [SEP] 3, CreditCard, -1.985, 0.551, 2.563, 0, 0, 0, 84 [SEP] 4, CreditCard, 0.944, 0.908, -1.879, 0, 0, 0, 64 [SEP] 5, DishSponge, 0.754, 0.494, -0.690, 0, 270, 0, 62 [SEP] 6, ButterKnife, -0.846, 0.933, 0.162, 0, 0, 0, 58 [SEP] 7, ButterKnife, -0.772, 0.933, -0.143, 0, 0, 0, 58 [SEP] 8, Glassbottle, 1.212, 2.208, -1.626, 0, 270, 0, 65 [SEP] 9, Spoon, 0.859, 0.912, -0.555, 0, 0, 0, 59 [SEP] 10, Spoon, 0.875, 0.495, -0.648, 0, 270, 0, 62 [SEP] 11, Cup, 1.026, 1.640, 1.349, 0, 270, 0, 81 [SEP] 12, Plate, -1.104, 0.936, -0.905, 0, 0, 0, 58 [SEP] 13, Tomato, 0.844, 0.903, 1.444, 0, 270, 0, 81 [SEP] 14, Tomato, -0.865, 0.219, 0.608, 0, 180, 0, 78 [SEP] 15, SoapBottle, 0.944, 0.911, -0.729, 0, 0, 0, 59 [SEP] 16, Bowl, 0.905, 1.646, 1.444, 0, 270, 0, 81 [SEP] 17, SaltShaker, -1.571, 0.878, 2.665, 0, 0, 0, 85 [SEP] 18, PepperShaker, 1.199, 0.907, -1.965, 0, 0, 0, 64 [SEP] 19, Lettuce, -0.846, 1.010, -1.386, 0, 0, 0, 58 [SEP] 20, Lettuce, 0.905, 1.479, 1.254, 0, 270, 0, 81 [SEP] 21, Bread, 0.905, 0.944, 1.254, 0, 270, 0, 81 [SEP] 22, Mug, -0.808, 0.775, -0.745, 0, 180, 0, 79 [SEP] 23, Apple, 0.783, 1.185, 1.349, 0, 270, 0, 81 [SEP] 24, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 58 [SEP] 25, Glassbottle, -0.642, 0.781, -0.745, 0, 90, 0, 79 [SEP] 26, Bread, 0.944, 0.992, 0.139, 0, 0, 0, 59 [SEP] 27, CreditCard, 0.833, 0.150, -0.611, 0, 270, 0, 61 [SEP] 28, CellPhone, -0.477, 0.930, -1.386, 0, 0, 0, 58 [SEP] 29, Potato, -0.920, 0.963, 0.009, 0, 0, 0, 58 [SEP] 30, Knife, 1.114, 0.934, -0.381, 0, 0, 0, 59 [SEP] 31, Fork, -0.772, 0.934, 0.315, 0, 0, 0, 58 [SEP] 32, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 52 [SEP] 33, Lettuce, 0.688, 0.988, -0.555, 0, 0, 0, 59 [SEP] 34, Plate, -0.550, 0.936, 0.162, 0, 0, 0, 58 [SEP] 35, Apple, 0.783, 1.185, 1.063, 0, 270, 0, 81 [SEP] 36, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 54 [SEP] 37, Spatula, -0.642, 0.791, -0.400, 0, 0, 0, 79 [SEP] 38, PaperTowelRoll, 0.773, 1.015, -0.729, 0, 0, 0, 59 [SEP] 39, Tomato, -0.920, 0.974, 0.239, 0, 0, 0, 58 [SEP] 40, Egg, -1.355, 0.971, -0.905, 0, 0, 0, 58 [SEP] 41, SaltShaker, -1.985, 0.550, 2.874, 0, 0, 0, 84 [SEP] 42, PepperShaker, 0.915, 0.699, -0.772, 0, 270, 0, 56 [SEP] 43, Vase, 0.811, 0.108, -1.892, 0, 0, 0, 63 [SEP] 44, ButterKnife, -1.292, 0.933, -0.118, 0, 0, 0, 58 [SEP] 45, SoapBottle, -1.007, 0.177, 0.543, 0, 180, 0, 78 [SEP] 46, Vase, 0.944, 0.912, -0.208, 0, 0, 0, 59 [SEP] 47, Bowl, 1.126, 2.211, -1.191, 0, 270, 0, 65 [SEP] 48, DishSponge, 0.861, 0.107, -2.212, 0, 0, 0, 63 [SEP] 49, Spoon, 0.833, 0.154, -0.611, 0, 270, 0, 61 [SEP] 50, Cup, -0.846, 0.930, -1.618, 0, 0, 0, 58 [SEP] 51, Mug, 0.966, 1.638, 0.967, 0, 270, 0, 81 [SEP] 52, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 53, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 54, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 55, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 56, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 57, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 58, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 59, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 60, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 61, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 62, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 63, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 64, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 65, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 66, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 67, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 68, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 69, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 70, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 71, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 72, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 73, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 74, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 75, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 76, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 77, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 78, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 79, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 80, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 81, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 82, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 83, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 84, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 85, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 86, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 87, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 88, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 89, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 90, NorthWall, , , , , , , [SEP] 91, EastWall, , , , , , , [SEP] 92, SouthWall, , , , , , , [SEP] 93, WestWall, , , , , , , ", "output": ["STEP 1: Go to the center kitchen console | STEP 2: Pick up the egg from the center kitchen console | STEP 3: Go to the microwave | STEP 4: Heat the egg in the microwave | STEP 5: Go to the black bin | STEP 6: Place the egg in the black bin | END"]} +{"id": "trial_T20190908_113432_673307-1", "input": "To heat an egg and place in 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, -3.25, 0.900, -1.75, 0, 270, 0, [SEP] 1, Vase, -0.624, 0.934, -1.540, 0, 0, 0, 58 [SEP] 2, Potato, -0.587, 0.811, -0.486, 0, 90, 0, 79 [SEP] 3, CreditCard, -1.985, 0.551, 2.563, 0, 0, 0, 84 [SEP] 4, CreditCard, 0.944, 0.908, -1.879, 0, 0, 0, 64 [SEP] 5, DishSponge, 0.754, 0.494, -0.690, 0, 270, 0, 62 [SEP] 6, ButterKnife, -0.846, 0.933, 0.162, 0, 0, 0, 58 [SEP] 7, ButterKnife, -0.772, 0.933, -0.143, 0, 0, 0, 58 [SEP] 8, Glassbottle, 1.212, 2.208, -1.626, 0, 270, 0, 65 [SEP] 9, Spoon, 0.859, 0.912, -0.555, 0, 0, 0, 59 [SEP] 10, Spoon, 0.875, 0.495, -0.648, 0, 270, 0, 62 [SEP] 11, Cup, 1.026, 1.640, 1.349, 0, 270, 0, 81 [SEP] 12, Plate, -1.104, 0.936, -0.905, 0, 0, 0, 58 [SEP] 13, Tomato, 0.844, 0.903, 1.444, 0, 270, 0, 81 [SEP] 14, Tomato, -0.865, 0.219, 0.608, 0, 180, 0, 78 [SEP] 15, SoapBottle, 0.944, 0.911, -0.729, 0, 0, 0, 59 [SEP] 16, Bowl, 0.905, 1.646, 1.444, 0, 270, 0, 81 [SEP] 17, SaltShaker, -1.571, 0.878, 2.665, 0, 0, 0, 85 [SEP] 18, PepperShaker, 1.199, 0.907, -1.965, 0, 0, 0, 64 [SEP] 19, Lettuce, -0.846, 1.010, -1.386, 0, 0, 0, 58 [SEP] 20, Lettuce, 0.905, 1.479, 1.254, 0, 270, 0, 81 [SEP] 21, Bread, 0.905, 0.944, 1.254, 0, 270, 0, 81 [SEP] 22, Mug, -0.808, 0.775, -0.745, 0, 180, 0, 79 [SEP] 23, Apple, 0.783, 1.185, 1.349, 0, 270, 0, 81 [SEP] 24, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 58 [SEP] 25, Glassbottle, -0.642, 0.781, -0.745, 0, 90, 0, 79 [SEP] 26, Bread, 0.944, 0.992, 0.139, 0, 0, 0, 59 [SEP] 27, CreditCard, 0.833, 0.150, -0.611, 0, 270, 0, 61 [SEP] 28, CellPhone, -0.477, 0.930, -1.386, 0, 0, 0, 58 [SEP] 29, Potato, -0.920, 0.963, 0.009, 0, 0, 0, 58 [SEP] 30, Knife, 1.114, 0.934, -0.381, 0, 0, 0, 59 [SEP] 31, Fork, -0.772, 0.934, 0.315, 0, 0, 0, 58 [SEP] 32, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 52 [SEP] 33, Lettuce, 0.688, 0.988, -0.555, 0, 0, 0, 59 [SEP] 34, Plate, -0.550, 0.936, 0.162, 0, 0, 0, 58 [SEP] 35, Apple, 0.783, 1.185, 1.063, 0, 270, 0, 81 [SEP] 36, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 54 [SEP] 37, Spatula, -0.642, 0.791, -0.400, 0, 0, 0, 79 [SEP] 38, PaperTowelRoll, 0.773, 1.015, -0.729, 0, 0, 0, 59 [SEP] 39, Tomato, -0.920, 0.974, 0.239, 0, 0, 0, 58 [SEP] 40, Egg, -1.355, 0.971, -0.905, 0, 0, 0, 58 [SEP] 41, SaltShaker, -1.985, 0.550, 2.874, 0, 0, 0, 84 [SEP] 42, PepperShaker, 0.915, 0.699, -0.772, 0, 270, 0, 56 [SEP] 43, Vase, 0.811, 0.108, -1.892, 0, 0, 0, 63 [SEP] 44, ButterKnife, -1.292, 0.933, -0.118, 0, 0, 0, 58 [SEP] 45, SoapBottle, -1.007, 0.177, 0.543, 0, 180, 0, 78 [SEP] 46, Vase, 0.944, 0.912, -0.208, 0, 0, 0, 59 [SEP] 47, Bowl, 1.126, 2.211, -1.191, 0, 270, 0, 65 [SEP] 48, DishSponge, 0.861, 0.107, -2.212, 0, 0, 0, 63 [SEP] 49, Spoon, 0.833, 0.154, -0.611, 0, 270, 0, 61 [SEP] 50, Cup, -0.846, 0.930, -1.618, 0, 0, 0, 58 [SEP] 51, Mug, 0.966, 1.638, 0.967, 0, 270, 0, 81 [SEP] 52, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 53, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 54, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 55, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 56, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 57, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 58, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 59, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 60, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 61, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 62, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 63, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 64, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 65, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 66, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 67, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 68, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 69, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 70, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 71, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 72, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 73, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 74, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 75, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 76, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 77, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 78, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 79, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 80, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 81, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 82, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 83, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 84, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 85, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 86, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 87, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 88, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 89, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 90, NorthWall, , , , , , , [SEP] 91, EastWall, , , , , , , [SEP] 92, SouthWall, , , , , , , [SEP] 93, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and walk to the kitchen island. | STEP 2: Pick up the egg in front of the gold colored plate. | STEP 3: Walk around the kitchen island and to the stove on the right, look above the stove to face the microwave. | STEP 4: Place the egg inside the microwave, heat up the egg, take the egg out of the microwave. | STEP 5: Turn left, turn left at the fridge, turn left to face the kitchen island, and look down at the black bin. | STEP 6: Place the egg in the bin on the right side. | END"]} +{"id": "trial_T20190908_113432_673307-2", "input": "Move egg from counter, heat in microwave, put 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, -3.25, 0.900, -1.75, 0, 270, 0, [SEP] 1, Vase, -0.624, 0.934, -1.540, 0, 0, 0, 58 [SEP] 2, Potato, -0.587, 0.811, -0.486, 0, 90, 0, 79 [SEP] 3, CreditCard, -1.985, 0.551, 2.563, 0, 0, 0, 84 [SEP] 4, CreditCard, 0.944, 0.908, -1.879, 0, 0, 0, 64 [SEP] 5, DishSponge, 0.754, 0.494, -0.690, 0, 270, 0, 62 [SEP] 6, ButterKnife, -0.846, 0.933, 0.162, 0, 0, 0, 58 [SEP] 7, ButterKnife, -0.772, 0.933, -0.143, 0, 0, 0, 58 [SEP] 8, Glassbottle, 1.212, 2.208, -1.626, 0, 270, 0, 65 [SEP] 9, Spoon, 0.859, 0.912, -0.555, 0, 0, 0, 59 [SEP] 10, Spoon, 0.875, 0.495, -0.648, 0, 270, 0, 62 [SEP] 11, Cup, 1.026, 1.640, 1.349, 0, 270, 0, 81 [SEP] 12, Plate, -1.104, 0.936, -0.905, 0, 0, 0, 58 [SEP] 13, Tomato, 0.844, 0.903, 1.444, 0, 270, 0, 81 [SEP] 14, Tomato, -0.865, 0.219, 0.608, 0, 180, 0, 78 [SEP] 15, SoapBottle, 0.944, 0.911, -0.729, 0, 0, 0, 59 [SEP] 16, Bowl, 0.905, 1.646, 1.444, 0, 270, 0, 81 [SEP] 17, SaltShaker, -1.571, 0.878, 2.665, 0, 0, 0, 85 [SEP] 18, PepperShaker, 1.199, 0.907, -1.965, 0, 0, 0, 64 [SEP] 19, Lettuce, -0.846, 1.010, -1.386, 0, 0, 0, 58 [SEP] 20, Lettuce, 0.905, 1.479, 1.254, 0, 270, 0, 81 [SEP] 21, Bread, 0.905, 0.944, 1.254, 0, 270, 0, 81 [SEP] 22, Mug, -0.808, 0.775, -0.745, 0, 180, 0, 79 [SEP] 23, Apple, 0.783, 1.185, 1.349, 0, 270, 0, 81 [SEP] 24, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 58 [SEP] 25, Glassbottle, -0.642, 0.781, -0.745, 0, 90, 0, 79 [SEP] 26, Bread, 0.944, 0.992, 0.139, 0, 0, 0, 59 [SEP] 27, CreditCard, 0.833, 0.150, -0.611, 0, 270, 0, 61 [SEP] 28, CellPhone, -0.477, 0.930, -1.386, 0, 0, 0, 58 [SEP] 29, Potato, -0.920, 0.963, 0.009, 0, 0, 0, 58 [SEP] 30, Knife, 1.114, 0.934, -0.381, 0, 0, 0, 59 [SEP] 31, Fork, -0.772, 0.934, 0.315, 0, 0, 0, 58 [SEP] 32, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 52 [SEP] 33, Lettuce, 0.688, 0.988, -0.555, 0, 0, 0, 59 [SEP] 34, Plate, -0.550, 0.936, 0.162, 0, 0, 0, 58 [SEP] 35, Apple, 0.783, 1.185, 1.063, 0, 270, 0, 81 [SEP] 36, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 54 [SEP] 37, Spatula, -0.642, 0.791, -0.400, 0, 0, 0, 79 [SEP] 38, PaperTowelRoll, 0.773, 1.015, -0.729, 0, 0, 0, 59 [SEP] 39, Tomato, -0.920, 0.974, 0.239, 0, 0, 0, 58 [SEP] 40, Egg, -1.355, 0.971, -0.905, 0, 0, 0, 58 [SEP] 41, SaltShaker, -1.985, 0.550, 2.874, 0, 0, 0, 84 [SEP] 42, PepperShaker, 0.915, 0.699, -0.772, 0, 270, 0, 56 [SEP] 43, Vase, 0.811, 0.108, -1.892, 0, 0, 0, 63 [SEP] 44, ButterKnife, -1.292, 0.933, -0.118, 0, 0, 0, 58 [SEP] 45, SoapBottle, -1.007, 0.177, 0.543, 0, 180, 0, 78 [SEP] 46, Vase, 0.944, 0.912, -0.208, 0, 0, 0, 59 [SEP] 47, Bowl, 1.126, 2.211, -1.191, 0, 270, 0, 65 [SEP] 48, DishSponge, 0.861, 0.107, -2.212, 0, 0, 0, 63 [SEP] 49, Spoon, 0.833, 0.154, -0.611, 0, 270, 0, 61 [SEP] 50, Cup, -0.846, 0.930, -1.618, 0, 0, 0, 58 [SEP] 51, Mug, 0.966, 1.638, 0.967, 0, 270, 0, 81 [SEP] 52, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 53, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 54, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 55, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 56, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 57, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 58, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 59, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 60, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 61, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 62, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 63, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 64, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 65, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 66, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 67, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 68, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 69, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 70, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 71, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 72, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 73, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 74, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 75, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 76, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 77, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 78, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 79, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 80, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 81, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 82, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 83, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 84, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 85, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 86, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 87, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 88, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 89, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 90, NorthWall, , , , , , , [SEP] 91, EastWall, , , , , , , [SEP] 92, SouthWall, , , , , , , [SEP] 93, WestWall, , , , , , , ", "output": ["STEP 1: Turn right, to forward until two chairs are on right. Turn right and proceed to counter and chairs. | STEP 2: Pick up egg from counter, in front of gold colored plate. | STEP 3: Turn around, proceed to sliding doors. Turn left, proceed across room. Turn left, proceed until stove is on right. Turn to face stove. Look up to microwave. | STEP 4: Open microwave door, put egg in microwave, close door. Wait four seconds. Open microwave door, remove egg, close microwave door. | STEP 5: Turn left, proceed until reach end of counter. Turn left, then turn left to face counter and garbage can. | STEP 6: Place egg in right side of garbage can, to the right of the tomato and pump dispenser. | END"]} +{"id": "trial_T20190908_032434_013084-0", "input": "Put a cleaned pan 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, 2.5, 0, 180, 0, [SEP] 1, CreditCard, 0.914, 0.150, -0.650, 0, 270, 0, 54 [SEP] 2, CreditCard, -1.571, 0.878, 2.773, 0, 0, 0, 78 [SEP] 3, CellPhone, -1.985, 0.550, 2.822, 0, 0, 0, 77 [SEP] 4, ButterKnife, 0.833, 0.153, -0.650, 0, 270, 0, 54 [SEP] 5, ButterKnife, -0.846, 0.933, -1.386, 0, 0, 0, 51 [SEP] 6, Spatula, 0.754, 0.717, -0.731, 0, 180, 0, 49 [SEP] 7, Egg, 1.026, 1.680, 1.158, 0, 270, 0, 74 [SEP] 8, Bowl, 0.761, 0.111, -1.892, 0, 0, 0, 56 [SEP] 9, Bowl, 0.966, 1.138, 0.967, 0, 270, 0, 74 [SEP] 10, SaltShaker, -1.674, 0.878, 2.773, 0, 0, 0, 78 [SEP] 11, SaltShaker, 0.754, 0.490, -0.772, 0, 270, 0, 55 [SEP] 12, PepperShaker, 1.056, 1.662, -0.529, 0, 270, 0, 60 [SEP] 13, Mug, 1.212, 2.203, -0.973, 0, 270, 0, 58 [SEP] 14, Mug, 0.783, 0.858, 1.349, 0, 270, 0, 74 [SEP] 15, Apple, 1.093, 1.845, -1.339, 0, 270, 0, 73 [SEP] 16, Apple, 1.087, 1.185, 1.444, 0, 270, 0, 74 [SEP] 17, Statue, -1.167, 0.936, -0.643, 0, 0, 0, 51 [SEP] 18, Glassbottle, 1.039, 2.208, -1.082, 0, 270, 0, 58 [SEP] 19, Bread, -0.779, 0.996, 0.209, 0, 258.641, 0, 51 [SEP] 20, CreditCard, -1.881, 0.551, 2.563, 0, 0, 0, 77 [SEP] 21, CellPhone, -1.467, 0.550, 2.667, 0, 0, 0, 77 [SEP] 22, Potato, 0.844, 1.432, 1.158, 0, 270, 0, 74 [SEP] 23, Knife, 0.868, 0.700, -0.600, 90, 315, 0, 49 [SEP] 24, Fork, -0.550, 0.934, -1.386, 0, 0, 0, 51 [SEP] 25, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 45 [SEP] 26, Lettuce, 0.866, 1.688, 1.209, 9.746, 11.109, 0, 74 [SEP] 27, Plate, -1.355, 0.936, 0.144, 0, 0, 0, 51 [SEP] 28, Apple, 1.026, 1.452, 1.444, 0, 270, 0, 74 [SEP] 29, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 47 [SEP] 30, Spatula, 0.915, 0.510, -0.524, 0, 0, 0, 55 [SEP] 31, PaperTowelRoll, -0.818, 0.281, 0.641, 0, 270, 0, 71 [SEP] 32, Tomato, 0.844, 1.175, 1.349, 0, 270, 0, 74 [SEP] 33, Egg, -1.007, 0.214, 0.608, 0, 180, 0, 71 [SEP] 34, SaltShaker, -1.571, 0.878, 2.692, 0, 0, 0, 78 [SEP] 35, PepperShaker, 1.014, 0.117, 0.374, 0, 270, 0, 52 [SEP] 36, Vase, 1.082, 2.207, -1.517, 0, 270, 0, 58 [SEP] 37, ButterKnife, -1.325, 0.919, -0.884, 0, 10.678, 0, 51 [SEP] 38, SoapBottle, -0.477, 0.933, -1.308, 0, 0, 0, 51 [SEP] 39, Vase, 1.101, 1.667, 0.025, 0, 270, 0, 59 [SEP] 40, Bowl, 1.102, 1.669, -0.337, 0, 270, 0, 60 [SEP] 41, DishSponge, -1.985, 0.553, 2.667, 0, 0, 0, 77 [SEP] 42, Spoon, -0.772, 0.934, 0.009, 0, 0, 0, 51 [SEP] 43, Cup, 1.087, 1.399, 0.967, 0, 270, 0, 74 [SEP] 44, Mug, 0.913, 0.115, 0.374, 0, 270, 0, 46 [SEP] 45, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 46, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 47, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 48, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 49, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 50, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 51, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 52, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 53, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 54, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 55, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 56, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 57, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 58, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 59, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 60, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 61, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 62, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 63, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 64, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 65, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 66, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 67, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 68, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 69, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 70, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 71, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 72, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 73, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 74, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 75, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 76, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 77, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 78, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 79, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 80, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 81, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 82, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 83, NorthWall, , , , , , , [SEP] 84, EastWall, , , , , , , [SEP] 85, SouthWall, , , , , , , [SEP] 86, WestWall, , , , , , , ", "output": ["STEP 1: Move right, then turn left, go forward, face the stove on the left. | STEP 2: Pick up the dirty pan on the left of the stove. | STEP 3: Turn around, bring the dirty pan to the sink. | STEP 4: Wash the pan in the sink with water. | STEP 5: Bring the pan back to the counter left of the stove. | STEP 6: Put the pan on the counter next to the toaster. | END"]} +{"id": "trial_T20190908_032434_013084-1", "input": "drop a clean pan 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, 0.5, 0.900, 2.5, 0, 180, 0, [SEP] 1, CreditCard, 0.914, 0.150, -0.650, 0, 270, 0, 54 [SEP] 2, CreditCard, -1.571, 0.878, 2.773, 0, 0, 0, 78 [SEP] 3, CellPhone, -1.985, 0.550, 2.822, 0, 0, 0, 77 [SEP] 4, ButterKnife, 0.833, 0.153, -0.650, 0, 270, 0, 54 [SEP] 5, ButterKnife, -0.846, 0.933, -1.386, 0, 0, 0, 51 [SEP] 6, Spatula, 0.754, 0.717, -0.731, 0, 180, 0, 49 [SEP] 7, Egg, 1.026, 1.680, 1.158, 0, 270, 0, 74 [SEP] 8, Bowl, 0.761, 0.111, -1.892, 0, 0, 0, 56 [SEP] 9, Bowl, 0.966, 1.138, 0.967, 0, 270, 0, 74 [SEP] 10, SaltShaker, -1.674, 0.878, 2.773, 0, 0, 0, 78 [SEP] 11, SaltShaker, 0.754, 0.490, -0.772, 0, 270, 0, 55 [SEP] 12, PepperShaker, 1.056, 1.662, -0.529, 0, 270, 0, 60 [SEP] 13, Mug, 1.212, 2.203, -0.973, 0, 270, 0, 58 [SEP] 14, Mug, 0.783, 0.858, 1.349, 0, 270, 0, 74 [SEP] 15, Apple, 1.093, 1.845, -1.339, 0, 270, 0, 73 [SEP] 16, Apple, 1.087, 1.185, 1.444, 0, 270, 0, 74 [SEP] 17, Statue, -1.167, 0.936, -0.643, 0, 0, 0, 51 [SEP] 18, Glassbottle, 1.039, 2.208, -1.082, 0, 270, 0, 58 [SEP] 19, Bread, -0.779, 0.996, 0.209, 0, 258.641, 0, 51 [SEP] 20, CreditCard, -1.881, 0.551, 2.563, 0, 0, 0, 77 [SEP] 21, CellPhone, -1.467, 0.550, 2.667, 0, 0, 0, 77 [SEP] 22, Potato, 0.844, 1.432, 1.158, 0, 270, 0, 74 [SEP] 23, Knife, 0.868, 0.700, -0.600, 90, 315, 0, 49 [SEP] 24, Fork, -0.550, 0.934, -1.386, 0, 0, 0, 51 [SEP] 25, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 45 [SEP] 26, Lettuce, 0.866, 1.688, 1.209, 9.746, 11.109, 0, 74 [SEP] 27, Plate, -1.355, 0.936, 0.144, 0, 0, 0, 51 [SEP] 28, Apple, 1.026, 1.452, 1.444, 0, 270, 0, 74 [SEP] 29, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 47 [SEP] 30, Spatula, 0.915, 0.510, -0.524, 0, 0, 0, 55 [SEP] 31, PaperTowelRoll, -0.818, 0.281, 0.641, 0, 270, 0, 71 [SEP] 32, Tomato, 0.844, 1.175, 1.349, 0, 270, 0, 74 [SEP] 33, Egg, -1.007, 0.214, 0.608, 0, 180, 0, 71 [SEP] 34, SaltShaker, -1.571, 0.878, 2.692, 0, 0, 0, 78 [SEP] 35, PepperShaker, 1.014, 0.117, 0.374, 0, 270, 0, 52 [SEP] 36, Vase, 1.082, 2.207, -1.517, 0, 270, 0, 58 [SEP] 37, ButterKnife, -1.325, 0.919, -0.884, 0, 10.678, 0, 51 [SEP] 38, SoapBottle, -0.477, 0.933, -1.308, 0, 0, 0, 51 [SEP] 39, Vase, 1.101, 1.667, 0.025, 0, 270, 0, 59 [SEP] 40, Bowl, 1.102, 1.669, -0.337, 0, 270, 0, 60 [SEP] 41, DishSponge, -1.985, 0.553, 2.667, 0, 0, 0, 77 [SEP] 42, Spoon, -0.772, 0.934, 0.009, 0, 0, 0, 51 [SEP] 43, Cup, 1.087, 1.399, 0.967, 0, 270, 0, 74 [SEP] 44, Mug, 0.913, 0.115, 0.374, 0, 270, 0, 46 [SEP] 45, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 46, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 47, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 48, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 49, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 50, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 51, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 52, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 53, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 54, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 55, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 56, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 57, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 58, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 59, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 60, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 61, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 62, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 63, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 64, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 65, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 66, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 67, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 68, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 69, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 70, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 71, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 72, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 73, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 74, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 75, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 76, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 77, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 78, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 79, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 80, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 81, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 82, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 83, NorthWall, , , , , , , [SEP] 84, EastWall, , , , , , , [SEP] 85, SouthWall, , , , , , , [SEP] 86, WestWall, , , , , , , ", "output": ["STEP 1: move forward towards the gas | STEP 2: pick up the pan | STEP 3: turn around and head to the sink | STEP 4: rinse the pan inside the sink | STEP 5: turn around to the table | STEP 6: drop the pan on the table | END"]} +{"id": "trial_T20190908_032434_013084-2", "input": "Wash the pan in the sink, put the pan 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, 2.5, 0, 180, 0, [SEP] 1, CreditCard, 0.914, 0.150, -0.650, 0, 270, 0, 54 [SEP] 2, CreditCard, -1.571, 0.878, 2.773, 0, 0, 0, 78 [SEP] 3, CellPhone, -1.985, 0.550, 2.822, 0, 0, 0, 77 [SEP] 4, ButterKnife, 0.833, 0.153, -0.650, 0, 270, 0, 54 [SEP] 5, ButterKnife, -0.846, 0.933, -1.386, 0, 0, 0, 51 [SEP] 6, Spatula, 0.754, 0.717, -0.731, 0, 180, 0, 49 [SEP] 7, Egg, 1.026, 1.680, 1.158, 0, 270, 0, 74 [SEP] 8, Bowl, 0.761, 0.111, -1.892, 0, 0, 0, 56 [SEP] 9, Bowl, 0.966, 1.138, 0.967, 0, 270, 0, 74 [SEP] 10, SaltShaker, -1.674, 0.878, 2.773, 0, 0, 0, 78 [SEP] 11, SaltShaker, 0.754, 0.490, -0.772, 0, 270, 0, 55 [SEP] 12, PepperShaker, 1.056, 1.662, -0.529, 0, 270, 0, 60 [SEP] 13, Mug, 1.212, 2.203, -0.973, 0, 270, 0, 58 [SEP] 14, Mug, 0.783, 0.858, 1.349, 0, 270, 0, 74 [SEP] 15, Apple, 1.093, 1.845, -1.339, 0, 270, 0, 73 [SEP] 16, Apple, 1.087, 1.185, 1.444, 0, 270, 0, 74 [SEP] 17, Statue, -1.167, 0.936, -0.643, 0, 0, 0, 51 [SEP] 18, Glassbottle, 1.039, 2.208, -1.082, 0, 270, 0, 58 [SEP] 19, Bread, -0.779, 0.996, 0.209, 0, 258.641, 0, 51 [SEP] 20, CreditCard, -1.881, 0.551, 2.563, 0, 0, 0, 77 [SEP] 21, CellPhone, -1.467, 0.550, 2.667, 0, 0, 0, 77 [SEP] 22, Potato, 0.844, 1.432, 1.158, 0, 270, 0, 74 [SEP] 23, Knife, 0.868, 0.700, -0.600, 90, 315, 0, 49 [SEP] 24, Fork, -0.550, 0.934, -1.386, 0, 0, 0, 51 [SEP] 25, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 45 [SEP] 26, Lettuce, 0.866, 1.688, 1.209, 9.746, 11.109, 0, 74 [SEP] 27, Plate, -1.355, 0.936, 0.144, 0, 0, 0, 51 [SEP] 28, Apple, 1.026, 1.452, 1.444, 0, 270, 0, 74 [SEP] 29, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 47 [SEP] 30, Spatula, 0.915, 0.510, -0.524, 0, 0, 0, 55 [SEP] 31, PaperTowelRoll, -0.818, 0.281, 0.641, 0, 270, 0, 71 [SEP] 32, Tomato, 0.844, 1.175, 1.349, 0, 270, 0, 74 [SEP] 33, Egg, -1.007, 0.214, 0.608, 0, 180, 0, 71 [SEP] 34, SaltShaker, -1.571, 0.878, 2.692, 0, 0, 0, 78 [SEP] 35, PepperShaker, 1.014, 0.117, 0.374, 0, 270, 0, 52 [SEP] 36, Vase, 1.082, 2.207, -1.517, 0, 270, 0, 58 [SEP] 37, ButterKnife, -1.325, 0.919, -0.884, 0, 10.678, 0, 51 [SEP] 38, SoapBottle, -0.477, 0.933, -1.308, 0, 0, 0, 51 [SEP] 39, Vase, 1.101, 1.667, 0.025, 0, 270, 0, 59 [SEP] 40, Bowl, 1.102, 1.669, -0.337, 0, 270, 0, 60 [SEP] 41, DishSponge, -1.985, 0.553, 2.667, 0, 0, 0, 77 [SEP] 42, Spoon, -0.772, 0.934, 0.009, 0, 0, 0, 51 [SEP] 43, Cup, 1.087, 1.399, 0.967, 0, 270, 0, 74 [SEP] 44, Mug, 0.913, 0.115, 0.374, 0, 270, 0, 46 [SEP] 45, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 46, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 47, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 48, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 49, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 50, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 51, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 52, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 53, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 54, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 55, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 56, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 57, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 58, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 59, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 60, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 61, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 62, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 63, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 64, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 65, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 66, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 67, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 68, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 69, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 70, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 71, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 72, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 73, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 74, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 75, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 76, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 77, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 78, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 79, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 80, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 81, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 82, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 83, NorthWall, , , , , , , [SEP] 84, EastWall, , , , , , , [SEP] 85, SouthWall, , , , , , , [SEP] 86, WestWall, , , , , , , ", "output": ["STEP 1: Head across the kitchen to the stove | STEP 2: Pick up the pan from the stove | STEP 3: Head back to the left to the sink | STEP 4: Put the pan in the sink | STEP 5: Turn on the water for 4 seconds, Take the pan out of the sink | STEP 6: Turn around, put the pan on the counter | END"]} +{"id": "trial_T20190908_114656_768805-0", "input": "Put a cold pan on the counter top on top of the dishwasher. 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, 270, 0, [SEP] 1, Statue, -0.698, 0.936, -1.540, 0, 0, 0, 54 [SEP] 2, CreditCard, -1.985, 0.551, 2.770, 0, 0, 0, 80 [SEP] 3, CreditCard, -1.355, 0.930, 0.144, 0, 0, 0, 54 [SEP] 4, CellPhone, -1.467, 0.550, 2.667, 0, 0, 0, 80 [SEP] 5, DishSponge, 0.793, 0.153, -0.571, 0, 270, 0, 57 [SEP] 6, DishSponge, -0.846, 0.933, -1.308, 0, 0, 0, 54 [SEP] 7, Glassbottle, -1.363, 0.554, 2.770, 0, 0, 0, 80 [SEP] 8, Glassbottle, -0.808, 0.781, -0.832, 0, 90, 0, 75 [SEP] 9, Spoon, -0.550, 0.934, 0.086, 0, 0, 0, 54 [SEP] 10, Spatula, -1.104, 0.948, -1.167, 0, 90, 0, 54 [SEP] 11, Egg, -1.101, 0.214, 0.543, 0, 180, 0, 74 [SEP] 12, Egg, -0.808, 0.814, -0.573, 0, 90, 0, 75 [SEP] 13, Plate, -0.642, 0.783, -0.659, 0, 90, 0, 75 [SEP] 14, SoapBottle, 1.126, 2.208, -0.973, 0, 270, 0, 61 [SEP] 15, SoapBottle, -0.960, 0.177, 0.543, 0, 180, 0, 74 [SEP] 16, Bowl, 1.056, 1.669, -0.593, 0, 270, 0, 63 [SEP] 17, SaltShaker, 0.811, 0.117, 0.349, 0, 270, 0, 55 [SEP] 18, SaltShaker, 0.914, 0.150, -0.571, 0, 270, 0, 57 [SEP] 19, PepperShaker, 1.039, 2.204, -1.408, 0, 270, 0, 61 [SEP] 20, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 54 [SEP] 21, Glassbottle, 1.101, 1.667, -2.166, 0, 270, 0, 53 [SEP] 22, Bread, -0.779, 0.996, 0.209, 0, 258.641, 0, 54 [SEP] 23, CreditCard, -1.981, 0.878, 2.719, 0, 0, 0, 81 [SEP] 24, CellPhone, -1.104, 0.930, -1.167, 0, 0, 0, 54 [SEP] 25, Potato, -0.808, 0.807, -0.486, 0, 180, 0, 75 [SEP] 26, Knife, 0.868, 0.700, -0.600, 90, 315, 0, 52 [SEP] 27, Fork, -0.698, 0.934, -1.154, 0, 0, 0, 54 [SEP] 28, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 48 [SEP] 29, Lettuce, -1.229, 1.010, -0.380, 0, 0, 0, 54 [SEP] 30, Plate, 1.194, 1.669, -0.401, 0, 270, 0, 63 [SEP] 31, Apple, -0.865, 0.229, 0.641, 0, 180, 0, 74 [SEP] 32, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 50 [SEP] 33, Spatula, 0.914, 0.168, -0.769, 0, 0, 0, 57 [SEP] 34, PaperTowelRoll, -0.818, 0.283, 0.510, 0, 270, 0, 74 [SEP] 35, Tomato, -0.869, 0.962, -0.096, 0, 0, 0, 54 [SEP] 36, Egg, -0.624, 0.971, -1.386, 0, 0, 0, 54 [SEP] 37, SaltShaker, 0.834, 0.491, -0.648, 0, 270, 0, 58 [SEP] 38, PepperShaker, 1.055, 1.662, 0.025, 0, 270, 0, 62 [SEP] 39, Vase, 1.126, 2.207, -1.299, 0, 270, 0, 61 [SEP] 40, ButterKnife, -1.167, 0.933, -0.118, 0, 0, 0, 54 [SEP] 41, SoapBottle, 1.147, 1.666, 0.280, 0, 270, 0, 62 [SEP] 42, Vase, -1.881, 0.555, 2.615, 0, 0, 0, 80 [SEP] 43, Bowl, 1.101, 1.669, -1.961, 0, 270, 0, 53 [SEP] 44, DishSponge, -0.846, 0.933, -1.540, 0, 0, 0, 54 [SEP] 45, Spoon, -1.104, 0.934, -1.430, 0, 0, 0, 54 [SEP] 46, Cup, 0.761, 0.105, -1.972, 0, 0, 0, 59 [SEP] 47, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 73 [SEP] 48, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 49, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 50, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 51, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 52, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 53, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 54, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 55, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 56, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 57, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 58, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 59, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 60, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 61, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 62, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 63, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 64, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 65, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 66, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 67, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 68, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 69, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 70, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 71, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 72, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 73, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 74, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 75, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 76, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 77, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 78, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 79, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 80, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 81, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 82, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 83, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 84, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 85, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 86, NorthWall, , , , , , , [SEP] 87, EastWall, , , , , , , [SEP] 88, SouthWall, , , , , , , [SEP] 89, WestWall, , , , , , , ", "output": ["STEP 1: Turn around, walk forward, turn right near the fridge, walk straight and turn left to face the stove. | STEP 2: Pick up the pan from on top of the stove. | STEP 3: Turn around, walk to the right to go back to the fridge. | STEP 4: Open the fridge, put the pan in it, close the fridge, let it cool for a while, open the fridge, pick it up again and close the fridge. | STEP 5: Go to the right and turn left to face the dishwasher. | STEP 6: Put the pan on the counter top. | END"]} +{"id": "trial_T20190908_114656_768805-1", "input": "Chill a pan and 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, 1.0, 0, 270, 0, [SEP] 1, Statue, -0.698, 0.936, -1.540, 0, 0, 0, 54 [SEP] 2, CreditCard, -1.985, 0.551, 2.770, 0, 0, 0, 80 [SEP] 3, CreditCard, -1.355, 0.930, 0.144, 0, 0, 0, 54 [SEP] 4, CellPhone, -1.467, 0.550, 2.667, 0, 0, 0, 80 [SEP] 5, DishSponge, 0.793, 0.153, -0.571, 0, 270, 0, 57 [SEP] 6, DishSponge, -0.846, 0.933, -1.308, 0, 0, 0, 54 [SEP] 7, Glassbottle, -1.363, 0.554, 2.770, 0, 0, 0, 80 [SEP] 8, Glassbottle, -0.808, 0.781, -0.832, 0, 90, 0, 75 [SEP] 9, Spoon, -0.550, 0.934, 0.086, 0, 0, 0, 54 [SEP] 10, Spatula, -1.104, 0.948, -1.167, 0, 90, 0, 54 [SEP] 11, Egg, -1.101, 0.214, 0.543, 0, 180, 0, 74 [SEP] 12, Egg, -0.808, 0.814, -0.573, 0, 90, 0, 75 [SEP] 13, Plate, -0.642, 0.783, -0.659, 0, 90, 0, 75 [SEP] 14, SoapBottle, 1.126, 2.208, -0.973, 0, 270, 0, 61 [SEP] 15, SoapBottle, -0.960, 0.177, 0.543, 0, 180, 0, 74 [SEP] 16, Bowl, 1.056, 1.669, -0.593, 0, 270, 0, 63 [SEP] 17, SaltShaker, 0.811, 0.117, 0.349, 0, 270, 0, 55 [SEP] 18, SaltShaker, 0.914, 0.150, -0.571, 0, 270, 0, 57 [SEP] 19, PepperShaker, 1.039, 2.204, -1.408, 0, 270, 0, 61 [SEP] 20, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 54 [SEP] 21, Glassbottle, 1.101, 1.667, -2.166, 0, 270, 0, 53 [SEP] 22, Bread, -0.779, 0.996, 0.209, 0, 258.641, 0, 54 [SEP] 23, CreditCard, -1.981, 0.878, 2.719, 0, 0, 0, 81 [SEP] 24, CellPhone, -1.104, 0.930, -1.167, 0, 0, 0, 54 [SEP] 25, Potato, -0.808, 0.807, -0.486, 0, 180, 0, 75 [SEP] 26, Knife, 0.868, 0.700, -0.600, 90, 315, 0, 52 [SEP] 27, Fork, -0.698, 0.934, -1.154, 0, 0, 0, 54 [SEP] 28, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 48 [SEP] 29, Lettuce, -1.229, 1.010, -0.380, 0, 0, 0, 54 [SEP] 30, Plate, 1.194, 1.669, -0.401, 0, 270, 0, 63 [SEP] 31, Apple, -0.865, 0.229, 0.641, 0, 180, 0, 74 [SEP] 32, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 50 [SEP] 33, Spatula, 0.914, 0.168, -0.769, 0, 0, 0, 57 [SEP] 34, PaperTowelRoll, -0.818, 0.283, 0.510, 0, 270, 0, 74 [SEP] 35, Tomato, -0.869, 0.962, -0.096, 0, 0, 0, 54 [SEP] 36, Egg, -0.624, 0.971, -1.386, 0, 0, 0, 54 [SEP] 37, SaltShaker, 0.834, 0.491, -0.648, 0, 270, 0, 58 [SEP] 38, PepperShaker, 1.055, 1.662, 0.025, 0, 270, 0, 62 [SEP] 39, Vase, 1.126, 2.207, -1.299, 0, 270, 0, 61 [SEP] 40, ButterKnife, -1.167, 0.933, -0.118, 0, 0, 0, 54 [SEP] 41, SoapBottle, 1.147, 1.666, 0.280, 0, 270, 0, 62 [SEP] 42, Vase, -1.881, 0.555, 2.615, 0, 0, 0, 80 [SEP] 43, Bowl, 1.101, 1.669, -1.961, 0, 270, 0, 53 [SEP] 44, DishSponge, -0.846, 0.933, -1.540, 0, 0, 0, 54 [SEP] 45, Spoon, -1.104, 0.934, -1.430, 0, 0, 0, 54 [SEP] 46, Cup, 0.761, 0.105, -1.972, 0, 0, 0, 59 [SEP] 47, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 73 [SEP] 48, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 49, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 50, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 51, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 52, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 53, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 54, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 55, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 56, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 57, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 58, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 59, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 60, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 61, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 62, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 63, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 64, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 65, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 66, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 67, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 68, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 69, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 70, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 71, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 72, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 73, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 74, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 75, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 76, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 77, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 78, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 79, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 80, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 81, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 82, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 83, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 84, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 85, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 86, NorthWall, , , , , , , [SEP] 87, EastWall, , , , , , , [SEP] 88, SouthWall, , , , , , , [SEP] 89, WestWall, , , , , , , ", "output": ["STEP 1: Walk around the kitchen counter to the stove on your left. | STEP 2: Grab a pan from the stove. | STEP 3: Walk to the front of the fridge on your left. | STEP 4: Place the pan in the fridge, then grab it. | STEP 5: Walk to the kitchen counter between the fridge and stove. | STEP 6: Place the pan on the counter. | END"]} +{"id": "trial_T20190908_114656_768805-2", "input": "Put the chilled pan 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, 1.0, 0, 270, 0, [SEP] 1, Statue, -0.698, 0.936, -1.540, 0, 0, 0, 54 [SEP] 2, CreditCard, -1.985, 0.551, 2.770, 0, 0, 0, 80 [SEP] 3, CreditCard, -1.355, 0.930, 0.144, 0, 0, 0, 54 [SEP] 4, CellPhone, -1.467, 0.550, 2.667, 0, 0, 0, 80 [SEP] 5, DishSponge, 0.793, 0.153, -0.571, 0, 270, 0, 57 [SEP] 6, DishSponge, -0.846, 0.933, -1.308, 0, 0, 0, 54 [SEP] 7, Glassbottle, -1.363, 0.554, 2.770, 0, 0, 0, 80 [SEP] 8, Glassbottle, -0.808, 0.781, -0.832, 0, 90, 0, 75 [SEP] 9, Spoon, -0.550, 0.934, 0.086, 0, 0, 0, 54 [SEP] 10, Spatula, -1.104, 0.948, -1.167, 0, 90, 0, 54 [SEP] 11, Egg, -1.101, 0.214, 0.543, 0, 180, 0, 74 [SEP] 12, Egg, -0.808, 0.814, -0.573, 0, 90, 0, 75 [SEP] 13, Plate, -0.642, 0.783, -0.659, 0, 90, 0, 75 [SEP] 14, SoapBottle, 1.126, 2.208, -0.973, 0, 270, 0, 61 [SEP] 15, SoapBottle, -0.960, 0.177, 0.543, 0, 180, 0, 74 [SEP] 16, Bowl, 1.056, 1.669, -0.593, 0, 270, 0, 63 [SEP] 17, SaltShaker, 0.811, 0.117, 0.349, 0, 270, 0, 55 [SEP] 18, SaltShaker, 0.914, 0.150, -0.571, 0, 270, 0, 57 [SEP] 19, PepperShaker, 1.039, 2.204, -1.408, 0, 270, 0, 61 [SEP] 20, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 54 [SEP] 21, Glassbottle, 1.101, 1.667, -2.166, 0, 270, 0, 53 [SEP] 22, Bread, -0.779, 0.996, 0.209, 0, 258.641, 0, 54 [SEP] 23, CreditCard, -1.981, 0.878, 2.719, 0, 0, 0, 81 [SEP] 24, CellPhone, -1.104, 0.930, -1.167, 0, 0, 0, 54 [SEP] 25, Potato, -0.808, 0.807, -0.486, 0, 180, 0, 75 [SEP] 26, Knife, 0.868, 0.700, -0.600, 90, 315, 0, 52 [SEP] 27, Fork, -0.698, 0.934, -1.154, 0, 0, 0, 54 [SEP] 28, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 48 [SEP] 29, Lettuce, -1.229, 1.010, -0.380, 0, 0, 0, 54 [SEP] 30, Plate, 1.194, 1.669, -0.401, 0, 270, 0, 63 [SEP] 31, Apple, -0.865, 0.229, 0.641, 0, 180, 0, 74 [SEP] 32, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 50 [SEP] 33, Spatula, 0.914, 0.168, -0.769, 0, 0, 0, 57 [SEP] 34, PaperTowelRoll, -0.818, 0.283, 0.510, 0, 270, 0, 74 [SEP] 35, Tomato, -0.869, 0.962, -0.096, 0, 0, 0, 54 [SEP] 36, Egg, -0.624, 0.971, -1.386, 0, 0, 0, 54 [SEP] 37, SaltShaker, 0.834, 0.491, -0.648, 0, 270, 0, 58 [SEP] 38, PepperShaker, 1.055, 1.662, 0.025, 0, 270, 0, 62 [SEP] 39, Vase, 1.126, 2.207, -1.299, 0, 270, 0, 61 [SEP] 40, ButterKnife, -1.167, 0.933, -0.118, 0, 0, 0, 54 [SEP] 41, SoapBottle, 1.147, 1.666, 0.280, 0, 270, 0, 62 [SEP] 42, Vase, -1.881, 0.555, 2.615, 0, 0, 0, 80 [SEP] 43, Bowl, 1.101, 1.669, -1.961, 0, 270, 0, 53 [SEP] 44, DishSponge, -0.846, 0.933, -1.540, 0, 0, 0, 54 [SEP] 45, Spoon, -1.104, 0.934, -1.430, 0, 0, 0, 54 [SEP] 46, Cup, 0.761, 0.105, -1.972, 0, 0, 0, 59 [SEP] 47, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 73 [SEP] 48, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 49, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 50, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 51, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 52, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 53, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 54, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 55, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 56, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 57, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 58, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 59, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 60, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 61, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 62, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 63, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 64, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 65, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 66, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 67, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 68, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 69, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 70, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 71, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 72, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 73, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 74, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 75, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 76, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 77, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 78, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 79, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 80, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 81, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 82, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 83, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 84, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 85, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 86, NorthWall, , , , , , , [SEP] 87, EastWall, , , , , , , [SEP] 88, SouthWall, , , , , , , [SEP] 89, WestWall, , , , , , , ", "output": ["STEP 1: Turn around to your left walk straight then turn right head to the stove on your left | STEP 2: Pick up the pan on the stove | STEP 3: Turn left then walk straight head to the fridge | STEP 4: Open the fridge put in the pan then take it out and close the fridge | STEP 5: Turn right walk straight face the counter beside the toaster | STEP 6: Put the pan on the counter beside the toaster | END"]} +{"id": "trial_T20190909_120554_888709-0", "input": "Put a clean egg 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, -2.75, 0.900, 2.25, 0, 270, 0, [SEP] 1, Potato, 0.773, 0.941, -0.729, 0, 0, 0, 65 [SEP] 2, Potato, 1.087, 0.893, 1.254, 0, 270, 0, 87 [SEP] 3, CreditCard, -1.363, 0.551, 2.563, 0, 0, 0, 90 [SEP] 4, ButterKnife, 1.029, 0.911, -0.034, 0, 0, 0, 65 [SEP] 5, Glassbottle, -1.363, 0.554, 2.667, 0, 0, 0, 90 [SEP] 6, Fork, -0.698, 0.934, -1.618, 0, 0, 0, 64 [SEP] 7, Spoon, -0.550, 0.934, -1.540, 0, 0, 0, 64 [SEP] 8, Spoon, 0.794, 0.495, -0.648, 0, 270, 0, 68 [SEP] 9, Knife, 0.859, 0.934, -0.034, 0, 0, 0, 65 [SEP] 10, Knife, 1.114, 0.934, -0.208, 0, 90, 0, 65 [SEP] 11, Egg, -1.054, 0.216, 0.510, 0, 180, 0, 84 [SEP] 12, Egg, 0.783, 1.172, 1.254, 0, 270, 0, 87 [SEP] 13, Egg, 0.688, 0.949, -2.051, 0, 0, 0, 70 [SEP] 14, Cup, 1.056, 1.663, -0.593, 0, 270, 0, 73 [SEP] 15, Plate, 0.844, 0.866, 1.254, 0, 270, 0, 87 [SEP] 16, SoapBottle, -0.772, 0.933, 0.162, 0, 0, 0, 64 [SEP] 17, SoapBottle, 1.194, 1.666, -2.029, 0, 270, 0, 63 [SEP] 18, Bowl, 1.026, 1.646, 1.063, 0, 270, 0, 87 [SEP] 19, Bowl, 0.944, 0.914, -1.793, 0, 0, 0, 70 [SEP] 20, SaltShaker, 0.913, 0.117, 0.423, 0, 270, 0, 65 [SEP] 21, PepperShaker, 0.996, 2.204, -1.626, 0, 270, 0, 71 [SEP] 22, PepperShaker, 0.956, 0.699, -0.607, 0, 270, 0, 62 [SEP] 23, Lettuce, 1.026, 1.212, 1.158, 0, 270, 0, 87 [SEP] 24, Lettuce, 0.859, 0.988, -0.381, 0, 0, 0, 65 [SEP] 25, Bread, 1.026, 1.482, 1.349, 0, 270, 0, 87 [SEP] 26, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 83 [SEP] 27, Mug, 0.844, 1.396, 1.444, 0, 270, 0, 87 [SEP] 28, Apple, -1.418, 0.983, -0.643, 0, 0, 0, 64 [SEP] 29, Apple, -0.912, 0.229, 0.608, 0, 180, 0, 84 [SEP] 30, Statue, -1.355, 0.936, -1.167, 0, 0, 0, 64 [SEP] 31, Glassbottle, 1.199, 0.912, -1.793, 0, 0, 0, 70 [SEP] 32, Bread, -1.104, 1.014, 0.144, 0, 0, 0, 64 [SEP] 33, CreditCard, 0.875, 0.700, -0.648, 0, 270, 0, 62 [SEP] 34, CellPhone, 0.793, 0.150, -0.611, 0, 270, 0, 67 [SEP] 35, Potato, 0.995, 1.825, -1.339, 0, 270, 0, 86 [SEP] 36, Knife, 1.029, 0.934, -0.381, 0, 0, 0, 65 [SEP] 37, Fork, 0.773, 0.911, -1.965, 0, 0, 0, 70 [SEP] 38, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 58 [SEP] 39, Lettuce, 0.944, 0.988, 0.139, 0, 0, 0, 65 [SEP] 40, Plate, -0.753, 0.783, -0.832, 0, 90, 0, 85 [SEP] 41, Apple, -0.477, 0.983, 0.009, 0, 0, 0, 64 [SEP] 42, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 60 [SEP] 43, Spatula, -0.642, 0.791, -0.659, 0, 0, 0, 85 [SEP] 44, PaperTowelRoll, -0.846, 1.037, -1.463, 0, 0, 0, 64 [SEP] 45, Tomato, 0.966, 1.442, 1.063, 0, 270, 0, 87 [SEP] 46, Egg, 0.944, 0.949, -0.208, 0, 0, 0, 65 [SEP] 47, SaltShaker, -1.041, 0.929, -0.643, 0, 0, 0, 64 [SEP] 48, PepperShaker, 0.794, 0.699, -0.524, 0, 270, 0, 62 [SEP] 49, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 90 [SEP] 50, ButterKnife, -0.624, 0.933, -1.231, 0, 0, 0, 64 [SEP] 51, SoapBottle, -1.104, 0.933, -0.118, 0, 0, 0, 64 [SEP] 52, Vase, -1.878, 0.882, 2.719, 0, 0, 0, 91 [SEP] 53, Bowl, 0.905, 1.646, 1.540, 0, 270, 0, 87 [SEP] 54, DishSponge, -1.367, 0.881, 2.692, 0, 0, 0, 90 [SEP] 55, Spoon, 0.773, 0.912, 0.139, 0, 0, 0, 65 [SEP] 56, Cup, -0.753, 0.777, -0.573, 0, 90, 0, 85 [SEP] 57, Mug, 1.082, 2.203, -1.517, 0, 270, 0, 71 [SEP] 58, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 59, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 60, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 61, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 62, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 63, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 64, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 65, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 66, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 67, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 68, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 69, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 70, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 71, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 72, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 73, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 74, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 75, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 76, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 77, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 78, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 79, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 80, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 81, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 82, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 83, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 84, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 85, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 86, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 87, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 88, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 89, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 90, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 91, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 92, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 93, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 94, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 95, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 96, NorthWall, , , , , , , [SEP] 97, EastWall, , , , , , , [SEP] 98, SouthWall, , , , , , , [SEP] 99, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and go forward, then turn left to go to the fridge, then turn right and move forward, then turn left to face the dishwasher. | STEP 2: Pick up the egg from the counter in front of you. | STEP 3: Turn around and go to the sink. | STEP 4: Wash the egg in the sink. | STEP 5: Turn around and go to the stove, then look up to the microwave. | STEP 6: Open the microwave, put the egg inside, then close it. | END"]} +{"id": "trial_T20190909_120554_888709-1", "input": "Wash an egg 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, -2.75, 0.900, 2.25, 0, 270, 0, [SEP] 1, Potato, 0.773, 0.941, -0.729, 0, 0, 0, 65 [SEP] 2, Potato, 1.087, 0.893, 1.254, 0, 270, 0, 87 [SEP] 3, CreditCard, -1.363, 0.551, 2.563, 0, 0, 0, 90 [SEP] 4, ButterKnife, 1.029, 0.911, -0.034, 0, 0, 0, 65 [SEP] 5, Glassbottle, -1.363, 0.554, 2.667, 0, 0, 0, 90 [SEP] 6, Fork, -0.698, 0.934, -1.618, 0, 0, 0, 64 [SEP] 7, Spoon, -0.550, 0.934, -1.540, 0, 0, 0, 64 [SEP] 8, Spoon, 0.794, 0.495, -0.648, 0, 270, 0, 68 [SEP] 9, Knife, 0.859, 0.934, -0.034, 0, 0, 0, 65 [SEP] 10, Knife, 1.114, 0.934, -0.208, 0, 90, 0, 65 [SEP] 11, Egg, -1.054, 0.216, 0.510, 0, 180, 0, 84 [SEP] 12, Egg, 0.783, 1.172, 1.254, 0, 270, 0, 87 [SEP] 13, Egg, 0.688, 0.949, -2.051, 0, 0, 0, 70 [SEP] 14, Cup, 1.056, 1.663, -0.593, 0, 270, 0, 73 [SEP] 15, Plate, 0.844, 0.866, 1.254, 0, 270, 0, 87 [SEP] 16, SoapBottle, -0.772, 0.933, 0.162, 0, 0, 0, 64 [SEP] 17, SoapBottle, 1.194, 1.666, -2.029, 0, 270, 0, 63 [SEP] 18, Bowl, 1.026, 1.646, 1.063, 0, 270, 0, 87 [SEP] 19, Bowl, 0.944, 0.914, -1.793, 0, 0, 0, 70 [SEP] 20, SaltShaker, 0.913, 0.117, 0.423, 0, 270, 0, 65 [SEP] 21, PepperShaker, 0.996, 2.204, -1.626, 0, 270, 0, 71 [SEP] 22, PepperShaker, 0.956, 0.699, -0.607, 0, 270, 0, 62 [SEP] 23, Lettuce, 1.026, 1.212, 1.158, 0, 270, 0, 87 [SEP] 24, Lettuce, 0.859, 0.988, -0.381, 0, 0, 0, 65 [SEP] 25, Bread, 1.026, 1.482, 1.349, 0, 270, 0, 87 [SEP] 26, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 83 [SEP] 27, Mug, 0.844, 1.396, 1.444, 0, 270, 0, 87 [SEP] 28, Apple, -1.418, 0.983, -0.643, 0, 0, 0, 64 [SEP] 29, Apple, -0.912, 0.229, 0.608, 0, 180, 0, 84 [SEP] 30, Statue, -1.355, 0.936, -1.167, 0, 0, 0, 64 [SEP] 31, Glassbottle, 1.199, 0.912, -1.793, 0, 0, 0, 70 [SEP] 32, Bread, -1.104, 1.014, 0.144, 0, 0, 0, 64 [SEP] 33, CreditCard, 0.875, 0.700, -0.648, 0, 270, 0, 62 [SEP] 34, CellPhone, 0.793, 0.150, -0.611, 0, 270, 0, 67 [SEP] 35, Potato, 0.995, 1.825, -1.339, 0, 270, 0, 86 [SEP] 36, Knife, 1.029, 0.934, -0.381, 0, 0, 0, 65 [SEP] 37, Fork, 0.773, 0.911, -1.965, 0, 0, 0, 70 [SEP] 38, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 58 [SEP] 39, Lettuce, 0.944, 0.988, 0.139, 0, 0, 0, 65 [SEP] 40, Plate, -0.753, 0.783, -0.832, 0, 90, 0, 85 [SEP] 41, Apple, -0.477, 0.983, 0.009, 0, 0, 0, 64 [SEP] 42, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 60 [SEP] 43, Spatula, -0.642, 0.791, -0.659, 0, 0, 0, 85 [SEP] 44, PaperTowelRoll, -0.846, 1.037, -1.463, 0, 0, 0, 64 [SEP] 45, Tomato, 0.966, 1.442, 1.063, 0, 270, 0, 87 [SEP] 46, Egg, 0.944, 0.949, -0.208, 0, 0, 0, 65 [SEP] 47, SaltShaker, -1.041, 0.929, -0.643, 0, 0, 0, 64 [SEP] 48, PepperShaker, 0.794, 0.699, -0.524, 0, 270, 0, 62 [SEP] 49, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 90 [SEP] 50, ButterKnife, -0.624, 0.933, -1.231, 0, 0, 0, 64 [SEP] 51, SoapBottle, -1.104, 0.933, -0.118, 0, 0, 0, 64 [SEP] 52, Vase, -1.878, 0.882, 2.719, 0, 0, 0, 91 [SEP] 53, Bowl, 0.905, 1.646, 1.540, 0, 270, 0, 87 [SEP] 54, DishSponge, -1.367, 0.881, 2.692, 0, 0, 0, 90 [SEP] 55, Spoon, 0.773, 0.912, 0.139, 0, 0, 0, 65 [SEP] 56, Cup, -0.753, 0.777, -0.573, 0, 90, 0, 85 [SEP] 57, Mug, 1.082, 2.203, -1.517, 0, 270, 0, 71 [SEP] 58, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 59, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 60, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 61, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 62, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 63, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 64, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 65, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 66, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 67, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 68, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 69, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 70, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 71, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 72, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 73, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 74, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 75, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 76, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 77, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 78, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 79, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 80, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 81, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 82, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 83, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 84, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 85, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 86, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 87, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 88, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 89, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 90, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 91, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 92, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 93, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 94, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 95, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 96, NorthWall, , , , , , , [SEP] 97, EastWall, , , , , , , [SEP] 98, SouthWall, , , , , , , [SEP] 99, WestWall, , , , , , , ", "output": ["STEP 1: Turn and go to the counter to the right of the fridge where the toaster is. | STEP 2: Pick up the egg that is on the counter that is surrounded by three knives and between the two heads of lettuce. | STEP 3: With the egg in hand turn and go to the sink. | STEP 4: Place the egg in the sink to the left of the spatula and in front of the plate. Turn the water on to wash the egg. Turn the water off and pick up the egg. | STEP 5: With the egg in hand turn and go to the microwave. | STEP 6: Open the microwave and place the egg to the left of the egg that is in the microwave. Shut the microwave door. | END"]} +{"id": "trial_T20190909_120554_888709-2", "input": "Place a rinsed 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, -2.75, 0.900, 2.25, 0, 270, 0, [SEP] 1, Potato, 0.773, 0.941, -0.729, 0, 0, 0, 65 [SEP] 2, Potato, 1.087, 0.893, 1.254, 0, 270, 0, 87 [SEP] 3, CreditCard, -1.363, 0.551, 2.563, 0, 0, 0, 90 [SEP] 4, ButterKnife, 1.029, 0.911, -0.034, 0, 0, 0, 65 [SEP] 5, Glassbottle, -1.363, 0.554, 2.667, 0, 0, 0, 90 [SEP] 6, Fork, -0.698, 0.934, -1.618, 0, 0, 0, 64 [SEP] 7, Spoon, -0.550, 0.934, -1.540, 0, 0, 0, 64 [SEP] 8, Spoon, 0.794, 0.495, -0.648, 0, 270, 0, 68 [SEP] 9, Knife, 0.859, 0.934, -0.034, 0, 0, 0, 65 [SEP] 10, Knife, 1.114, 0.934, -0.208, 0, 90, 0, 65 [SEP] 11, Egg, -1.054, 0.216, 0.510, 0, 180, 0, 84 [SEP] 12, Egg, 0.783, 1.172, 1.254, 0, 270, 0, 87 [SEP] 13, Egg, 0.688, 0.949, -2.051, 0, 0, 0, 70 [SEP] 14, Cup, 1.056, 1.663, -0.593, 0, 270, 0, 73 [SEP] 15, Plate, 0.844, 0.866, 1.254, 0, 270, 0, 87 [SEP] 16, SoapBottle, -0.772, 0.933, 0.162, 0, 0, 0, 64 [SEP] 17, SoapBottle, 1.194, 1.666, -2.029, 0, 270, 0, 63 [SEP] 18, Bowl, 1.026, 1.646, 1.063, 0, 270, 0, 87 [SEP] 19, Bowl, 0.944, 0.914, -1.793, 0, 0, 0, 70 [SEP] 20, SaltShaker, 0.913, 0.117, 0.423, 0, 270, 0, 65 [SEP] 21, PepperShaker, 0.996, 2.204, -1.626, 0, 270, 0, 71 [SEP] 22, PepperShaker, 0.956, 0.699, -0.607, 0, 270, 0, 62 [SEP] 23, Lettuce, 1.026, 1.212, 1.158, 0, 270, 0, 87 [SEP] 24, Lettuce, 0.859, 0.988, -0.381, 0, 0, 0, 65 [SEP] 25, Bread, 1.026, 1.482, 1.349, 0, 270, 0, 87 [SEP] 26, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 83 [SEP] 27, Mug, 0.844, 1.396, 1.444, 0, 270, 0, 87 [SEP] 28, Apple, -1.418, 0.983, -0.643, 0, 0, 0, 64 [SEP] 29, Apple, -0.912, 0.229, 0.608, 0, 180, 0, 84 [SEP] 30, Statue, -1.355, 0.936, -1.167, 0, 0, 0, 64 [SEP] 31, Glassbottle, 1.199, 0.912, -1.793, 0, 0, 0, 70 [SEP] 32, Bread, -1.104, 1.014, 0.144, 0, 0, 0, 64 [SEP] 33, CreditCard, 0.875, 0.700, -0.648, 0, 270, 0, 62 [SEP] 34, CellPhone, 0.793, 0.150, -0.611, 0, 270, 0, 67 [SEP] 35, Potato, 0.995, 1.825, -1.339, 0, 270, 0, 86 [SEP] 36, Knife, 1.029, 0.934, -0.381, 0, 0, 0, 65 [SEP] 37, Fork, 0.773, 0.911, -1.965, 0, 0, 0, 70 [SEP] 38, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 58 [SEP] 39, Lettuce, 0.944, 0.988, 0.139, 0, 0, 0, 65 [SEP] 40, Plate, -0.753, 0.783, -0.832, 0, 90, 0, 85 [SEP] 41, Apple, -0.477, 0.983, 0.009, 0, 0, 0, 64 [SEP] 42, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 60 [SEP] 43, Spatula, -0.642, 0.791, -0.659, 0, 0, 0, 85 [SEP] 44, PaperTowelRoll, -0.846, 1.037, -1.463, 0, 0, 0, 64 [SEP] 45, Tomato, 0.966, 1.442, 1.063, 0, 270, 0, 87 [SEP] 46, Egg, 0.944, 0.949, -0.208, 0, 0, 0, 65 [SEP] 47, SaltShaker, -1.041, 0.929, -0.643, 0, 0, 0, 64 [SEP] 48, PepperShaker, 0.794, 0.699, -0.524, 0, 270, 0, 62 [SEP] 49, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 90 [SEP] 50, ButterKnife, -0.624, 0.933, -1.231, 0, 0, 0, 64 [SEP] 51, SoapBottle, -1.104, 0.933, -0.118, 0, 0, 0, 64 [SEP] 52, Vase, -1.878, 0.882, 2.719, 0, 0, 0, 91 [SEP] 53, Bowl, 0.905, 1.646, 1.540, 0, 270, 0, 87 [SEP] 54, DishSponge, -1.367, 0.881, 2.692, 0, 0, 0, 90 [SEP] 55, Spoon, 0.773, 0.912, 0.139, 0, 0, 0, 65 [SEP] 56, Cup, -0.753, 0.777, -0.573, 0, 90, 0, 85 [SEP] 57, Mug, 1.082, 2.203, -1.517, 0, 270, 0, 71 [SEP] 58, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 59, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 60, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 61, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 62, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 63, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 64, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 65, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 66, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 67, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 68, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 69, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 70, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 71, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 72, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 73, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 74, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 75, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 76, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 77, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 78, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 79, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 80, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 81, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 82, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 83, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 84, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 85, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 86, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 87, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 88, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 89, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 90, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 91, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 92, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 93, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 94, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 95, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 96, NorthWall, , , , , , , [SEP] 97, EastWall, , , , , , , [SEP] 98, SouthWall, , , , , , , [SEP] 99, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and walk to the fridge, then take a couple steps to the right. Face the counter. | STEP 2: Pick up the egg on the counter. | STEP 3: Turn around and walk to the sink. | STEP 4: Wash the egg in the sink. | STEP 5: Turn around and veer right to the stove and microwave. | STEP 6: Place the egg in the microwave, near the middle. | END"]} +{"id": "trial_T20190907_173120_648218-0", "input": "Pick up the egg, put it in the refrigerator and then 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, 0.0, 0.900, 2.5, 0, 0, 0, [SEP] 1, Potato, -0.642, 0.811, -0.486, 0, 180, 0, 81 [SEP] 2, Potato, 1.087, 1.432, 1.158, 0, 270, 0, 83 [SEP] 3, CreditCard, -1.674, 0.551, 2.563, 0, 0, 0, 86 [SEP] 4, DishSponge, -0.912, 0.176, 0.576, 0, 180, 0, 80 [SEP] 5, ButterKnife, 0.944, 0.911, -0.555, 0, 0, 0, 61 [SEP] 6, ButterKnife, 0.859, 0.911, -0.729, 0, 0, 0, 61 [SEP] 7, Glassbottle, 0.688, 0.912, -0.208, 0, 0, 0, 61 [SEP] 8, Fork, 0.874, 0.154, -0.531, 0, 0, 0, 63 [SEP] 9, Spoon, 0.773, 0.912, 0.313, 0, 0, 0, 61 [SEP] 10, Spatula, -0.753, 0.791, -0.573, 0, 180, 0, 81 [SEP] 11, Spatula, 0.834, 0.718, -0.565, 0, 270, 0, 58 [SEP] 12, Knife, -0.624, 0.957, -1.618, 0, 0, 0, 60 [SEP] 13, Knife, -1.292, 0.957, -1.430, 0, 180, 0, 60 [SEP] 14, Cup, 1.060, 1.792, -1.132, 0, 270, 0, 82 [SEP] 15, Plate, 1.029, 0.914, -0.208, 0, 0, 0, 61 [SEP] 16, Plate, 1.026, 1.405, 1.444, 0, 270, 0, 83 [SEP] 17, SoapBottle, 0.688, 0.911, -2.308, 0, 0, 0, 66 [SEP] 18, SoapBottle, 1.169, 2.208, -1.191, 0, 270, 0, 67 [SEP] 19, Bowl, 0.905, 1.646, 1.063, 0, 270, 0, 83 [SEP] 20, Bowl, 1.148, 1.669, -1.961, 0, 270, 0, 59 [SEP] 21, SaltShaker, -1.467, 0.550, 2.770, 0, 0, 0, 86 [SEP] 22, Lettuce, 0.688, 0.988, -0.729, 0, 0, 0, 61 [SEP] 23, Mug, 1.239, 1.661, 0.153, 0, 0, 0, 68 [SEP] 24, Mug, 1.055, 1.661, 0.280, 0, 270, 0, 68 [SEP] 25, Apple, -0.920, 0.983, -1.463, 0, 0, 0, 60 [SEP] 26, Statue, 0.773, 0.914, -0.034, 0, 0, 0, 61 [SEP] 27, Glassbottle, 0.760, 0.121, 0.349, 0, 270, 0, 55 [SEP] 28, Bread, -0.779, 0.996, 0.209, 0, 258.641, 0, 60 [SEP] 29, CreditCard, -1.674, 0.878, 2.719, 0, 0, 0, 87 [SEP] 30, CellPhone, 0.834, 0.699, -0.648, 0, 270, 0, 58 [SEP] 31, Potato, -1.054, 0.207, 0.510, 0, 180, 0, 80 [SEP] 32, Knife, -0.772, 0.957, -1.386, 0, 0, 0, 60 [SEP] 33, Fork, -1.104, 0.934, 0.144, 0, 0, 0, 60 [SEP] 34, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 54 [SEP] 35, Lettuce, -1.355, 1.010, -0.118, 0, 0, 0, 60 [SEP] 36, Plate, 1.082, 2.211, -0.973, 0, 270, 0, 67 [SEP] 37, Apple, -0.642, 0.830, -0.659, 0, 90, 0, 81 [SEP] 38, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 56 [SEP] 39, Spatula, 0.915, 0.510, -0.648, 0, 0, 0, 64 [SEP] 40, PaperTowelRoll, 1.199, 1.015, -1.793, 0, 0, 0, 66 [SEP] 41, Tomato, 0.905, 0.903, 1.158, 0, 270, 0, 83 [SEP] 42, Egg, 1.029, 0.949, -0.034, 0, 0, 0, 61 [SEP] 43, SaltShaker, 0.834, 0.491, -0.565, 0, 270, 0, 64 [SEP] 44, PepperShaker, -0.550, 0.929, 0.239, 0, 0, 0, 60 [SEP] 45, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 86 [SEP] 46, ButterKnife, -1.229, 0.933, -0.905, 0, 0, 0, 60 [SEP] 47, SoapBottle, 1.148, 1.666, -0.401, 0, 270, 0, 69 [SEP] 48, Vase, -0.624, 0.934, -1.231, 0, 0, 0, 60 [SEP] 49, Bowl, -0.697, 0.779, -0.832, 0, 90, 0, 81 [SEP] 50, DishSponge, -1.469, 0.881, 2.719, 0, 0, 0, 86 [SEP] 51, Spoon, -1.167, 0.934, -0.643, 0, 0, 0, 60 [SEP] 52, Cup, -1.778, 0.551, 2.563, 0, 0, 0, 86 [SEP] 53, Mug, 1.093, 1.790, -1.339, 0, 270, 0, 82 [SEP] 54, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 55, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 56, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 57, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 58, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 59, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 60, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 61, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 62, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 63, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 64, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 65, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 66, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 67, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 68, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 69, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 70, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 71, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 72, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 73, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 74, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 75, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 76, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 77, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 78, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 79, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 80, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 81, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 82, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 83, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 84, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 85, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 86, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 87, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 88, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 89, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 90, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 91, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 92, NorthWall, , , , , , , [SEP] 93, EastWall, , , , , , , [SEP] 94, SouthWall, , , , , , , [SEP] 95, WestWall, , , , , , , ", "output": ["STEP 1: Turn around, walk forward, turn to the left to face the counter top | STEP 2: Pick up the egg on the counter top behind the trophy. | STEP 3: Turn around and face the refrigerator, open the refrigerator door | STEP 4: Place the egg inside the refrigerator by the tomato. Close the door, then open the door and pick the egg up. | STEP 5: Turn to the right, walk forward, turn to the right to face the sink. | STEP 6: Place the egg in the sink in front of the white bowl. | END"]} +{"id": "trial_T20190907_173120_648218-1", "input": "Put a cold egg 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, 2.5, 0, 0, 0, [SEP] 1, Potato, -0.642, 0.811, -0.486, 0, 180, 0, 81 [SEP] 2, Potato, 1.087, 1.432, 1.158, 0, 270, 0, 83 [SEP] 3, CreditCard, -1.674, 0.551, 2.563, 0, 0, 0, 86 [SEP] 4, DishSponge, -0.912, 0.176, 0.576, 0, 180, 0, 80 [SEP] 5, ButterKnife, 0.944, 0.911, -0.555, 0, 0, 0, 61 [SEP] 6, ButterKnife, 0.859, 0.911, -0.729, 0, 0, 0, 61 [SEP] 7, Glassbottle, 0.688, 0.912, -0.208, 0, 0, 0, 61 [SEP] 8, Fork, 0.874, 0.154, -0.531, 0, 0, 0, 63 [SEP] 9, Spoon, 0.773, 0.912, 0.313, 0, 0, 0, 61 [SEP] 10, Spatula, -0.753, 0.791, -0.573, 0, 180, 0, 81 [SEP] 11, Spatula, 0.834, 0.718, -0.565, 0, 270, 0, 58 [SEP] 12, Knife, -0.624, 0.957, -1.618, 0, 0, 0, 60 [SEP] 13, Knife, -1.292, 0.957, -1.430, 0, 180, 0, 60 [SEP] 14, Cup, 1.060, 1.792, -1.132, 0, 270, 0, 82 [SEP] 15, Plate, 1.029, 0.914, -0.208, 0, 0, 0, 61 [SEP] 16, Plate, 1.026, 1.405, 1.444, 0, 270, 0, 83 [SEP] 17, SoapBottle, 0.688, 0.911, -2.308, 0, 0, 0, 66 [SEP] 18, SoapBottle, 1.169, 2.208, -1.191, 0, 270, 0, 67 [SEP] 19, Bowl, 0.905, 1.646, 1.063, 0, 270, 0, 83 [SEP] 20, Bowl, 1.148, 1.669, -1.961, 0, 270, 0, 59 [SEP] 21, SaltShaker, -1.467, 0.550, 2.770, 0, 0, 0, 86 [SEP] 22, Lettuce, 0.688, 0.988, -0.729, 0, 0, 0, 61 [SEP] 23, Mug, 1.239, 1.661, 0.153, 0, 0, 0, 68 [SEP] 24, Mug, 1.055, 1.661, 0.280, 0, 270, 0, 68 [SEP] 25, Apple, -0.920, 0.983, -1.463, 0, 0, 0, 60 [SEP] 26, Statue, 0.773, 0.914, -0.034, 0, 0, 0, 61 [SEP] 27, Glassbottle, 0.760, 0.121, 0.349, 0, 270, 0, 55 [SEP] 28, Bread, -0.779, 0.996, 0.209, 0, 258.641, 0, 60 [SEP] 29, CreditCard, -1.674, 0.878, 2.719, 0, 0, 0, 87 [SEP] 30, CellPhone, 0.834, 0.699, -0.648, 0, 270, 0, 58 [SEP] 31, Potato, -1.054, 0.207, 0.510, 0, 180, 0, 80 [SEP] 32, Knife, -0.772, 0.957, -1.386, 0, 0, 0, 60 [SEP] 33, Fork, -1.104, 0.934, 0.144, 0, 0, 0, 60 [SEP] 34, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 54 [SEP] 35, Lettuce, -1.355, 1.010, -0.118, 0, 0, 0, 60 [SEP] 36, Plate, 1.082, 2.211, -0.973, 0, 270, 0, 67 [SEP] 37, Apple, -0.642, 0.830, -0.659, 0, 90, 0, 81 [SEP] 38, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 56 [SEP] 39, Spatula, 0.915, 0.510, -0.648, 0, 0, 0, 64 [SEP] 40, PaperTowelRoll, 1.199, 1.015, -1.793, 0, 0, 0, 66 [SEP] 41, Tomato, 0.905, 0.903, 1.158, 0, 270, 0, 83 [SEP] 42, Egg, 1.029, 0.949, -0.034, 0, 0, 0, 61 [SEP] 43, SaltShaker, 0.834, 0.491, -0.565, 0, 270, 0, 64 [SEP] 44, PepperShaker, -0.550, 0.929, 0.239, 0, 0, 0, 60 [SEP] 45, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 86 [SEP] 46, ButterKnife, -1.229, 0.933, -0.905, 0, 0, 0, 60 [SEP] 47, SoapBottle, 1.148, 1.666, -0.401, 0, 270, 0, 69 [SEP] 48, Vase, -0.624, 0.934, -1.231, 0, 0, 0, 60 [SEP] 49, Bowl, -0.697, 0.779, -0.832, 0, 90, 0, 81 [SEP] 50, DishSponge, -1.469, 0.881, 2.719, 0, 0, 0, 86 [SEP] 51, Spoon, -1.167, 0.934, -0.643, 0, 0, 0, 60 [SEP] 52, Cup, -1.778, 0.551, 2.563, 0, 0, 0, 86 [SEP] 53, Mug, 1.093, 1.790, -1.339, 0, 270, 0, 82 [SEP] 54, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 55, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 56, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 57, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 58, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 59, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 60, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 61, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 62, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 63, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 64, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 65, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 66, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 67, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 68, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 69, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 70, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 71, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 72, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 73, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 74, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 75, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 76, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 77, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 78, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 79, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 80, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 81, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 82, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 83, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 84, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 85, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 86, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 87, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 88, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 89, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 90, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 91, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 92, NorthWall, , , , , , , [SEP] 93, EastWall, , , , , , , [SEP] 94, SouthWall, , , , , , , [SEP] 95, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and stand in front of the toaster. | STEP 2: Pick up the egg to the right of the toaster. | STEP 3: Turn left and go to the fridge. | STEP 4: Chill the egg and pick it up again. | STEP 5: Turn right and then go to the sink on your right. | STEP 6: Put the egg in the sink. | END"]} +{"id": "trial_T20190907_173120_648218-2", "input": "Chill an egg 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, 0.0, 0.900, 2.5, 0, 0, 0, [SEP] 1, Potato, -0.642, 0.811, -0.486, 0, 180, 0, 81 [SEP] 2, Potato, 1.087, 1.432, 1.158, 0, 270, 0, 83 [SEP] 3, CreditCard, -1.674, 0.551, 2.563, 0, 0, 0, 86 [SEP] 4, DishSponge, -0.912, 0.176, 0.576, 0, 180, 0, 80 [SEP] 5, ButterKnife, 0.944, 0.911, -0.555, 0, 0, 0, 61 [SEP] 6, ButterKnife, 0.859, 0.911, -0.729, 0, 0, 0, 61 [SEP] 7, Glassbottle, 0.688, 0.912, -0.208, 0, 0, 0, 61 [SEP] 8, Fork, 0.874, 0.154, -0.531, 0, 0, 0, 63 [SEP] 9, Spoon, 0.773, 0.912, 0.313, 0, 0, 0, 61 [SEP] 10, Spatula, -0.753, 0.791, -0.573, 0, 180, 0, 81 [SEP] 11, Spatula, 0.834, 0.718, -0.565, 0, 270, 0, 58 [SEP] 12, Knife, -0.624, 0.957, -1.618, 0, 0, 0, 60 [SEP] 13, Knife, -1.292, 0.957, -1.430, 0, 180, 0, 60 [SEP] 14, Cup, 1.060, 1.792, -1.132, 0, 270, 0, 82 [SEP] 15, Plate, 1.029, 0.914, -0.208, 0, 0, 0, 61 [SEP] 16, Plate, 1.026, 1.405, 1.444, 0, 270, 0, 83 [SEP] 17, SoapBottle, 0.688, 0.911, -2.308, 0, 0, 0, 66 [SEP] 18, SoapBottle, 1.169, 2.208, -1.191, 0, 270, 0, 67 [SEP] 19, Bowl, 0.905, 1.646, 1.063, 0, 270, 0, 83 [SEP] 20, Bowl, 1.148, 1.669, -1.961, 0, 270, 0, 59 [SEP] 21, SaltShaker, -1.467, 0.550, 2.770, 0, 0, 0, 86 [SEP] 22, Lettuce, 0.688, 0.988, -0.729, 0, 0, 0, 61 [SEP] 23, Mug, 1.239, 1.661, 0.153, 0, 0, 0, 68 [SEP] 24, Mug, 1.055, 1.661, 0.280, 0, 270, 0, 68 [SEP] 25, Apple, -0.920, 0.983, -1.463, 0, 0, 0, 60 [SEP] 26, Statue, 0.773, 0.914, -0.034, 0, 0, 0, 61 [SEP] 27, Glassbottle, 0.760, 0.121, 0.349, 0, 270, 0, 55 [SEP] 28, Bread, -0.779, 0.996, 0.209, 0, 258.641, 0, 60 [SEP] 29, CreditCard, -1.674, 0.878, 2.719, 0, 0, 0, 87 [SEP] 30, CellPhone, 0.834, 0.699, -0.648, 0, 270, 0, 58 [SEP] 31, Potato, -1.054, 0.207, 0.510, 0, 180, 0, 80 [SEP] 32, Knife, -0.772, 0.957, -1.386, 0, 0, 0, 60 [SEP] 33, Fork, -1.104, 0.934, 0.144, 0, 0, 0, 60 [SEP] 34, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 54 [SEP] 35, Lettuce, -1.355, 1.010, -0.118, 0, 0, 0, 60 [SEP] 36, Plate, 1.082, 2.211, -0.973, 0, 270, 0, 67 [SEP] 37, Apple, -0.642, 0.830, -0.659, 0, 90, 0, 81 [SEP] 38, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 56 [SEP] 39, Spatula, 0.915, 0.510, -0.648, 0, 0, 0, 64 [SEP] 40, PaperTowelRoll, 1.199, 1.015, -1.793, 0, 0, 0, 66 [SEP] 41, Tomato, 0.905, 0.903, 1.158, 0, 270, 0, 83 [SEP] 42, Egg, 1.029, 0.949, -0.034, 0, 0, 0, 61 [SEP] 43, SaltShaker, 0.834, 0.491, -0.565, 0, 270, 0, 64 [SEP] 44, PepperShaker, -0.550, 0.929, 0.239, 0, 0, 0, 60 [SEP] 45, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 86 [SEP] 46, ButterKnife, -1.229, 0.933, -0.905, 0, 0, 0, 60 [SEP] 47, SoapBottle, 1.148, 1.666, -0.401, 0, 270, 0, 69 [SEP] 48, Vase, -0.624, 0.934, -1.231, 0, 0, 0, 60 [SEP] 49, Bowl, -0.697, 0.779, -0.832, 0, 90, 0, 81 [SEP] 50, DishSponge, -1.469, 0.881, 2.719, 0, 0, 0, 86 [SEP] 51, Spoon, -1.167, 0.934, -0.643, 0, 0, 0, 60 [SEP] 52, Cup, -1.778, 0.551, 2.563, 0, 0, 0, 86 [SEP] 53, Mug, 1.093, 1.790, -1.339, 0, 270, 0, 82 [SEP] 54, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 55, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 56, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 57, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 58, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 59, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 60, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 61, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 62, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 63, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 64, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 65, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 66, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 67, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 68, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 69, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 70, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 71, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 72, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 73, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 74, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 75, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 76, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 77, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 78, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 79, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 80, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 81, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 82, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 83, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 84, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 85, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 86, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 87, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 88, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 89, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 90, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 91, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 92, NorthWall, , , , , , , [SEP] 93, EastWall, , , , , , , [SEP] 94, SouthWall, , , , , , , [SEP] 95, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and walk forwards before turning left to face the statue | STEP 2: Pick up an egg from off of the kitchen counter | STEP 3: Turn to your left and maneuver to face the fridge | STEP 4: Open the fridge, put the egg in to chill for a few seconds and then take it back out | STEP 5: Turn right and walk into the kitchen until you face the sink | STEP 6: Place the cold egg in the sink | END"]} +{"id": "trial_T20190909_064221_368939-0", "input": "To move two bars of soap to the gold 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, 0.901, 2.25, 0, 180, 0, [SEP] 1, Cloth, -0.279, 0.075, 3.100, 0, 0, 0, 21 [SEP] 2, SprayBottle, -0.024, 0.954, 1.669, 0, 90, 0, 33 [SEP] 3, Candle, -0.104, 0.953, 1.481, 0, 0, 0, 33 [SEP] 4, Candle, -0.388, 0.954, 2.843, 0, 0, 0, 25 [SEP] 5, SoapBar, -0.381, 0.075, 2.336, 0, 0, 0, 27 [SEP] 6, SoapBar, -0.326, 0.954, 2.913, 0, 0, 0, 25 [SEP] 7, SoapBar, -0.079, 0.954, 2.878, 0, 0, 0, 25 [SEP] 8, HandTowel, -0.038, 1.619, 1.887, 0, 90, 0, 31 [SEP] 9, Towel, -1.082, 1.326, 1.302, 0, 0, 0, 28 [SEP] 10, SoapBar, -0.450, 0.954, 2.843, 0, 0, 0, 25 [SEP] 11, ToiletPaper, -0.117, 0.945, 1.629, 0, 0, 0, 33 [SEP] 12, Plunger, -0.112, -0.000, 1.848, 0, 0, 0, [SEP] 13, Candle, -0.179, 0.076, 2.698, 0, 0, 0, 22 [SEP] 14, ToiletPaper, -0.331, 0.073, 2.698, 0, 0, 0, 22 [SEP] 15, SprayBottle, -0.141, 0.955, 2.807, 0, 0, 0, 25 [SEP] 16, Cloth, -0.331, 0.076, 3.507, 0, 0, 0, 26 [SEP] 17, ScrubBrush, -0.322, 3.109, 1.950, 0, 0, 0, [SEP] 18, SoapBottle, -0.179, 0.077, 3.417, 0, 90, 0, 26 [SEP] 19, Mirror, -0.030, 1.544, 2.864, 0, 0, 0, [SEP] 20, Sink, -0.302, 0.799, 3.263, 0, 270, 0, [SEP] 21, Cabinet, -0.491, 0.404, 2.863, 0, 0, 0, [SEP] 22, Cabinet, -0.495, 0.384, 2.842, 0, 0, 0, [SEP] 23, ShowerDoor, -1.647, 1.017, 1.180, 0, 0, 0, [SEP] 24, ShowerGlass, -0.909, 0.788, 0.485, 0, 0, 0, [SEP] 25, CounterTop, -0.261, 0.927, 2.843, 0, 0, 0, [SEP] 26, Cabinet, -0.495, 0.384, 3.650, 0, 0, 0, [SEP] 27, Cabinet, -0.491, 0.404, 2.055, 0, 0, 0, [SEP] 28, TowelHolder, -1.082, 1.312, 1.195, 0, 0, 0, [SEP] 29, LightSwitch, -2.424, 1.447, 3.338, 0, 90, 0, [SEP] 30, ToiletPaperHanger, -0.266, 0.786, 2.043, 0, 180, 0, [SEP] 31, HandTowelHolder, 0.000, 1.721, 1.887, 0, 180, 0, [SEP] 32, HandTowelHolder, 0.000, 1.721, 3.799, 0, 180, 0, [SEP] 33, Toilet, -0.542, 3.109, 1.493, 0, 270, 0, [SEP] 34, GarbageCan, -2.159, -0.000, 3.756, 0, 0, 0, [SEP] 35, SinkBasin, -0.308, 0.820, 3.266, 0, 0, 0, [SEP] 36, ShowerHead, -0.134, 1.888, 0.564, 0, 90, 0, [SEP] 37, Faucet, 0.0, 1.009, 3.265, 0, 0, 0, [SEP] 38, Faucet, 0.0, 1.009, 2.421, 0, 0, 0, [SEP] 39, SinkBasin, -0.308, 0.820, 2.422, 0, 0, 0, [SEP] 40, Sink, -0.302, 0.799, 2.419, 0, 270, 0, [SEP] 41, NorthWall, , , , , , , [SEP] 42, SouthWall, , , , , , , [SEP] 43, SouthWall, , , , , , , ", "output": ["STEP 1: Move to the counter in between the two sinks. | STEP 2: Put the bar of soap down on the counter in between the sinks. | STEP 3: Walk to the gold bin in the corner of the room. | STEP 4: Put the bar of soap down in the bin. | STEP 5: Walk back over to the sink. | STEP 6: Pick up the bar of soap to the left of the spray bottle. | STEP 7: Turn and walk back to the gold bin. | STEP 8: Put the bar of soap in the gold bin to the left of the first bar of soap. | END"]} +{"id": "trial_T20190909_064221_368939-1", "input": "Move two bars of soap from the counter to a golden 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, 0.901, 2.25, 0, 180, 0, [SEP] 1, Cloth, -0.279, 0.075, 3.100, 0, 0, 0, 21 [SEP] 2, SprayBottle, -0.024, 0.954, 1.669, 0, 90, 0, 33 [SEP] 3, Candle, -0.104, 0.953, 1.481, 0, 0, 0, 33 [SEP] 4, Candle, -0.388, 0.954, 2.843, 0, 0, 0, 25 [SEP] 5, SoapBar, -0.381, 0.075, 2.336, 0, 0, 0, 27 [SEP] 6, SoapBar, -0.326, 0.954, 2.913, 0, 0, 0, 25 [SEP] 7, SoapBar, -0.079, 0.954, 2.878, 0, 0, 0, 25 [SEP] 8, HandTowel, -0.038, 1.619, 1.887, 0, 90, 0, 31 [SEP] 9, Towel, -1.082, 1.326, 1.302, 0, 0, 0, 28 [SEP] 10, SoapBar, -0.450, 0.954, 2.843, 0, 0, 0, 25 [SEP] 11, ToiletPaper, -0.117, 0.945, 1.629, 0, 0, 0, 33 [SEP] 12, Plunger, -0.112, -0.000, 1.848, 0, 0, 0, [SEP] 13, Candle, -0.179, 0.076, 2.698, 0, 0, 0, 22 [SEP] 14, ToiletPaper, -0.331, 0.073, 2.698, 0, 0, 0, 22 [SEP] 15, SprayBottle, -0.141, 0.955, 2.807, 0, 0, 0, 25 [SEP] 16, Cloth, -0.331, 0.076, 3.507, 0, 0, 0, 26 [SEP] 17, ScrubBrush, -0.322, 3.109, 1.950, 0, 0, 0, [SEP] 18, SoapBottle, -0.179, 0.077, 3.417, 0, 90, 0, 26 [SEP] 19, Mirror, -0.030, 1.544, 2.864, 0, 0, 0, [SEP] 20, Sink, -0.302, 0.799, 3.263, 0, 270, 0, [SEP] 21, Cabinet, -0.491, 0.404, 2.863, 0, 0, 0, [SEP] 22, Cabinet, -0.495, 0.384, 2.842, 0, 0, 0, [SEP] 23, ShowerDoor, -1.647, 1.017, 1.180, 0, 0, 0, [SEP] 24, ShowerGlass, -0.909, 0.788, 0.485, 0, 0, 0, [SEP] 25, CounterTop, -0.261, 0.927, 2.843, 0, 0, 0, [SEP] 26, Cabinet, -0.495, 0.384, 3.650, 0, 0, 0, [SEP] 27, Cabinet, -0.491, 0.404, 2.055, 0, 0, 0, [SEP] 28, TowelHolder, -1.082, 1.312, 1.195, 0, 0, 0, [SEP] 29, LightSwitch, -2.424, 1.447, 3.338, 0, 90, 0, [SEP] 30, ToiletPaperHanger, -0.266, 0.786, 2.043, 0, 180, 0, [SEP] 31, HandTowelHolder, 0.000, 1.721, 1.887, 0, 180, 0, [SEP] 32, HandTowelHolder, 0.000, 1.721, 3.799, 0, 180, 0, [SEP] 33, Toilet, -0.542, 3.109, 1.493, 0, 270, 0, [SEP] 34, GarbageCan, -2.159, -0.000, 3.756, 0, 0, 0, [SEP] 35, SinkBasin, -0.308, 0.820, 3.266, 0, 0, 0, [SEP] 36, ShowerHead, -0.134, 1.888, 0.564, 0, 90, 0, [SEP] 37, Faucet, 0.0, 1.009, 3.265, 0, 0, 0, [SEP] 38, Faucet, 0.0, 1.009, 2.421, 0, 0, 0, [SEP] 39, SinkBasin, -0.308, 0.820, 2.422, 0, 0, 0, [SEP] 40, Sink, -0.302, 0.799, 2.419, 0, 270, 0, [SEP] 41, NorthWall, , , , , , , [SEP] 42, SouthWall, , , , , , , [SEP] 43, SouthWall, , , , , , , ", "output": ["STEP 1: Turn around and walk towards the wall, then hang a right and walk up to the counter. | STEP 2: Pick up the closest bar of soap off of the counter. | STEP 3: Turn around and walk to the door, then turn right and walk over to the golden can on the ground in the corner of the room. | STEP 4: Put the bar of soap into the golden can. | STEP 5: Turn around and take two steps, then turn left and walk up to the counter. | STEP 6: Pick up the bar of soap that is closest to the mirror on the counter. | STEP 7: Turn around and walk over to the door, then turn right and walk up to the golden can. | STEP 8: Put the bar of soap into the small golden can. | END"]} +{"id": "trial_T20190909_064221_368939-2", "input": "Move two bars of soap from counter to garbage can. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.25, 0.901, 2.25, 0, 180, 0, [SEP] 1, Cloth, -0.279, 0.075, 3.100, 0, 0, 0, 21 [SEP] 2, SprayBottle, -0.024, 0.954, 1.669, 0, 90, 0, 33 [SEP] 3, Candle, -0.104, 0.953, 1.481, 0, 0, 0, 33 [SEP] 4, Candle, -0.388, 0.954, 2.843, 0, 0, 0, 25 [SEP] 5, SoapBar, -0.381, 0.075, 2.336, 0, 0, 0, 27 [SEP] 6, SoapBar, -0.326, 0.954, 2.913, 0, 0, 0, 25 [SEP] 7, SoapBar, -0.079, 0.954, 2.878, 0, 0, 0, 25 [SEP] 8, HandTowel, -0.038, 1.619, 1.887, 0, 90, 0, 31 [SEP] 9, Towel, -1.082, 1.326, 1.302, 0, 0, 0, 28 [SEP] 10, SoapBar, -0.450, 0.954, 2.843, 0, 0, 0, 25 [SEP] 11, ToiletPaper, -0.117, 0.945, 1.629, 0, 0, 0, 33 [SEP] 12, Plunger, -0.112, -0.000, 1.848, 0, 0, 0, [SEP] 13, Candle, -0.179, 0.076, 2.698, 0, 0, 0, 22 [SEP] 14, ToiletPaper, -0.331, 0.073, 2.698, 0, 0, 0, 22 [SEP] 15, SprayBottle, -0.141, 0.955, 2.807, 0, 0, 0, 25 [SEP] 16, Cloth, -0.331, 0.076, 3.507, 0, 0, 0, 26 [SEP] 17, ScrubBrush, -0.322, 3.109, 1.950, 0, 0, 0, [SEP] 18, SoapBottle, -0.179, 0.077, 3.417, 0, 90, 0, 26 [SEP] 19, Mirror, -0.030, 1.544, 2.864, 0, 0, 0, [SEP] 20, Sink, -0.302, 0.799, 3.263, 0, 270, 0, [SEP] 21, Cabinet, -0.491, 0.404, 2.863, 0, 0, 0, [SEP] 22, Cabinet, -0.495, 0.384, 2.842, 0, 0, 0, [SEP] 23, ShowerDoor, -1.647, 1.017, 1.180, 0, 0, 0, [SEP] 24, ShowerGlass, -0.909, 0.788, 0.485, 0, 0, 0, [SEP] 25, CounterTop, -0.261, 0.927, 2.843, 0, 0, 0, [SEP] 26, Cabinet, -0.495, 0.384, 3.650, 0, 0, 0, [SEP] 27, Cabinet, -0.491, 0.404, 2.055, 0, 0, 0, [SEP] 28, TowelHolder, -1.082, 1.312, 1.195, 0, 0, 0, [SEP] 29, LightSwitch, -2.424, 1.447, 3.338, 0, 90, 0, [SEP] 30, ToiletPaperHanger, -0.266, 0.786, 2.043, 0, 180, 0, [SEP] 31, HandTowelHolder, 0.000, 1.721, 1.887, 0, 180, 0, [SEP] 32, HandTowelHolder, 0.000, 1.721, 3.799, 0, 180, 0, [SEP] 33, Toilet, -0.542, 3.109, 1.493, 0, 270, 0, [SEP] 34, GarbageCan, -2.159, -0.000, 3.756, 0, 0, 0, [SEP] 35, SinkBasin, -0.308, 0.820, 3.266, 0, 0, 0, [SEP] 36, ShowerHead, -0.134, 1.888, 0.564, 0, 90, 0, [SEP] 37, Faucet, 0.0, 1.009, 3.265, 0, 0, 0, [SEP] 38, Faucet, 0.0, 1.009, 2.421, 0, 0, 0, [SEP] 39, SinkBasin, -0.308, 0.820, 2.422, 0, 0, 0, [SEP] 40, Sink, -0.302, 0.799, 2.419, 0, 270, 0, [SEP] 41, NorthWall, , , , , , , [SEP] 42, SouthWall, , , , , , , [SEP] 43, SouthWall, , , , , , , ", "output": ["STEP 1: Turn left, go to counter between two sinks. | STEP 2: Pick up front soap, directly in front of candle. | STEP 3: Turn around, go to door. Turn right, go to garbage can. | STEP 4: Place soap in garbage can. | STEP 5: Turn right, go to counter between two sinks. | STEP 6: Pick up soap from back of counter, directly left of spray bottle. | STEP 7: Turn around, go to door. Turn right, go to garbage can. | STEP 8: Place soap in garbage can right of other soap. | END"]} +{"id": "trial_T20190907_102952_001375-0", "input": "To turn on a lamp to see inside a box. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -5.25, 0.901, 1.5, 0, 0, 0, [SEP] 1, TissueBox, -3.435, 0.205, 4.395, 0, 90, 0, 52 [SEP] 2, TissueBox, -3.864, 1.109, 4.786, 0, 90, 0, 53 [SEP] 3, CellPhone, -2.244, 0.034, 0.369, 0, 90, 0, 36 [SEP] 4, CellPhone, -0.376, 1.592, 0.914, 0, 270, 0, 44 [SEP] 5, Watch, -2.191, 0.034, 0.108, 0, 90, 0, 36 [SEP] 6, KeyChain, -1.960, 0.590, 4.211, 0, 0, 0, 47 [SEP] 7, CreditCard, -0.787, 0.608, 3.281, 0, 0, 0, 57 [SEP] 8, CreditCard, -0.787, 0.617, 2.753, 0, 0, 0, 57 [SEP] 9, Box, -1.459, 0.811, 4.297, 0, 90, 0, 47 [SEP] 10, Watch, -2.458, 0.034, 0.160, 0, 90, 0, 36 [SEP] 11, Pillow, -2.031, 0.668, 4.421, 0, 0, 0, 47 [SEP] 12, TissueBox, -4.154, 0.201, 4.528, 0, 90, 0, 50 [SEP] 13, Newspaper, -4.826, 1.114, 4.490, 0, 90, 0, 53 [SEP] 14, CreditCard, -3.569, 0.995, 4.290, 0, 90, 0, 49 [SEP] 15, KeyChain, -1.275, 0.074, 0.213, 0, 0, 0, 42 [SEP] 16, CellPhone, -0.952, 0.609, 3.545, 0, 0, 0, 57 [SEP] 17, Statue, -3.863, 1.117, 4.391, 0, 90, 0, 53 [SEP] 18, Laptop, -3.393, 1.104, 4.492, 0, 191.867, 0, 53 [SEP] 19, RemoteControl, -5.364, 1.041, 0.173, 0, 0, 0, 35 [SEP] 20, Vase, -4.184, 1.111, 4.588, 0, 90, 0, 53 [SEP] 21, DeskLamp, -4.649, 1.051, 0.268, 0, 0, 0, [SEP] 22, DeskLamp, -2.992, 1.107, 4.522, 0, 0, 0, [SEP] 23, FloorLamp, -0.650, 0.007, 4.431, 0, 0, 0, [SEP] 24, FloorLamp, -5.607, 0.007, 4.641, 0, 0, 0, [SEP] 25, Shelf, -5.237, 1.776, 0.070, 0, 0, 0, [SEP] 26, Shelf, -5.238, 1.968, 0.085, 0, 0, 0, [SEP] 27, Shelf, -5.242, 1.391, 0.086, 0, 0, 0, [SEP] 28, Shelf, -5.241, 1.582, 0.065, 0, 0, 0, [SEP] 29, LightSwitch, -6.002, 1.353, 3.404, 0, 90, 0, [SEP] 30, GarbageCan, -5.794, -0.033, 4.073, 0, 90, 0, [SEP] 31, Painting, -6.017, 1.802, 4.177, 90, 270, 0, [SEP] 32, HousePlant, -3.966, 1.625, 0.135, 0, 315, 0, [SEP] 33, Television, -3.355, 0.833, 0.027, 0, 0, 0, [SEP] 34, Drawer, -5.024, 0.903, 0.370, 0, 0, 0, [SEP] 35, SideTable, -5.024, 0.008, 0.267, 0, 0, 0, [SEP] 36, Safe, -2.298, 5.778, 0.268, 0, 90, 0, [SEP] 37, Shelf, -0.253, 0.781, 1.058, 0, 270, 0, [SEP] 38, Shelf, -0.283, 0.274, 1.066, 0, 270, 0, [SEP] 39, Shelf, -1.224, 1.288, 0.270, 0, 0, 0, [SEP] 40, Shelf, -1.218, 1.810, 0.275, 0, 0, 0, [SEP] 41, Shelf, -0.280, 1.810, 1.057, 0, 270, 0, [SEP] 42, Shelf, -1.218, 0.274, 0.262, 0, 0, 0, [SEP] 43, Shelf, -1.223, 0.782, 0.237, 0, 0, 0, [SEP] 44, Shelf, -0.280, 1.288, 1.055, 0, 270, 0, [SEP] 45, ShelvingUnit, -0.268, 0.004, 1.067, 0, 270, 0, [SEP] 46, ShelvingUnit, -1.218, 0.004, 0.244, 0, 0, 0, [SEP] 47, ArmChair, -2.027, 0.001, 4.422, 0, 178.692, 0, [SEP] 48, Drawer, -4.329, 1.014, 4.311, 0, 180, 0, [SEP] 49, Drawer, -3.750, 1.014, 4.311, 0, 180, 0, [SEP] 50, Cabinet, -4.049, 0.561, 4.212, 0, 180, 0, [SEP] 51, Cabinet, -4.032, 0.561, 4.212, 0, 180, 0, [SEP] 52, Cabinet, -2.884, 0.561, 4.212, 0, 180, 0, [SEP] 53, Dresser, -4.041, -0.000, 4.589, 0, 180, 0, [SEP] 54, Drawer, -4.916, 1.014, 4.311, 0, 180, 0, [SEP] 55, Drawer, -3.166, 1.014, 4.311, 0, 180, 0, [SEP] 56, Cabinet, -5.196, 0.561, 4.212, 0, 180, 0, [SEP] 57, Sofa, -0.705, -0.002, 2.753, 0, 270, 0, [SEP] 58, NorthWall, , , , , , , [SEP] 59, SouthWall, , , , , , , [SEP] 60, SouthWall, , , , , , , ", "output": ["STEP 1: Turn to the right and walk across the room to the couch, before turning left and walking to a box on the blue chair. | STEP 2: Pick up the box on the blue chair. | STEP 3: Turn to the right to face the white couch and then look up at the wall. | STEP 4: Turn off the lamp on the left. | END"]} +{"id": "trial_T20190907_102952_001375-1", "input": "Examine an empty 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, -5.25, 0.901, 1.5, 0, 0, 0, [SEP] 1, TissueBox, -3.435, 0.205, 4.395, 0, 90, 0, 52 [SEP] 2, TissueBox, -3.864, 1.109, 4.786, 0, 90, 0, 53 [SEP] 3, CellPhone, -2.244, 0.034, 0.369, 0, 90, 0, 36 [SEP] 4, CellPhone, -0.376, 1.592, 0.914, 0, 270, 0, 44 [SEP] 5, Watch, -2.191, 0.034, 0.108, 0, 90, 0, 36 [SEP] 6, KeyChain, -1.960, 0.590, 4.211, 0, 0, 0, 47 [SEP] 7, CreditCard, -0.787, 0.608, 3.281, 0, 0, 0, 57 [SEP] 8, CreditCard, -0.787, 0.617, 2.753, 0, 0, 0, 57 [SEP] 9, Box, -1.459, 0.811, 4.297, 0, 90, 0, 47 [SEP] 10, Watch, -2.458, 0.034, 0.160, 0, 90, 0, 36 [SEP] 11, Pillow, -2.031, 0.668, 4.421, 0, 0, 0, 47 [SEP] 12, TissueBox, -4.154, 0.201, 4.528, 0, 90, 0, 50 [SEP] 13, Newspaper, -4.826, 1.114, 4.490, 0, 90, 0, 53 [SEP] 14, CreditCard, -3.569, 0.995, 4.290, 0, 90, 0, 49 [SEP] 15, KeyChain, -1.275, 0.074, 0.213, 0, 0, 0, 42 [SEP] 16, CellPhone, -0.952, 0.609, 3.545, 0, 0, 0, 57 [SEP] 17, Statue, -3.863, 1.117, 4.391, 0, 90, 0, 53 [SEP] 18, Laptop, -3.393, 1.104, 4.492, 0, 191.867, 0, 53 [SEP] 19, RemoteControl, -5.364, 1.041, 0.173, 0, 0, 0, 35 [SEP] 20, Vase, -4.184, 1.111, 4.588, 0, 90, 0, 53 [SEP] 21, DeskLamp, -4.649, 1.051, 0.268, 0, 0, 0, [SEP] 22, DeskLamp, -2.992, 1.107, 4.522, 0, 0, 0, [SEP] 23, FloorLamp, -0.650, 0.007, 4.431, 0, 0, 0, [SEP] 24, FloorLamp, -5.607, 0.007, 4.641, 0, 0, 0, [SEP] 25, Shelf, -5.237, 1.776, 0.070, 0, 0, 0, [SEP] 26, Shelf, -5.238, 1.968, 0.085, 0, 0, 0, [SEP] 27, Shelf, -5.242, 1.391, 0.086, 0, 0, 0, [SEP] 28, Shelf, -5.241, 1.582, 0.065, 0, 0, 0, [SEP] 29, LightSwitch, -6.002, 1.353, 3.404, 0, 90, 0, [SEP] 30, GarbageCan, -5.794, -0.033, 4.073, 0, 90, 0, [SEP] 31, Painting, -6.017, 1.802, 4.177, 90, 270, 0, [SEP] 32, HousePlant, -3.966, 1.625, 0.135, 0, 315, 0, [SEP] 33, Television, -3.355, 0.833, 0.027, 0, 0, 0, [SEP] 34, Drawer, -5.024, 0.903, 0.370, 0, 0, 0, [SEP] 35, SideTable, -5.024, 0.008, 0.267, 0, 0, 0, [SEP] 36, Safe, -2.298, 5.778, 0.268, 0, 90, 0, [SEP] 37, Shelf, -0.253, 0.781, 1.058, 0, 270, 0, [SEP] 38, Shelf, -0.283, 0.274, 1.066, 0, 270, 0, [SEP] 39, Shelf, -1.224, 1.288, 0.270, 0, 0, 0, [SEP] 40, Shelf, -1.218, 1.810, 0.275, 0, 0, 0, [SEP] 41, Shelf, -0.280, 1.810, 1.057, 0, 270, 0, [SEP] 42, Shelf, -1.218, 0.274, 0.262, 0, 0, 0, [SEP] 43, Shelf, -1.223, 0.782, 0.237, 0, 0, 0, [SEP] 44, Shelf, -0.280, 1.288, 1.055, 0, 270, 0, [SEP] 45, ShelvingUnit, -0.268, 0.004, 1.067, 0, 270, 0, [SEP] 46, ShelvingUnit, -1.218, 0.004, 0.244, 0, 0, 0, [SEP] 47, ArmChair, -2.027, 0.001, 4.422, 0, 178.692, 0, [SEP] 48, Drawer, -4.329, 1.014, 4.311, 0, 180, 0, [SEP] 49, Drawer, -3.750, 1.014, 4.311, 0, 180, 0, [SEP] 50, Cabinet, -4.049, 0.561, 4.212, 0, 180, 0, [SEP] 51, Cabinet, -4.032, 0.561, 4.212, 0, 180, 0, [SEP] 52, Cabinet, -2.884, 0.561, 4.212, 0, 180, 0, [SEP] 53, Dresser, -4.041, -0.000, 4.589, 0, 180, 0, [SEP] 54, Drawer, -4.916, 1.014, 4.311, 0, 180, 0, [SEP] 55, Drawer, -3.166, 1.014, 4.311, 0, 180, 0, [SEP] 56, Cabinet, -5.196, 0.561, 4.212, 0, 180, 0, [SEP] 57, Sofa, -0.705, -0.002, 2.753, 0, 270, 0, [SEP] 58, NorthWall, , , , , , , [SEP] 59, SouthWall, , , , , , , [SEP] 60, SouthWall, , , , , , , ", "output": ["STEP 1: Walk to the blue chair at the top right corner of the room. | STEP 2: Pick up the empty box from the chair. | STEP 3: Turn right and face the floor lamp next to the chair. | STEP 4: Turn on the floor lamp. | END"]} +{"id": "trial_T20190907_102952_001375-2", "input": "Turning 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, -5.25, 0.901, 1.5, 0, 0, 0, [SEP] 1, TissueBox, -3.435, 0.205, 4.395, 0, 90, 0, 52 [SEP] 2, TissueBox, -3.864, 1.109, 4.786, 0, 90, 0, 53 [SEP] 3, CellPhone, -2.244, 0.034, 0.369, 0, 90, 0, 36 [SEP] 4, CellPhone, -0.376, 1.592, 0.914, 0, 270, 0, 44 [SEP] 5, Watch, -2.191, 0.034, 0.108, 0, 90, 0, 36 [SEP] 6, KeyChain, -1.960, 0.590, 4.211, 0, 0, 0, 47 [SEP] 7, CreditCard, -0.787, 0.608, 3.281, 0, 0, 0, 57 [SEP] 8, CreditCard, -0.787, 0.617, 2.753, 0, 0, 0, 57 [SEP] 9, Box, -1.459, 0.811, 4.297, 0, 90, 0, 47 [SEP] 10, Watch, -2.458, 0.034, 0.160, 0, 90, 0, 36 [SEP] 11, Pillow, -2.031, 0.668, 4.421, 0, 0, 0, 47 [SEP] 12, TissueBox, -4.154, 0.201, 4.528, 0, 90, 0, 50 [SEP] 13, Newspaper, -4.826, 1.114, 4.490, 0, 90, 0, 53 [SEP] 14, CreditCard, -3.569, 0.995, 4.290, 0, 90, 0, 49 [SEP] 15, KeyChain, -1.275, 0.074, 0.213, 0, 0, 0, 42 [SEP] 16, CellPhone, -0.952, 0.609, 3.545, 0, 0, 0, 57 [SEP] 17, Statue, -3.863, 1.117, 4.391, 0, 90, 0, 53 [SEP] 18, Laptop, -3.393, 1.104, 4.492, 0, 191.867, 0, 53 [SEP] 19, RemoteControl, -5.364, 1.041, 0.173, 0, 0, 0, 35 [SEP] 20, Vase, -4.184, 1.111, 4.588, 0, 90, 0, 53 [SEP] 21, DeskLamp, -4.649, 1.051, 0.268, 0, 0, 0, [SEP] 22, DeskLamp, -2.992, 1.107, 4.522, 0, 0, 0, [SEP] 23, FloorLamp, -0.650, 0.007, 4.431, 0, 0, 0, [SEP] 24, FloorLamp, -5.607, 0.007, 4.641, 0, 0, 0, [SEP] 25, Shelf, -5.237, 1.776, 0.070, 0, 0, 0, [SEP] 26, Shelf, -5.238, 1.968, 0.085, 0, 0, 0, [SEP] 27, Shelf, -5.242, 1.391, 0.086, 0, 0, 0, [SEP] 28, Shelf, -5.241, 1.582, 0.065, 0, 0, 0, [SEP] 29, LightSwitch, -6.002, 1.353, 3.404, 0, 90, 0, [SEP] 30, GarbageCan, -5.794, -0.033, 4.073, 0, 90, 0, [SEP] 31, Painting, -6.017, 1.802, 4.177, 90, 270, 0, [SEP] 32, HousePlant, -3.966, 1.625, 0.135, 0, 315, 0, [SEP] 33, Television, -3.355, 0.833, 0.027, 0, 0, 0, [SEP] 34, Drawer, -5.024, 0.903, 0.370, 0, 0, 0, [SEP] 35, SideTable, -5.024, 0.008, 0.267, 0, 0, 0, [SEP] 36, Safe, -2.298, 5.778, 0.268, 0, 90, 0, [SEP] 37, Shelf, -0.253, 0.781, 1.058, 0, 270, 0, [SEP] 38, Shelf, -0.283, 0.274, 1.066, 0, 270, 0, [SEP] 39, Shelf, -1.224, 1.288, 0.270, 0, 0, 0, [SEP] 40, Shelf, -1.218, 1.810, 0.275, 0, 0, 0, [SEP] 41, Shelf, -0.280, 1.810, 1.057, 0, 270, 0, [SEP] 42, Shelf, -1.218, 0.274, 0.262, 0, 0, 0, [SEP] 43, Shelf, -1.223, 0.782, 0.237, 0, 0, 0, [SEP] 44, Shelf, -0.280, 1.288, 1.055, 0, 270, 0, [SEP] 45, ShelvingUnit, -0.268, 0.004, 1.067, 0, 270, 0, [SEP] 46, ShelvingUnit, -1.218, 0.004, 0.244, 0, 0, 0, [SEP] 47, ArmChair, -2.027, 0.001, 4.422, 0, 178.692, 0, [SEP] 48, Drawer, -4.329, 1.014, 4.311, 0, 180, 0, [SEP] 49, Drawer, -3.750, 1.014, 4.311, 0, 180, 0, [SEP] 50, Cabinet, -4.049, 0.561, 4.212, 0, 180, 0, [SEP] 51, Cabinet, -4.032, 0.561, 4.212, 0, 180, 0, [SEP] 52, Cabinet, -2.884, 0.561, 4.212, 0, 180, 0, [SEP] 53, Dresser, -4.041, -0.000, 4.589, 0, 180, 0, [SEP] 54, Drawer, -4.916, 1.014, 4.311, 0, 180, 0, [SEP] 55, Drawer, -3.166, 1.014, 4.311, 0, 180, 0, [SEP] 56, Cabinet, -5.196, 0.561, 4.212, 0, 180, 0, [SEP] 57, Sofa, -0.705, -0.002, 2.753, 0, 270, 0, [SEP] 58, NorthWall, , , , , , , [SEP] 59, SouthWall, , , , , , , [SEP] 60, SouthWall, , , , , , , ", "output": ["STEP 1: Turn to the right, and then the left to locate the blue couch. | STEP 2: Pick up the box from the couch. | STEP 3: Take the box and turn right to the other couch. | STEP 4: Turn the lamp on in the corner. | END"]} +{"id": "trial_T20190908_114622_738670-0", "input": "Put a chilled pan 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, -0.75, 0, 90, 0, [SEP] 1, Pan, 0.842, 0.950, -1.098, 0, 0, 0, 54 [SEP] 2, Pan, 1.126, 2.205, -1.517, 0, 180, 0, 67 [SEP] 3, Potato, -0.753, 0.807, -0.400, 0, 90, 0, 81 [SEP] 4, Potato, 1.028, 1.825, -1.132, 0, 270, 0, 82 [SEP] 5, CellPhone, -0.846, 0.930, 0.009, 0, 0, 0, 60 [SEP] 6, DishSponge, 1.055, 1.665, -2.029, 0, 270, 0, 59 [SEP] 7, DishSponge, 0.754, 0.701, -0.648, 0, 270, 0, 58 [SEP] 8, ButterKnife, -0.550, 0.933, -0.067, 0, 0, 0, 60 [SEP] 9, Glassbottle, 1.102, 1.667, -0.529, 0, 270, 0, 69 [SEP] 10, Glassbottle, -1.007, 0.177, 0.510, 0, 180, 0, 80 [SEP] 11, Spatula, -0.477, 0.948, -1.540, 0, 90, 0, 60 [SEP] 12, Knife, -0.627, 0.926, 0.207, 90, 185.583, 0, 60 [SEP] 13, Egg, -1.101, 0.214, 0.608, 0, 180, 0, 80 [SEP] 14, Egg, -0.808, 0.818, -0.486, 0, 90, 0, 81 [SEP] 15, Cup, -0.697, 0.773, -0.832, 0, 90, 0, 81 [SEP] 16, Plate, -1.104, 0.936, 0.144, 0, 0, 0, 60 [SEP] 17, Plate, -1.167, 0.936, -0.118, 0, 0, 0, 60 [SEP] 18, SoapBottle, 0.964, 0.121, 0.374, 0, 270, 0, 55 [SEP] 19, Bowl, -1.467, 0.557, 2.718, 0, 0, 0, 86 [SEP] 20, SaltShaker, 0.710, 0.117, 0.398, 0, 270, 0, 61 [SEP] 21, SaltShaker, 0.915, 0.491, -0.524, 0, 270, 0, 64 [SEP] 22, PepperShaker, 0.875, 0.491, -0.690, 0, 270, 0, 64 [SEP] 23, Mug, 1.194, 1.661, -0.657, 0, 0, 0, 69 [SEP] 24, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 79 [SEP] 25, Apple, -0.753, 0.830, -0.659, 0, 90, 0, 81 [SEP] 26, Statue, -0.772, 0.936, -1.540, 0, 0, 0, 60 [SEP] 27, Glassbottle, 1.193, 1.667, 0.344, 0, 270, 0, 68 [SEP] 28, Bread, -0.773, 1.001, 0.210, 2.058, 263.070, 0, 60 [SEP] 29, CreditCard, -1.467, 0.551, 2.563, 0, 0, 0, 86 [SEP] 30, CellPhone, -1.418, 0.930, -1.167, 0, 0, 0, 60 [SEP] 31, Potato, -0.642, 0.810, -0.745, 0, 90, 0, 81 [SEP] 32, Knife, -0.698, 0.957, -1.386, 0, 0, 0, 60 [SEP] 33, Fork, 0.793, 0.154, -0.769, 0, 180, 0, 63 [SEP] 34, Pan, 1.077, 0.950, -1.504, 0, 0, 0, 56 [SEP] 35, Lettuce, -1.229, 1.010, -0.905, 0, 0, 0, 60 [SEP] 36, Plate, 1.194, 1.669, -2.097, 0, 270, 0, 59 [SEP] 37, Apple, -0.865, 0.229, 0.641, 0, 180, 0, 80 [SEP] 38, Pot, -1.221, 0.92, -0.49, 0, 0, 0, 60 [SEP] 39, Spatula, -1.167, 0.948, 0.144, 0, 0, 0, 60 [SEP] 40, PaperTowelRoll, -1.570, 0.658, 2.615, 0, 270, 0, 86 [SEP] 41, Tomato, -0.698, 0.974, -1.154, 0, 0, 0, 60 [SEP] 42, Egg, -0.587, 0.818, -0.486, 0, 90, 0, 81 [SEP] 43, SaltShaker, -1.571, 0.878, 2.746, 0, 0, 0, 87 [SEP] 44, PepperShaker, 1.101, 1.662, 0.216, 0, 270, 0, 68 [SEP] 45, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 86 [SEP] 46, ButterKnife, 0.834, 0.703, -0.648, 0, 270, 0, 58 [SEP] 47, SoapBottle, 0.761, 0.108, -2.132, 0, 0, 0, 65 [SEP] 48, Vase, -1.881, 0.555, 2.770, 0, 0, 0, 86 [SEP] 49, Bowl, 0.761, 0.111, -1.972, 0, 0, 0, 65 [SEP] 50, DishSponge, 0.794, 0.494, -0.607, 0, 270, 0, 64 [SEP] 51, Spoon, -1.241, 0.919, -1.209, 0, 0, 0, 60 [SEP] 52, Cup, -0.642, 0.777, -0.573, 0, 90, 0, 81 [SEP] 53, Mug, -1.167, 0.928, -1.430, 0, 0, 0, 60 [SEP] 54, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 55, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 56, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 57, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 58, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 59, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 60, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 61, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 62, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 63, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 64, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 65, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 66, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 67, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 68, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 69, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 70, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 71, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 72, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 73, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 74, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 75, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 76, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 77, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 78, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 79, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 80, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 81, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 82, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 83, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 84, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 85, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 86, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 87, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 88, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 89, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 90, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 91, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 92, NorthWall, , , , , , , [SEP] 93, EastWall, , , , , , , [SEP] 94, SouthWall, , , , , , , [SEP] 95, WestWall, , , , , , , ", "output": ["STEP 1: Take a step to your right. | STEP 2: Pick up the pan on the front left burner. | STEP 3: Turn left and walk to the fridge on your right and turn right to face it when you get there. | STEP 4: Chill the pan in the fridge then get it back out and close the door. | STEP 5: Turn right and walk to the counter that's to the right of the toaster then turn left to face it when you get there. | STEP 6: Put the pan on the counter to the right of the toaster. | END"]} +{"id": "trial_T20190908_114622_738670-1", "input": "To chill a pan 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, 0.25, 0.900, -0.75, 0, 90, 0, [SEP] 1, Pan, 0.842, 0.950, -1.098, 0, 0, 0, 54 [SEP] 2, Pan, 1.126, 2.205, -1.517, 0, 180, 0, 67 [SEP] 3, Potato, -0.753, 0.807, -0.400, 0, 90, 0, 81 [SEP] 4, Potato, 1.028, 1.825, -1.132, 0, 270, 0, 82 [SEP] 5, CellPhone, -0.846, 0.930, 0.009, 0, 0, 0, 60 [SEP] 6, DishSponge, 1.055, 1.665, -2.029, 0, 270, 0, 59 [SEP] 7, DishSponge, 0.754, 0.701, -0.648, 0, 270, 0, 58 [SEP] 8, ButterKnife, -0.550, 0.933, -0.067, 0, 0, 0, 60 [SEP] 9, Glassbottle, 1.102, 1.667, -0.529, 0, 270, 0, 69 [SEP] 10, Glassbottle, -1.007, 0.177, 0.510, 0, 180, 0, 80 [SEP] 11, Spatula, -0.477, 0.948, -1.540, 0, 90, 0, 60 [SEP] 12, Knife, -0.627, 0.926, 0.207, 90, 185.583, 0, 60 [SEP] 13, Egg, -1.101, 0.214, 0.608, 0, 180, 0, 80 [SEP] 14, Egg, -0.808, 0.818, -0.486, 0, 90, 0, 81 [SEP] 15, Cup, -0.697, 0.773, -0.832, 0, 90, 0, 81 [SEP] 16, Plate, -1.104, 0.936, 0.144, 0, 0, 0, 60 [SEP] 17, Plate, -1.167, 0.936, -0.118, 0, 0, 0, 60 [SEP] 18, SoapBottle, 0.964, 0.121, 0.374, 0, 270, 0, 55 [SEP] 19, Bowl, -1.467, 0.557, 2.718, 0, 0, 0, 86 [SEP] 20, SaltShaker, 0.710, 0.117, 0.398, 0, 270, 0, 61 [SEP] 21, SaltShaker, 0.915, 0.491, -0.524, 0, 270, 0, 64 [SEP] 22, PepperShaker, 0.875, 0.491, -0.690, 0, 270, 0, 64 [SEP] 23, Mug, 1.194, 1.661, -0.657, 0, 0, 0, 69 [SEP] 24, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 79 [SEP] 25, Apple, -0.753, 0.830, -0.659, 0, 90, 0, 81 [SEP] 26, Statue, -0.772, 0.936, -1.540, 0, 0, 0, 60 [SEP] 27, Glassbottle, 1.193, 1.667, 0.344, 0, 270, 0, 68 [SEP] 28, Bread, -0.773, 1.001, 0.210, 2.058, 263.070, 0, 60 [SEP] 29, CreditCard, -1.467, 0.551, 2.563, 0, 0, 0, 86 [SEP] 30, CellPhone, -1.418, 0.930, -1.167, 0, 0, 0, 60 [SEP] 31, Potato, -0.642, 0.810, -0.745, 0, 90, 0, 81 [SEP] 32, Knife, -0.698, 0.957, -1.386, 0, 0, 0, 60 [SEP] 33, Fork, 0.793, 0.154, -0.769, 0, 180, 0, 63 [SEP] 34, Pan, 1.077, 0.950, -1.504, 0, 0, 0, 56 [SEP] 35, Lettuce, -1.229, 1.010, -0.905, 0, 0, 0, 60 [SEP] 36, Plate, 1.194, 1.669, -2.097, 0, 270, 0, 59 [SEP] 37, Apple, -0.865, 0.229, 0.641, 0, 180, 0, 80 [SEP] 38, Pot, -1.221, 0.92, -0.49, 0, 0, 0, 60 [SEP] 39, Spatula, -1.167, 0.948, 0.144, 0, 0, 0, 60 [SEP] 40, PaperTowelRoll, -1.570, 0.658, 2.615, 0, 270, 0, 86 [SEP] 41, Tomato, -0.698, 0.974, -1.154, 0, 0, 0, 60 [SEP] 42, Egg, -0.587, 0.818, -0.486, 0, 90, 0, 81 [SEP] 43, SaltShaker, -1.571, 0.878, 2.746, 0, 0, 0, 87 [SEP] 44, PepperShaker, 1.101, 1.662, 0.216, 0, 270, 0, 68 [SEP] 45, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 86 [SEP] 46, ButterKnife, 0.834, 0.703, -0.648, 0, 270, 0, 58 [SEP] 47, SoapBottle, 0.761, 0.108, -2.132, 0, 0, 0, 65 [SEP] 48, Vase, -1.881, 0.555, 2.770, 0, 0, 0, 86 [SEP] 49, Bowl, 0.761, 0.111, -1.972, 0, 0, 0, 65 [SEP] 50, DishSponge, 0.794, 0.494, -0.607, 0, 270, 0, 64 [SEP] 51, Spoon, -1.241, 0.919, -1.209, 0, 0, 0, 60 [SEP] 52, Cup, -0.642, 0.777, -0.573, 0, 90, 0, 81 [SEP] 53, Mug, -1.167, 0.928, -1.430, 0, 0, 0, 60 [SEP] 54, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 55, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 56, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 57, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 58, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 59, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 60, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 61, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 62, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 63, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 64, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 65, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 66, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 67, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 68, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 69, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 70, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 71, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 72, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 73, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 74, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 75, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 76, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 77, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 78, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 79, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 80, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 81, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 82, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 83, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 84, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 85, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 86, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 87, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 88, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 89, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 90, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 91, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 92, NorthWall, , , , , , , [SEP] 93, EastWall, , , , , , , [SEP] 94, SouthWall, , , , , , , [SEP] 95, WestWall, , , , , , , ", "output": ["STEP 1: Move a bit to the right to face the front of the stove. | STEP 2: Pick up the pan on the front left burner. | STEP 3: Turn left and walk to the fridge on the right. | STEP 4: Place the pan inside of the fridge, close the door, open the door, take the pan out, close the door. | STEP 5: Turn right and walk to the counter to the left of the stove. | STEP 6: Place the pan down to the right of the toaster on the counter. | END"]} +{"id": "trial_T20190908_114622_738670-2", "input": "Place a cold pan on the counter 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, 0.25, 0.900, -0.75, 0, 90, 0, [SEP] 1, Pan, 0.842, 0.950, -1.098, 0, 0, 0, 54 [SEP] 2, Pan, 1.126, 2.205, -1.517, 0, 180, 0, 67 [SEP] 3, Potato, -0.753, 0.807, -0.400, 0, 90, 0, 81 [SEP] 4, Potato, 1.028, 1.825, -1.132, 0, 270, 0, 82 [SEP] 5, CellPhone, -0.846, 0.930, 0.009, 0, 0, 0, 60 [SEP] 6, DishSponge, 1.055, 1.665, -2.029, 0, 270, 0, 59 [SEP] 7, DishSponge, 0.754, 0.701, -0.648, 0, 270, 0, 58 [SEP] 8, ButterKnife, -0.550, 0.933, -0.067, 0, 0, 0, 60 [SEP] 9, Glassbottle, 1.102, 1.667, -0.529, 0, 270, 0, 69 [SEP] 10, Glassbottle, -1.007, 0.177, 0.510, 0, 180, 0, 80 [SEP] 11, Spatula, -0.477, 0.948, -1.540, 0, 90, 0, 60 [SEP] 12, Knife, -0.627, 0.926, 0.207, 90, 185.583, 0, 60 [SEP] 13, Egg, -1.101, 0.214, 0.608, 0, 180, 0, 80 [SEP] 14, Egg, -0.808, 0.818, -0.486, 0, 90, 0, 81 [SEP] 15, Cup, -0.697, 0.773, -0.832, 0, 90, 0, 81 [SEP] 16, Plate, -1.104, 0.936, 0.144, 0, 0, 0, 60 [SEP] 17, Plate, -1.167, 0.936, -0.118, 0, 0, 0, 60 [SEP] 18, SoapBottle, 0.964, 0.121, 0.374, 0, 270, 0, 55 [SEP] 19, Bowl, -1.467, 0.557, 2.718, 0, 0, 0, 86 [SEP] 20, SaltShaker, 0.710, 0.117, 0.398, 0, 270, 0, 61 [SEP] 21, SaltShaker, 0.915, 0.491, -0.524, 0, 270, 0, 64 [SEP] 22, PepperShaker, 0.875, 0.491, -0.690, 0, 270, 0, 64 [SEP] 23, Mug, 1.194, 1.661, -0.657, 0, 0, 0, 69 [SEP] 24, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 79 [SEP] 25, Apple, -0.753, 0.830, -0.659, 0, 90, 0, 81 [SEP] 26, Statue, -0.772, 0.936, -1.540, 0, 0, 0, 60 [SEP] 27, Glassbottle, 1.193, 1.667, 0.344, 0, 270, 0, 68 [SEP] 28, Bread, -0.773, 1.001, 0.210, 2.058, 263.070, 0, 60 [SEP] 29, CreditCard, -1.467, 0.551, 2.563, 0, 0, 0, 86 [SEP] 30, CellPhone, -1.418, 0.930, -1.167, 0, 0, 0, 60 [SEP] 31, Potato, -0.642, 0.810, -0.745, 0, 90, 0, 81 [SEP] 32, Knife, -0.698, 0.957, -1.386, 0, 0, 0, 60 [SEP] 33, Fork, 0.793, 0.154, -0.769, 0, 180, 0, 63 [SEP] 34, Pan, 1.077, 0.950, -1.504, 0, 0, 0, 56 [SEP] 35, Lettuce, -1.229, 1.010, -0.905, 0, 0, 0, 60 [SEP] 36, Plate, 1.194, 1.669, -2.097, 0, 270, 0, 59 [SEP] 37, Apple, -0.865, 0.229, 0.641, 0, 180, 0, 80 [SEP] 38, Pot, -1.221, 0.92, -0.49, 0, 0, 0, 60 [SEP] 39, Spatula, -1.167, 0.948, 0.144, 0, 0, 0, 60 [SEP] 40, PaperTowelRoll, -1.570, 0.658, 2.615, 0, 270, 0, 86 [SEP] 41, Tomato, -0.698, 0.974, -1.154, 0, 0, 0, 60 [SEP] 42, Egg, -0.587, 0.818, -0.486, 0, 90, 0, 81 [SEP] 43, SaltShaker, -1.571, 0.878, 2.746, 0, 0, 0, 87 [SEP] 44, PepperShaker, 1.101, 1.662, 0.216, 0, 270, 0, 68 [SEP] 45, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 86 [SEP] 46, ButterKnife, 0.834, 0.703, -0.648, 0, 270, 0, 58 [SEP] 47, SoapBottle, 0.761, 0.108, -2.132, 0, 0, 0, 65 [SEP] 48, Vase, -1.881, 0.555, 2.770, 0, 0, 0, 86 [SEP] 49, Bowl, 0.761, 0.111, -1.972, 0, 0, 0, 65 [SEP] 50, DishSponge, 0.794, 0.494, -0.607, 0, 270, 0, 64 [SEP] 51, Spoon, -1.241, 0.919, -1.209, 0, 0, 0, 60 [SEP] 52, Cup, -0.642, 0.777, -0.573, 0, 90, 0, 81 [SEP] 53, Mug, -1.167, 0.928, -1.430, 0, 0, 0, 60 [SEP] 54, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 55, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 56, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 57, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 58, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 59, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 60, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 61, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 62, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 63, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 64, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 65, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 66, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 67, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 68, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 69, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 70, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 71, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 72, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 73, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 74, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 75, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 76, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 77, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 78, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 79, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 80, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 81, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 82, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 83, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 84, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 85, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 86, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 87, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 88, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 89, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 90, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 91, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 92, NorthWall, , , , , , , [SEP] 93, EastWall, , , , , , , [SEP] 94, SouthWall, , , , , , , [SEP] 95, WestWall, , , , , , , ", "output": ["STEP 1: Move a step to your right to stand in front of the stove. | STEP 2: Pick up the pan from the front left burner of the stove. | STEP 3: Turn left to carry the pan to the fridge. | STEP 4: Place the pan on the second shelf in the fridge, close the door, and then remove after a few seconds. | STEP 5: Turn right and carry the pan to the counter space between the toaster and stove. | STEP 6: Place the pan on the counter to the right of the toaster. | END"]} +{"id": "trial_T20190907_171015_909996-0", "input": "turn on the standing light with the newspaper at hand 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, 3.75, 0, 270, 0, [SEP] 1, Newspaper, -4.673, 0.210, 4.523, 0, 90, 0, 60 [SEP] 2, Newspaper, -3.503, 0.210, 4.459, 0, 90, 0, 55 [SEP] 3, Newspaper, -1.584, 0.596, 4.384, 0, 0, 0, 51 [SEP] 4, CellPhone, -0.952, 0.615, 2.488, 0, 0, 0, 61 [SEP] 5, Statue, -4.184, 1.117, 4.687, 0, 90, 0, 57 [SEP] 6, Statue, -0.265, 1.107, 1.192, 0, 270, 0, 48 [SEP] 7, Watch, -3.543, 1.111, 4.292, 0, 90, 0, 53 [SEP] 8, KeyChain, -1.584, 0.590, 4.644, 0, 180, 0, 51 [SEP] 9, CreditCard, -5.132, 1.975, 0.048, 0, 0, 0, 30 [SEP] 10, CreditCard, -4.826, 1.111, 4.687, 0, 90, 0, 57 [SEP] 11, RemoteControl, -3.863, 1.113, 4.391, 0, 90, 0, 53 [SEP] 12, Pillow, -0.952, 0.700, 2.753, 0, 0, 0, 61 [SEP] 13, Box, -3.052, 0.421, 4.404, 0, 180, 0, 56 [SEP] 14, Watch, -4.684, 1.039, 0.504, 0, 0, 0, 39 [SEP] 15, Pillow, -2.031, 0.668, 4.421, 0, 0, 0, 51 [SEP] 16, TissueBox, -1.367, 0.075, 0.262, 0, 0, 0, 46 [SEP] 17, Newspaper, -3.864, 1.114, 4.687, 0, 90, 0, 57 [SEP] 18, CreditCard, -0.870, 0.608, 1.960, 0, 0, 0, 61 [SEP] 19, KeyChain, -0.623, 0.609, 2.224, 0, 0, 0, 61 [SEP] 20, CellPhone, -0.362, 0.074, 0.828, 0, 270, 0, 42 [SEP] 21, Statue, -4.505, 1.113, 4.490, 0, 90, 0, 57 [SEP] 22, Laptop, -3.393, 1.104, 4.492, 0, 191.867, 0, 57 [SEP] 23, RemoteControl, -1.117, 0.611, 3.281, 0, 0, 0, 61 [SEP] 24, Vase, -5.534, 1.043, 0.306, 0, 0, 0, 39 [SEP] 25, DeskLamp, -4.649, 1.051, 0.268, 0, 0, 0, [SEP] 26, DeskLamp, -2.992, 1.107, 4.522, 0, 0, 0, [SEP] 27, FloorLamp, -0.650, 0.007, 4.431, 0, 0, 0, [SEP] 28, FloorLamp, -5.607, 0.007, 4.641, 0, 0, 0, [SEP] 29, Shelf, -5.237, 1.776, 0.070, 0, 0, 0, [SEP] 30, Shelf, -5.238, 1.968, 0.085, 0, 0, 0, [SEP] 31, Shelf, -5.242, 1.391, 0.086, 0, 0, 0, [SEP] 32, Shelf, -5.241, 1.582, 0.065, 0, 0, 0, [SEP] 33, LightSwitch, -6.002, 1.353, 3.404, 0, 90, 0, [SEP] 34, GarbageCan, -5.794, -0.033, 4.073, 0, 90, 0, [SEP] 35, Painting, -6.017, 1.802, 4.177, 90, 270, 0, [SEP] 36, HousePlant, -3.966, 1.625, 0.135, 0, 315, 0, [SEP] 37, Television, -3.355, 0.833, 0.027, 0, 0, 0, [SEP] 38, Drawer, -5.024, 0.903, 0.370, 0, 0, 0, [SEP] 39, SideTable, -5.024, 0.008, 0.267, 0, 0, 0, [SEP] 40, Safe, -2.298, 5.778, 0.268, 0, 90, 0, [SEP] 41, Shelf, -0.253, 0.781, 1.058, 0, 270, 0, [SEP] 42, Shelf, -0.283, 0.274, 1.066, 0, 270, 0, [SEP] 43, Shelf, -1.224, 1.288, 0.270, 0, 0, 0, [SEP] 44, Shelf, -1.218, 1.810, 0.275, 0, 0, 0, [SEP] 45, Shelf, -0.280, 1.810, 1.057, 0, 270, 0, [SEP] 46, Shelf, -1.218, 0.274, 0.262, 0, 0, 0, [SEP] 47, Shelf, -1.223, 0.782, 0.237, 0, 0, 0, [SEP] 48, Shelf, -0.280, 1.288, 1.055, 0, 270, 0, [SEP] 49, ShelvingUnit, -0.268, 0.004, 1.067, 0, 270, 0, [SEP] 50, ShelvingUnit, -1.218, 0.004, 0.244, 0, 0, 0, [SEP] 51, ArmChair, -2.027, 0.001, 4.422, 0, 178.692, 0, [SEP] 52, Drawer, -4.329, 1.014, 4.311, 0, 180, 0, [SEP] 53, Drawer, -3.750, 1.014, 4.311, 0, 180, 0, [SEP] 54, Cabinet, -4.049, 0.561, 4.212, 0, 180, 0, [SEP] 55, Cabinet, -4.032, 0.561, 4.212, 0, 180, 0, [SEP] 56, Cabinet, -2.884, 0.561, 4.212, 0, 180, 0, [SEP] 57, Dresser, -4.041, -0.000, 4.589, 0, 180, 0, [SEP] 58, Drawer, -4.916, 1.014, 4.311, 0, 180, 0, [SEP] 59, Drawer, -3.166, 1.014, 4.311, 0, 180, 0, [SEP] 60, Cabinet, -5.196, 0.561, 4.212, 0, 180, 0, [SEP] 61, Sofa, -0.705, -0.002, 2.753, 0, 270, 0, [SEP] 62, NorthWall, , , , , , , [SEP] 63, SouthWall, , , , , , , [SEP] 64, SouthWall, , , , , , , ", "output": ["STEP 1: turn right and head towards the cupboard | STEP 2: open the cupboard and take out the newspaper | STEP 3: turn left towards the standing light | STEP 4: turn on the standing light | END"]} +{"id": "trial_T20190907_171015_909996-1", "input": "Carry a newspaper 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, -2.5, 0.901, 3.75, 0, 270, 0, [SEP] 1, Newspaper, -4.673, 0.210, 4.523, 0, 90, 0, 60 [SEP] 2, Newspaper, -3.503, 0.210, 4.459, 0, 90, 0, 55 [SEP] 3, Newspaper, -1.584, 0.596, 4.384, 0, 0, 0, 51 [SEP] 4, CellPhone, -0.952, 0.615, 2.488, 0, 0, 0, 61 [SEP] 5, Statue, -4.184, 1.117, 4.687, 0, 90, 0, 57 [SEP] 6, Statue, -0.265, 1.107, 1.192, 0, 270, 0, 48 [SEP] 7, Watch, -3.543, 1.111, 4.292, 0, 90, 0, 53 [SEP] 8, KeyChain, -1.584, 0.590, 4.644, 0, 180, 0, 51 [SEP] 9, CreditCard, -5.132, 1.975, 0.048, 0, 0, 0, 30 [SEP] 10, CreditCard, -4.826, 1.111, 4.687, 0, 90, 0, 57 [SEP] 11, RemoteControl, -3.863, 1.113, 4.391, 0, 90, 0, 53 [SEP] 12, Pillow, -0.952, 0.700, 2.753, 0, 0, 0, 61 [SEP] 13, Box, -3.052, 0.421, 4.404, 0, 180, 0, 56 [SEP] 14, Watch, -4.684, 1.039, 0.504, 0, 0, 0, 39 [SEP] 15, Pillow, -2.031, 0.668, 4.421, 0, 0, 0, 51 [SEP] 16, TissueBox, -1.367, 0.075, 0.262, 0, 0, 0, 46 [SEP] 17, Newspaper, -3.864, 1.114, 4.687, 0, 90, 0, 57 [SEP] 18, CreditCard, -0.870, 0.608, 1.960, 0, 0, 0, 61 [SEP] 19, KeyChain, -0.623, 0.609, 2.224, 0, 0, 0, 61 [SEP] 20, CellPhone, -0.362, 0.074, 0.828, 0, 270, 0, 42 [SEP] 21, Statue, -4.505, 1.113, 4.490, 0, 90, 0, 57 [SEP] 22, Laptop, -3.393, 1.104, 4.492, 0, 191.867, 0, 57 [SEP] 23, RemoteControl, -1.117, 0.611, 3.281, 0, 0, 0, 61 [SEP] 24, Vase, -5.534, 1.043, 0.306, 0, 0, 0, 39 [SEP] 25, DeskLamp, -4.649, 1.051, 0.268, 0, 0, 0, [SEP] 26, DeskLamp, -2.992, 1.107, 4.522, 0, 0, 0, [SEP] 27, FloorLamp, -0.650, 0.007, 4.431, 0, 0, 0, [SEP] 28, FloorLamp, -5.607, 0.007, 4.641, 0, 0, 0, [SEP] 29, Shelf, -5.237, 1.776, 0.070, 0, 0, 0, [SEP] 30, Shelf, -5.238, 1.968, 0.085, 0, 0, 0, [SEP] 31, Shelf, -5.242, 1.391, 0.086, 0, 0, 0, [SEP] 32, Shelf, -5.241, 1.582, 0.065, 0, 0, 0, [SEP] 33, LightSwitch, -6.002, 1.353, 3.404, 0, 90, 0, [SEP] 34, GarbageCan, -5.794, -0.033, 4.073, 0, 90, 0, [SEP] 35, Painting, -6.017, 1.802, 4.177, 90, 270, 0, [SEP] 36, HousePlant, -3.966, 1.625, 0.135, 0, 315, 0, [SEP] 37, Television, -3.355, 0.833, 0.027, 0, 0, 0, [SEP] 38, Drawer, -5.024, 0.903, 0.370, 0, 0, 0, [SEP] 39, SideTable, -5.024, 0.008, 0.267, 0, 0, 0, [SEP] 40, Safe, -2.298, 5.778, 0.268, 0, 90, 0, [SEP] 41, Shelf, -0.253, 0.781, 1.058, 0, 270, 0, [SEP] 42, Shelf, -0.283, 0.274, 1.066, 0, 270, 0, [SEP] 43, Shelf, -1.224, 1.288, 0.270, 0, 0, 0, [SEP] 44, Shelf, -1.218, 1.810, 0.275, 0, 0, 0, [SEP] 45, Shelf, -0.280, 1.810, 1.057, 0, 270, 0, [SEP] 46, Shelf, -1.218, 0.274, 0.262, 0, 0, 0, [SEP] 47, Shelf, -1.223, 0.782, 0.237, 0, 0, 0, [SEP] 48, Shelf, -0.280, 1.288, 1.055, 0, 270, 0, [SEP] 49, ShelvingUnit, -0.268, 0.004, 1.067, 0, 270, 0, [SEP] 50, ShelvingUnit, -1.218, 0.004, 0.244, 0, 0, 0, [SEP] 51, ArmChair, -2.027, 0.001, 4.422, 0, 178.692, 0, [SEP] 52, Drawer, -4.329, 1.014, 4.311, 0, 180, 0, [SEP] 53, Drawer, -3.750, 1.014, 4.311, 0, 180, 0, [SEP] 54, Cabinet, -4.049, 0.561, 4.212, 0, 180, 0, [SEP] 55, Cabinet, -4.032, 0.561, 4.212, 0, 180, 0, [SEP] 56, Cabinet, -2.884, 0.561, 4.212, 0, 180, 0, [SEP] 57, Dresser, -4.041, -0.000, 4.589, 0, 180, 0, [SEP] 58, Drawer, -4.916, 1.014, 4.311, 0, 180, 0, [SEP] 59, Drawer, -3.166, 1.014, 4.311, 0, 180, 0, [SEP] 60, Cabinet, -5.196, 0.561, 4.212, 0, 180, 0, [SEP] 61, Sofa, -0.705, -0.002, 2.753, 0, 270, 0, [SEP] 62, NorthWall, , , , , , , [SEP] 63, SouthWall, , , , , , , [SEP] 64, SouthWall, , , , , , , ", "output": ["STEP 1: Move to the middle door of the large wooden cabinet | STEP 2: Open the middle cabinet door and remove the newspaper sitting on the bottom | STEP 3: Carry the newspaper to the floor lamp to the left of the cabinet | STEP 4: Turn on the lamp | END"]} +{"id": "trial_T20190907_171015_909996-2", "input": "Get a newspaper out and read it near 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, 0.901, 3.75, 0, 270, 0, [SEP] 1, Newspaper, -4.673, 0.210, 4.523, 0, 90, 0, 60 [SEP] 2, Newspaper, -3.503, 0.210, 4.459, 0, 90, 0, 55 [SEP] 3, Newspaper, -1.584, 0.596, 4.384, 0, 0, 0, 51 [SEP] 4, CellPhone, -0.952, 0.615, 2.488, 0, 0, 0, 61 [SEP] 5, Statue, -4.184, 1.117, 4.687, 0, 90, 0, 57 [SEP] 6, Statue, -0.265, 1.107, 1.192, 0, 270, 0, 48 [SEP] 7, Watch, -3.543, 1.111, 4.292, 0, 90, 0, 53 [SEP] 8, KeyChain, -1.584, 0.590, 4.644, 0, 180, 0, 51 [SEP] 9, CreditCard, -5.132, 1.975, 0.048, 0, 0, 0, 30 [SEP] 10, CreditCard, -4.826, 1.111, 4.687, 0, 90, 0, 57 [SEP] 11, RemoteControl, -3.863, 1.113, 4.391, 0, 90, 0, 53 [SEP] 12, Pillow, -0.952, 0.700, 2.753, 0, 0, 0, 61 [SEP] 13, Box, -3.052, 0.421, 4.404, 0, 180, 0, 56 [SEP] 14, Watch, -4.684, 1.039, 0.504, 0, 0, 0, 39 [SEP] 15, Pillow, -2.031, 0.668, 4.421, 0, 0, 0, 51 [SEP] 16, TissueBox, -1.367, 0.075, 0.262, 0, 0, 0, 46 [SEP] 17, Newspaper, -3.864, 1.114, 4.687, 0, 90, 0, 57 [SEP] 18, CreditCard, -0.870, 0.608, 1.960, 0, 0, 0, 61 [SEP] 19, KeyChain, -0.623, 0.609, 2.224, 0, 0, 0, 61 [SEP] 20, CellPhone, -0.362, 0.074, 0.828, 0, 270, 0, 42 [SEP] 21, Statue, -4.505, 1.113, 4.490, 0, 90, 0, 57 [SEP] 22, Laptop, -3.393, 1.104, 4.492, 0, 191.867, 0, 57 [SEP] 23, RemoteControl, -1.117, 0.611, 3.281, 0, 0, 0, 61 [SEP] 24, Vase, -5.534, 1.043, 0.306, 0, 0, 0, 39 [SEP] 25, DeskLamp, -4.649, 1.051, 0.268, 0, 0, 0, [SEP] 26, DeskLamp, -2.992, 1.107, 4.522, 0, 0, 0, [SEP] 27, FloorLamp, -0.650, 0.007, 4.431, 0, 0, 0, [SEP] 28, FloorLamp, -5.607, 0.007, 4.641, 0, 0, 0, [SEP] 29, Shelf, -5.237, 1.776, 0.070, 0, 0, 0, [SEP] 30, Shelf, -5.238, 1.968, 0.085, 0, 0, 0, [SEP] 31, Shelf, -5.242, 1.391, 0.086, 0, 0, 0, [SEP] 32, Shelf, -5.241, 1.582, 0.065, 0, 0, 0, [SEP] 33, LightSwitch, -6.002, 1.353, 3.404, 0, 90, 0, [SEP] 34, GarbageCan, -5.794, -0.033, 4.073, 0, 90, 0, [SEP] 35, Painting, -6.017, 1.802, 4.177, 90, 270, 0, [SEP] 36, HousePlant, -3.966, 1.625, 0.135, 0, 315, 0, [SEP] 37, Television, -3.355, 0.833, 0.027, 0, 0, 0, [SEP] 38, Drawer, -5.024, 0.903, 0.370, 0, 0, 0, [SEP] 39, SideTable, -5.024, 0.008, 0.267, 0, 0, 0, [SEP] 40, Safe, -2.298, 5.778, 0.268, 0, 90, 0, [SEP] 41, Shelf, -0.253, 0.781, 1.058, 0, 270, 0, [SEP] 42, Shelf, -0.283, 0.274, 1.066, 0, 270, 0, [SEP] 43, Shelf, -1.224, 1.288, 0.270, 0, 0, 0, [SEP] 44, Shelf, -1.218, 1.810, 0.275, 0, 0, 0, [SEP] 45, Shelf, -0.280, 1.810, 1.057, 0, 270, 0, [SEP] 46, Shelf, -1.218, 0.274, 0.262, 0, 0, 0, [SEP] 47, Shelf, -1.223, 0.782, 0.237, 0, 0, 0, [SEP] 48, Shelf, -0.280, 1.288, 1.055, 0, 270, 0, [SEP] 49, ShelvingUnit, -0.268, 0.004, 1.067, 0, 270, 0, [SEP] 50, ShelvingUnit, -1.218, 0.004, 0.244, 0, 0, 0, [SEP] 51, ArmChair, -2.027, 0.001, 4.422, 0, 178.692, 0, [SEP] 52, Drawer, -4.329, 1.014, 4.311, 0, 180, 0, [SEP] 53, Drawer, -3.750, 1.014, 4.311, 0, 180, 0, [SEP] 54, Cabinet, -4.049, 0.561, 4.212, 0, 180, 0, [SEP] 55, Cabinet, -4.032, 0.561, 4.212, 0, 180, 0, [SEP] 56, Cabinet, -2.884, 0.561, 4.212, 0, 180, 0, [SEP] 57, Dresser, -4.041, -0.000, 4.589, 0, 180, 0, [SEP] 58, Drawer, -4.916, 1.014, 4.311, 0, 180, 0, [SEP] 59, Drawer, -3.166, 1.014, 4.311, 0, 180, 0, [SEP] 60, Cabinet, -5.196, 0.561, 4.212, 0, 180, 0, [SEP] 61, Sofa, -0.705, -0.002, 2.753, 0, 270, 0, [SEP] 62, NorthWall, , , , , , , [SEP] 63, SouthWall, , , , , , , [SEP] 64, SouthWall, , , , , , , ", "output": ["STEP 1: Walk forward, turn right at the cabinet and approach the computer. | STEP 2: Open the left cabinet door, remove the newspaper, close the door. | STEP 3: Turn left, walk to the trash can, turn right, put the newspaper on top of the dresser. | STEP 4: Turn on the lap. | END"]} +{"id": "trial_T20190918_185132_685516-0", "input": "Put a cardboard box with keys in it on the seat of a blue chair. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.75, 0.901, 1.5, 0, 180, 0, [SEP] 1, TissueBox, -3.863, 1.112, 4.391, 0, 90, 0, 57 [SEP] 2, CellPhone, -4.826, 1.108, 4.292, 0, 90, 0, 58 [SEP] 3, CellPhone, -1.459, 0.590, 4.644, 0, 0, 0, 51 [SEP] 4, Statue, -3.222, 1.117, 4.687, 0, 90, 0, 57 [SEP] 5, Statue, -3.543, 1.117, 4.490, 0, 90, 0, 57 [SEP] 6, Vase, -4.184, 1.111, 4.687, 0, 90, 0, 57 [SEP] 7, Watch, -2.244, 0.034, 0.317, 0, 90, 0, 40 [SEP] 8, Watch, -3.397, 0.996, 4.336, 0, 90, 0, 59 [SEP] 9, CreditCard, -2.901, 1.111, 4.292, 0, 90, 0, 59 [SEP] 10, CreditCard, -1.550, 0.073, 0.213, 0, 0, 0, 46 [SEP] 11, Box, -1.367, 0.295, 0.213, 0, 180, 0, 46 [SEP] 12, Laptop, -3.864, 1.105, 4.687, 0, 90, 0, 57 [SEP] 13, Box, -0.952, 0.830, 1.960, 0, 180, 0, 61 [SEP] 14, Watch, -2.137, 0.034, 0.265, 0, 90, 0, 40 [SEP] 15, Pillow, -2.031, 0.668, 4.421, 0, 0, 0, 51 [SEP] 16, TissueBox, -4.184, 1.109, 4.391, 0, 90, 0, 57 [SEP] 17, Newspaper, -4.505, 1.117, 4.786, 0, 90, 0, 57 [SEP] 18, CreditCard, -4.505, 1.107, 4.391, 0, 90, 0, 52 [SEP] 19, KeyChain, -4.854, 1.039, 0.438, 0, 0, 0, 39 [SEP] 20, CellPhone, -0.952, 0.615, 2.488, 0, 0, 0, 61 [SEP] 21, Statue, -5.534, 1.044, 0.239, 0, 0, 0, 39 [SEP] 22, Laptop, -0.952, 0.620, 2.753, 0, 0, 0, 61 [SEP] 23, RemoteControl, -4.826, 1.113, 4.786, 0, 90, 0, 57 [SEP] 24, Vase, -3.222, 1.115, 4.391, 0, 90, 0, 57 [SEP] 25, DeskLamp, -4.649, 1.051, 0.268, 0, 0, 0, [SEP] 26, DeskLamp, -2.992, 1.107, 4.522, 0, 0, 0, [SEP] 27, FloorLamp, -0.650, 0.007, 4.431, 0, 0, 0, [SEP] 28, FloorLamp, -5.607, 0.007, 4.641, 0, 0, 0, [SEP] 29, Shelf, -5.237, 1.776, 0.070, 0, 0, 0, [SEP] 30, Shelf, -5.238, 1.968, 0.085, 0, 0, 0, [SEP] 31, Shelf, -5.242, 1.391, 0.086, 0, 0, 0, [SEP] 32, Shelf, -5.241, 1.582, 0.065, 0, 0, 0, [SEP] 33, LightSwitch, -6.002, 1.353, 3.404, 0, 90, 0, [SEP] 34, GarbageCan, -5.794, -0.033, 4.073, 0, 90, 0, [SEP] 35, Painting, -6.017, 1.802, 4.177, 90, 270, 0, [SEP] 36, HousePlant, -3.966, 1.625, 0.135, 0, 315, 0, [SEP] 37, Television, -3.355, 0.833, 0.027, 0, 0, 0, [SEP] 38, Drawer, -5.024, 0.903, 0.370, 0, 0, 0, [SEP] 39, SideTable, -5.024, 0.008, 0.267, 0, 0, 0, [SEP] 40, Safe, -2.298, 5.778, 0.268, 0, 90, 0, [SEP] 41, Shelf, -0.253, 0.781, 1.058, 0, 270, 0, [SEP] 42, Shelf, -0.283, 0.274, 1.066, 0, 270, 0, [SEP] 43, Shelf, -1.224, 1.288, 0.270, 0, 0, 0, [SEP] 44, Shelf, -1.218, 1.810, 0.275, 0, 0, 0, [SEP] 45, Shelf, -0.280, 1.810, 1.057, 0, 270, 0, [SEP] 46, Shelf, -1.218, 0.274, 0.262, 0, 0, 0, [SEP] 47, Shelf, -1.223, 0.782, 0.237, 0, 0, 0, [SEP] 48, Shelf, -0.280, 1.288, 1.055, 0, 270, 0, [SEP] 49, ShelvingUnit, -0.268, 0.004, 1.067, 0, 270, 0, [SEP] 50, ShelvingUnit, -1.218, 0.004, 0.244, 0, 0, 0, [SEP] 51, ArmChair, -2.027, 0.001, 4.422, 0, 178.692, 0, [SEP] 52, Drawer, -4.329, 1.014, 4.311, 0, 180, 0, [SEP] 53, Drawer, -3.750, 1.014, 4.311, 0, 180, 0, [SEP] 54, Cabinet, -4.049, 0.561, 4.212, 0, 180, 0, [SEP] 55, Cabinet, -4.032, 0.561, 4.212, 0, 180, 0, [SEP] 56, Cabinet, -2.884, 0.561, 4.212, 0, 180, 0, [SEP] 57, Dresser, -4.041, -0.000, 4.589, 0, 180, 0, [SEP] 58, Drawer, -4.916, 1.014, 4.311, 0, 180, 0, [SEP] 59, Drawer, -3.166, 1.014, 4.311, 0, 180, 0, [SEP] 60, Cabinet, -5.196, 0.561, 4.212, 0, 180, 0, [SEP] 61, Sofa, -0.705, -0.002, 2.753, 0, 270, 0, [SEP] 62, NorthWall, , , , , , , [SEP] 63, SouthWall, , , , , , , [SEP] 64, SouthWall, , , , , , , ", "output": ["STEP 1: Turn right and walk towards the wall, then hang a left and walk up to the small black table. | STEP 2: Pick up the set of keys off of the small black table. | STEP 3: Turn left and walk across the room, then turn right and walk up to the tall white shelving unit. | STEP 4: Put the set of keys in the cardboard box that is on the bottom shelf in front of you. | STEP 5: Pick up the cardboard box with the keys in it off of the shelf. | STEP 6: Walk over to the blue chair with the yellow pillow on it that is behind you. | STEP 7: Put the cardboard box with the keys in it on the seat of the blue chair to the right of the yellow pillow. | END"]} +{"id": "trial_T20190918_185132_685516-1", "input": "Put keys in a box to put on the blue armchair. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.75, 0.901, 1.5, 0, 180, 0, [SEP] 1, TissueBox, -3.863, 1.112, 4.391, 0, 90, 0, 57 [SEP] 2, CellPhone, -4.826, 1.108, 4.292, 0, 90, 0, 58 [SEP] 3, CellPhone, -1.459, 0.590, 4.644, 0, 0, 0, 51 [SEP] 4, Statue, -3.222, 1.117, 4.687, 0, 90, 0, 57 [SEP] 5, Statue, -3.543, 1.117, 4.490, 0, 90, 0, 57 [SEP] 6, Vase, -4.184, 1.111, 4.687, 0, 90, 0, 57 [SEP] 7, Watch, -2.244, 0.034, 0.317, 0, 90, 0, 40 [SEP] 8, Watch, -3.397, 0.996, 4.336, 0, 90, 0, 59 [SEP] 9, CreditCard, -2.901, 1.111, 4.292, 0, 90, 0, 59 [SEP] 10, CreditCard, -1.550, 0.073, 0.213, 0, 0, 0, 46 [SEP] 11, Box, -1.367, 0.295, 0.213, 0, 180, 0, 46 [SEP] 12, Laptop, -3.864, 1.105, 4.687, 0, 90, 0, 57 [SEP] 13, Box, -0.952, 0.830, 1.960, 0, 180, 0, 61 [SEP] 14, Watch, -2.137, 0.034, 0.265, 0, 90, 0, 40 [SEP] 15, Pillow, -2.031, 0.668, 4.421, 0, 0, 0, 51 [SEP] 16, TissueBox, -4.184, 1.109, 4.391, 0, 90, 0, 57 [SEP] 17, Newspaper, -4.505, 1.117, 4.786, 0, 90, 0, 57 [SEP] 18, CreditCard, -4.505, 1.107, 4.391, 0, 90, 0, 52 [SEP] 19, KeyChain, -4.854, 1.039, 0.438, 0, 0, 0, 39 [SEP] 20, CellPhone, -0.952, 0.615, 2.488, 0, 0, 0, 61 [SEP] 21, Statue, -5.534, 1.044, 0.239, 0, 0, 0, 39 [SEP] 22, Laptop, -0.952, 0.620, 2.753, 0, 0, 0, 61 [SEP] 23, RemoteControl, -4.826, 1.113, 4.786, 0, 90, 0, 57 [SEP] 24, Vase, -3.222, 1.115, 4.391, 0, 90, 0, 57 [SEP] 25, DeskLamp, -4.649, 1.051, 0.268, 0, 0, 0, [SEP] 26, DeskLamp, -2.992, 1.107, 4.522, 0, 0, 0, [SEP] 27, FloorLamp, -0.650, 0.007, 4.431, 0, 0, 0, [SEP] 28, FloorLamp, -5.607, 0.007, 4.641, 0, 0, 0, [SEP] 29, Shelf, -5.237, 1.776, 0.070, 0, 0, 0, [SEP] 30, Shelf, -5.238, 1.968, 0.085, 0, 0, 0, [SEP] 31, Shelf, -5.242, 1.391, 0.086, 0, 0, 0, [SEP] 32, Shelf, -5.241, 1.582, 0.065, 0, 0, 0, [SEP] 33, LightSwitch, -6.002, 1.353, 3.404, 0, 90, 0, [SEP] 34, GarbageCan, -5.794, -0.033, 4.073, 0, 90, 0, [SEP] 35, Painting, -6.017, 1.802, 4.177, 90, 270, 0, [SEP] 36, HousePlant, -3.966, 1.625, 0.135, 0, 315, 0, [SEP] 37, Television, -3.355, 0.833, 0.027, 0, 0, 0, [SEP] 38, Drawer, -5.024, 0.903, 0.370, 0, 0, 0, [SEP] 39, SideTable, -5.024, 0.008, 0.267, 0, 0, 0, [SEP] 40, Safe, -2.298, 5.778, 0.268, 0, 90, 0, [SEP] 41, Shelf, -0.253, 0.781, 1.058, 0, 270, 0, [SEP] 42, Shelf, -0.283, 0.274, 1.066, 0, 270, 0, [SEP] 43, Shelf, -1.224, 1.288, 0.270, 0, 0, 0, [SEP] 44, Shelf, -1.218, 1.810, 0.275, 0, 0, 0, [SEP] 45, Shelf, -0.280, 1.810, 1.057, 0, 270, 0, [SEP] 46, Shelf, -1.218, 0.274, 0.262, 0, 0, 0, [SEP] 47, Shelf, -1.223, 0.782, 0.237, 0, 0, 0, [SEP] 48, Shelf, -0.280, 1.288, 1.055, 0, 270, 0, [SEP] 49, ShelvingUnit, -0.268, 0.004, 1.067, 0, 270, 0, [SEP] 50, ShelvingUnit, -1.218, 0.004, 0.244, 0, 0, 0, [SEP] 51, ArmChair, -2.027, 0.001, 4.422, 0, 178.692, 0, [SEP] 52, Drawer, -4.329, 1.014, 4.311, 0, 180, 0, [SEP] 53, Drawer, -3.750, 1.014, 4.311, 0, 180, 0, [SEP] 54, Cabinet, -4.049, 0.561, 4.212, 0, 180, 0, [SEP] 55, Cabinet, -4.032, 0.561, 4.212, 0, 180, 0, [SEP] 56, Cabinet, -2.884, 0.561, 4.212, 0, 180, 0, [SEP] 57, Dresser, -4.041, -0.000, 4.589, 0, 180, 0, [SEP] 58, Drawer, -4.916, 1.014, 4.311, 0, 180, 0, [SEP] 59, Drawer, -3.166, 1.014, 4.311, 0, 180, 0, [SEP] 60, Cabinet, -5.196, 0.561, 4.212, 0, 180, 0, [SEP] 61, Sofa, -0.705, -0.002, 2.753, 0, 270, 0, [SEP] 62, NorthWall, , , , , , , [SEP] 63, SouthWall, , , , , , , [SEP] 64, SouthWall, , , , , , , ", "output": ["STEP 1: Turn right to walk towards the black side table. | STEP 2: Pick up the keys on the black side table. | STEP 3: Turn left to walk to the white bookcase on the right of the other white bookcase. | STEP 4: Set the keys down in a box on the bottom shelf of the bookcase. | STEP 5: Pick up the box with the keys in it from the bottom shelf of the white bookcase. | STEP 6: Turn around and walk forward towards the blue armchair. | STEP 7: Set the box with the keys in it down on the seat of the blue armchair. | END"]} +{"id": "trial_T20190918_185132_685516-2", "input": "Move a box and keys 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, -3.75, 0.901, 1.5, 0, 180, 0, [SEP] 1, TissueBox, -3.863, 1.112, 4.391, 0, 90, 0, 57 [SEP] 2, CellPhone, -4.826, 1.108, 4.292, 0, 90, 0, 58 [SEP] 3, CellPhone, -1.459, 0.590, 4.644, 0, 0, 0, 51 [SEP] 4, Statue, -3.222, 1.117, 4.687, 0, 90, 0, 57 [SEP] 5, Statue, -3.543, 1.117, 4.490, 0, 90, 0, 57 [SEP] 6, Vase, -4.184, 1.111, 4.687, 0, 90, 0, 57 [SEP] 7, Watch, -2.244, 0.034, 0.317, 0, 90, 0, 40 [SEP] 8, Watch, -3.397, 0.996, 4.336, 0, 90, 0, 59 [SEP] 9, CreditCard, -2.901, 1.111, 4.292, 0, 90, 0, 59 [SEP] 10, CreditCard, -1.550, 0.073, 0.213, 0, 0, 0, 46 [SEP] 11, Box, -1.367, 0.295, 0.213, 0, 180, 0, 46 [SEP] 12, Laptop, -3.864, 1.105, 4.687, 0, 90, 0, 57 [SEP] 13, Box, -0.952, 0.830, 1.960, 0, 180, 0, 61 [SEP] 14, Watch, -2.137, 0.034, 0.265, 0, 90, 0, 40 [SEP] 15, Pillow, -2.031, 0.668, 4.421, 0, 0, 0, 51 [SEP] 16, TissueBox, -4.184, 1.109, 4.391, 0, 90, 0, 57 [SEP] 17, Newspaper, -4.505, 1.117, 4.786, 0, 90, 0, 57 [SEP] 18, CreditCard, -4.505, 1.107, 4.391, 0, 90, 0, 52 [SEP] 19, KeyChain, -4.854, 1.039, 0.438, 0, 0, 0, 39 [SEP] 20, CellPhone, -0.952, 0.615, 2.488, 0, 0, 0, 61 [SEP] 21, Statue, -5.534, 1.044, 0.239, 0, 0, 0, 39 [SEP] 22, Laptop, -0.952, 0.620, 2.753, 0, 0, 0, 61 [SEP] 23, RemoteControl, -4.826, 1.113, 4.786, 0, 90, 0, 57 [SEP] 24, Vase, -3.222, 1.115, 4.391, 0, 90, 0, 57 [SEP] 25, DeskLamp, -4.649, 1.051, 0.268, 0, 0, 0, [SEP] 26, DeskLamp, -2.992, 1.107, 4.522, 0, 0, 0, [SEP] 27, FloorLamp, -0.650, 0.007, 4.431, 0, 0, 0, [SEP] 28, FloorLamp, -5.607, 0.007, 4.641, 0, 0, 0, [SEP] 29, Shelf, -5.237, 1.776, 0.070, 0, 0, 0, [SEP] 30, Shelf, -5.238, 1.968, 0.085, 0, 0, 0, [SEP] 31, Shelf, -5.242, 1.391, 0.086, 0, 0, 0, [SEP] 32, Shelf, -5.241, 1.582, 0.065, 0, 0, 0, [SEP] 33, LightSwitch, -6.002, 1.353, 3.404, 0, 90, 0, [SEP] 34, GarbageCan, -5.794, -0.033, 4.073, 0, 90, 0, [SEP] 35, Painting, -6.017, 1.802, 4.177, 90, 270, 0, [SEP] 36, HousePlant, -3.966, 1.625, 0.135, 0, 315, 0, [SEP] 37, Television, -3.355, 0.833, 0.027, 0, 0, 0, [SEP] 38, Drawer, -5.024, 0.903, 0.370, 0, 0, 0, [SEP] 39, SideTable, -5.024, 0.008, 0.267, 0, 0, 0, [SEP] 40, Safe, -2.298, 5.778, 0.268, 0, 90, 0, [SEP] 41, Shelf, -0.253, 0.781, 1.058, 0, 270, 0, [SEP] 42, Shelf, -0.283, 0.274, 1.066, 0, 270, 0, [SEP] 43, Shelf, -1.224, 1.288, 0.270, 0, 0, 0, [SEP] 44, Shelf, -1.218, 1.810, 0.275, 0, 0, 0, [SEP] 45, Shelf, -0.280, 1.810, 1.057, 0, 270, 0, [SEP] 46, Shelf, -1.218, 0.274, 0.262, 0, 0, 0, [SEP] 47, Shelf, -1.223, 0.782, 0.237, 0, 0, 0, [SEP] 48, Shelf, -0.280, 1.288, 1.055, 0, 270, 0, [SEP] 49, ShelvingUnit, -0.268, 0.004, 1.067, 0, 270, 0, [SEP] 50, ShelvingUnit, -1.218, 0.004, 0.244, 0, 0, 0, [SEP] 51, ArmChair, -2.027, 0.001, 4.422, 0, 178.692, 0, [SEP] 52, Drawer, -4.329, 1.014, 4.311, 0, 180, 0, [SEP] 53, Drawer, -3.750, 1.014, 4.311, 0, 180, 0, [SEP] 54, Cabinet, -4.049, 0.561, 4.212, 0, 180, 0, [SEP] 55, Cabinet, -4.032, 0.561, 4.212, 0, 180, 0, [SEP] 56, Cabinet, -2.884, 0.561, 4.212, 0, 180, 0, [SEP] 57, Dresser, -4.041, -0.000, 4.589, 0, 180, 0, [SEP] 58, Drawer, -4.916, 1.014, 4.311, 0, 180, 0, [SEP] 59, Drawer, -3.166, 1.014, 4.311, 0, 180, 0, [SEP] 60, Cabinet, -5.196, 0.561, 4.212, 0, 180, 0, [SEP] 61, Sofa, -0.705, -0.002, 2.753, 0, 270, 0, [SEP] 62, NorthWall, , , , , , , [SEP] 63, SouthWall, , , , , , , [SEP] 64, SouthWall, , , , , , , ", "output": ["STEP 1: Turn to the right and then face the black table on the left. | STEP 2: Pick up the keys from the center of the black table. | STEP 3: Carry the keys and turn to the left. Turn right to face the tall white shelf. | STEP 4: Place the keys in the box on the shelf. | STEP 5: Pick up the box from the shelf. | STEP 6: Carry the box and turn to the right, then right again. Move to the blue chair. | STEP 7: Place the box on the blue chair, to the right side. | END"]} +{"id": "trial_T20190908_225359_617900-0", "input": "Heat a tomato and place 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, 0.0, 0.900, -0.5, 0, 90, 0, [SEP] 1, Pan, 0.905, 1.132, 1.063, 0, 180, 0, 74 [SEP] 2, Statue, -1.104, 0.936, -0.118, 0, 0, 0, 51 [SEP] 3, Potato, 1.026, 1.673, 1.444, 0, 270, 0, 74 [SEP] 4, CreditCard, 0.915, 0.700, -0.731, 0, 270, 0, 49 [SEP] 5, CellPhone, 0.834, 0.700, -0.648, 0, 270, 0, 49 [SEP] 6, CellPhone, 0.875, 0.491, -0.648, 0, 270, 0, 55 [SEP] 7, ButterKnife, 0.944, 0.911, -0.381, 0, 0, 0, 52 [SEP] 8, ButterKnife, -0.550, 0.933, -1.231, 0, 0, 0, 51 [SEP] 9, Spatula, 0.914, 0.168, -0.690, 0, 0, 0, 54 [SEP] 10, Knife, -0.550, 0.957, 0.162, 0, 0, 0, 51 [SEP] 11, Egg, 1.029, 0.949, -0.034, 0, 0, 0, 52 [SEP] 12, Cup, -1.570, 0.551, 2.563, 0, 0, 0, 77 [SEP] 13, Plate, 0.861, 0.111, -1.892, 0, 0, 0, 56 [SEP] 14, Bowl, 1.169, 2.211, -1.408, 0, 270, 0, 58 [SEP] 15, Bowl, 0.905, 1.405, 1.254, 0, 270, 0, 74 [SEP] 16, PepperShaker, 1.102, 1.662, -0.337, 0, 270, 0, 60 [SEP] 17, Statue, 0.773, 0.914, -0.034, 0, 0, 0, 52 [SEP] 18, Glassbottle, 1.169, 2.208, -1.082, 0, 270, 0, 58 [SEP] 19, Bread, -1.355, 1.014, -0.118, 0, 0, 0, 51 [SEP] 20, CreditCard, 0.754, 0.700, -0.565, 0, 270, 0, 49 [SEP] 21, CellPhone, -1.363, 0.550, 2.615, 0, 0, 0, 77 [SEP] 22, Potato, 1.087, 1.432, 1.349, 0, 270, 0, 74 [SEP] 23, Knife, -0.624, 0.957, -1.463, 0, 0, 0, 51 [SEP] 24, Fork, 1.199, 0.911, -0.381, 0, 90, 0, 52 [SEP] 25, Pan, 0.842, 0.950, -1.504, 0, 0, 0, 48 [SEP] 26, Lettuce, 0.966, 0.940, 1.254, 0, 270, 0, 74 [SEP] 27, Plate, 1.148, 1.669, -2.029, 0, 270, 0, 50 [SEP] 28, Apple, -0.808, 0.830, -0.745, 0, 90, 0, 72 [SEP] 29, Pot, -1.221, 0.92, -0.49, 0, 0, 0, 51 [SEP] 30, Spatula, 0.754, 0.718, -0.772, 0, 180, 0, 49 [SEP] 31, PaperTowelRoll, 0.773, 1.015, -1.965, 0, 0, 0, 57 [SEP] 32, Tomato, -1.292, 0.974, -0.905, 0, 0, 0, 51 [SEP] 33, Egg, -1.104, 0.971, -0.905, 0, 0, 0, 51 [SEP] 34, SaltShaker, -1.570, 0.550, 2.874, 0, 0, 0, 77 [SEP] 35, PepperShaker, 1.010, 0.104, -2.212, 0, 0, 0, 56 [SEP] 36, Vase, -1.104, 0.933, 0.144, 0, 0, 0, 51 [SEP] 37, ButterKnife, 1.114, 0.911, -0.555, 0, 0, 0, 52 [SEP] 38, SoapBottle, 0.861, 0.108, -2.212, 0, 0, 0, 56 [SEP] 39, Vase, -1.881, 0.555, 2.718, 0, 0, 0, 77 [SEP] 40, Bowl, 1.026, 0.866, 0.967, 0, 270, 0, 74 [SEP] 41, DishSponge, 1.055, 1.665, -2.234, 0, 270, 0, 50 [SEP] 42, Spoon, -0.753, 0.781, -0.573, 0, 90, 0, 72 [SEP] 43, Cup, -0.587, 0.777, -0.918, 0, 90, 0, 72 [SEP] 44, Mug, 1.087, 0.858, 1.540, 0, 270, 0, 74 [SEP] 45, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 46, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 47, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 48, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 49, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 50, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 51, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 52, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 53, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 54, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 55, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 56, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 57, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 58, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 59, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 60, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 61, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 62, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 63, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 64, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 65, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 66, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 67, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 68, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 69, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 70, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 71, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 72, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 73, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 74, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 75, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 76, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 77, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 78, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 79, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 80, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 81, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 82, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 83, NorthWall, , , , , , , [SEP] 84, EastWall, , , , , , , [SEP] 85, SouthWall, , , , , , , [SEP] 86, WestWall, , , , , , , ", "output": ["STEP 1: Turn to the left and go around the island to the other side. | STEP 2: Pick up the tomato from the kitchen island. | STEP 3: Turn around completely and head to the right. Then turn left once you reach the wall and go forward. Turn right and then left to face the oven. | STEP 4: Place the tomato in the microwave above the oven. Heat the tomato then take it out. | STEP 5: Turn left then turn right twice to face a black bin. | STEP 6: Place the tomato inside the black bin. | END"]} +{"id": "trial_T20190908_225359_617900-1", "input": "Put a microwaved tomato 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, 0.0, 0.900, -0.5, 0, 90, 0, [SEP] 1, Pan, 0.905, 1.132, 1.063, 0, 180, 0, 74 [SEP] 2, Statue, -1.104, 0.936, -0.118, 0, 0, 0, 51 [SEP] 3, Potato, 1.026, 1.673, 1.444, 0, 270, 0, 74 [SEP] 4, CreditCard, 0.915, 0.700, -0.731, 0, 270, 0, 49 [SEP] 5, CellPhone, 0.834, 0.700, -0.648, 0, 270, 0, 49 [SEP] 6, CellPhone, 0.875, 0.491, -0.648, 0, 270, 0, 55 [SEP] 7, ButterKnife, 0.944, 0.911, -0.381, 0, 0, 0, 52 [SEP] 8, ButterKnife, -0.550, 0.933, -1.231, 0, 0, 0, 51 [SEP] 9, Spatula, 0.914, 0.168, -0.690, 0, 0, 0, 54 [SEP] 10, Knife, -0.550, 0.957, 0.162, 0, 0, 0, 51 [SEP] 11, Egg, 1.029, 0.949, -0.034, 0, 0, 0, 52 [SEP] 12, Cup, -1.570, 0.551, 2.563, 0, 0, 0, 77 [SEP] 13, Plate, 0.861, 0.111, -1.892, 0, 0, 0, 56 [SEP] 14, Bowl, 1.169, 2.211, -1.408, 0, 270, 0, 58 [SEP] 15, Bowl, 0.905, 1.405, 1.254, 0, 270, 0, 74 [SEP] 16, PepperShaker, 1.102, 1.662, -0.337, 0, 270, 0, 60 [SEP] 17, Statue, 0.773, 0.914, -0.034, 0, 0, 0, 52 [SEP] 18, Glassbottle, 1.169, 2.208, -1.082, 0, 270, 0, 58 [SEP] 19, Bread, -1.355, 1.014, -0.118, 0, 0, 0, 51 [SEP] 20, CreditCard, 0.754, 0.700, -0.565, 0, 270, 0, 49 [SEP] 21, CellPhone, -1.363, 0.550, 2.615, 0, 0, 0, 77 [SEP] 22, Potato, 1.087, 1.432, 1.349, 0, 270, 0, 74 [SEP] 23, Knife, -0.624, 0.957, -1.463, 0, 0, 0, 51 [SEP] 24, Fork, 1.199, 0.911, -0.381, 0, 90, 0, 52 [SEP] 25, Pan, 0.842, 0.950, -1.504, 0, 0, 0, 48 [SEP] 26, Lettuce, 0.966, 0.940, 1.254, 0, 270, 0, 74 [SEP] 27, Plate, 1.148, 1.669, -2.029, 0, 270, 0, 50 [SEP] 28, Apple, -0.808, 0.830, -0.745, 0, 90, 0, 72 [SEP] 29, Pot, -1.221, 0.92, -0.49, 0, 0, 0, 51 [SEP] 30, Spatula, 0.754, 0.718, -0.772, 0, 180, 0, 49 [SEP] 31, PaperTowelRoll, 0.773, 1.015, -1.965, 0, 0, 0, 57 [SEP] 32, Tomato, -1.292, 0.974, -0.905, 0, 0, 0, 51 [SEP] 33, Egg, -1.104, 0.971, -0.905, 0, 0, 0, 51 [SEP] 34, SaltShaker, -1.570, 0.550, 2.874, 0, 0, 0, 77 [SEP] 35, PepperShaker, 1.010, 0.104, -2.212, 0, 0, 0, 56 [SEP] 36, Vase, -1.104, 0.933, 0.144, 0, 0, 0, 51 [SEP] 37, ButterKnife, 1.114, 0.911, -0.555, 0, 0, 0, 52 [SEP] 38, SoapBottle, 0.861, 0.108, -2.212, 0, 0, 0, 56 [SEP] 39, Vase, -1.881, 0.555, 2.718, 0, 0, 0, 77 [SEP] 40, Bowl, 1.026, 0.866, 0.967, 0, 270, 0, 74 [SEP] 41, DishSponge, 1.055, 1.665, -2.234, 0, 270, 0, 50 [SEP] 42, Spoon, -0.753, 0.781, -0.573, 0, 90, 0, 72 [SEP] 43, Cup, -0.587, 0.777, -0.918, 0, 90, 0, 72 [SEP] 44, Mug, 1.087, 0.858, 1.540, 0, 270, 0, 74 [SEP] 45, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 46, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 47, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 48, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 49, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 50, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 51, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 52, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 53, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 54, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 55, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 56, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 57, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 58, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 59, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 60, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 61, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 62, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 63, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 64, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 65, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 66, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 67, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 68, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 69, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 70, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 71, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 72, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 73, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 74, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 75, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 76, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 77, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 78, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 79, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 80, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 81, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 82, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 83, NorthWall, , , , , , , [SEP] 84, EastWall, , , , , , , [SEP] 85, SouthWall, , , , , , , [SEP] 86, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and walk past the counter then turn left and walk past the counter and chair then turn left and walk to the middle of the chairs and turn left. | STEP 2: Pick up the tomato that's in front of you on the counter between the chairs. | STEP 3: Walk around the counter island and walk to the stove that's in front of you. | STEP 4: Cook the tomato in the microwave then take it back out and close the door. | STEP 5: Turn left and walk past the counter then turn left and take a step then turn left to face the garbage. | STEP 6: Put the tomato in the garbage. | END"]} +{"id": "trial_T20190908_225359_617900-2", "input": "Put a heated 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, 0.0, 0.900, -0.5, 0, 90, 0, [SEP] 1, Pan, 0.905, 1.132, 1.063, 0, 180, 0, 74 [SEP] 2, Statue, -1.104, 0.936, -0.118, 0, 0, 0, 51 [SEP] 3, Potato, 1.026, 1.673, 1.444, 0, 270, 0, 74 [SEP] 4, CreditCard, 0.915, 0.700, -0.731, 0, 270, 0, 49 [SEP] 5, CellPhone, 0.834, 0.700, -0.648, 0, 270, 0, 49 [SEP] 6, CellPhone, 0.875, 0.491, -0.648, 0, 270, 0, 55 [SEP] 7, ButterKnife, 0.944, 0.911, -0.381, 0, 0, 0, 52 [SEP] 8, ButterKnife, -0.550, 0.933, -1.231, 0, 0, 0, 51 [SEP] 9, Spatula, 0.914, 0.168, -0.690, 0, 0, 0, 54 [SEP] 10, Knife, -0.550, 0.957, 0.162, 0, 0, 0, 51 [SEP] 11, Egg, 1.029, 0.949, -0.034, 0, 0, 0, 52 [SEP] 12, Cup, -1.570, 0.551, 2.563, 0, 0, 0, 77 [SEP] 13, Plate, 0.861, 0.111, -1.892, 0, 0, 0, 56 [SEP] 14, Bowl, 1.169, 2.211, -1.408, 0, 270, 0, 58 [SEP] 15, Bowl, 0.905, 1.405, 1.254, 0, 270, 0, 74 [SEP] 16, PepperShaker, 1.102, 1.662, -0.337, 0, 270, 0, 60 [SEP] 17, Statue, 0.773, 0.914, -0.034, 0, 0, 0, 52 [SEP] 18, Glassbottle, 1.169, 2.208, -1.082, 0, 270, 0, 58 [SEP] 19, Bread, -1.355, 1.014, -0.118, 0, 0, 0, 51 [SEP] 20, CreditCard, 0.754, 0.700, -0.565, 0, 270, 0, 49 [SEP] 21, CellPhone, -1.363, 0.550, 2.615, 0, 0, 0, 77 [SEP] 22, Potato, 1.087, 1.432, 1.349, 0, 270, 0, 74 [SEP] 23, Knife, -0.624, 0.957, -1.463, 0, 0, 0, 51 [SEP] 24, Fork, 1.199, 0.911, -0.381, 0, 90, 0, 52 [SEP] 25, Pan, 0.842, 0.950, -1.504, 0, 0, 0, 48 [SEP] 26, Lettuce, 0.966, 0.940, 1.254, 0, 270, 0, 74 [SEP] 27, Plate, 1.148, 1.669, -2.029, 0, 270, 0, 50 [SEP] 28, Apple, -0.808, 0.830, -0.745, 0, 90, 0, 72 [SEP] 29, Pot, -1.221, 0.92, -0.49, 0, 0, 0, 51 [SEP] 30, Spatula, 0.754, 0.718, -0.772, 0, 180, 0, 49 [SEP] 31, PaperTowelRoll, 0.773, 1.015, -1.965, 0, 0, 0, 57 [SEP] 32, Tomato, -1.292, 0.974, -0.905, 0, 0, 0, 51 [SEP] 33, Egg, -1.104, 0.971, -0.905, 0, 0, 0, 51 [SEP] 34, SaltShaker, -1.570, 0.550, 2.874, 0, 0, 0, 77 [SEP] 35, PepperShaker, 1.010, 0.104, -2.212, 0, 0, 0, 56 [SEP] 36, Vase, -1.104, 0.933, 0.144, 0, 0, 0, 51 [SEP] 37, ButterKnife, 1.114, 0.911, -0.555, 0, 0, 0, 52 [SEP] 38, SoapBottle, 0.861, 0.108, -2.212, 0, 0, 0, 56 [SEP] 39, Vase, -1.881, 0.555, 2.718, 0, 0, 0, 77 [SEP] 40, Bowl, 1.026, 0.866, 0.967, 0, 270, 0, 74 [SEP] 41, DishSponge, 1.055, 1.665, -2.234, 0, 270, 0, 50 [SEP] 42, Spoon, -0.753, 0.781, -0.573, 0, 90, 0, 72 [SEP] 43, Cup, -0.587, 0.777, -0.918, 0, 90, 0, 72 [SEP] 44, Mug, 1.087, 0.858, 1.540, 0, 270, 0, 74 [SEP] 45, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 46, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 47, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 48, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 49, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 50, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 51, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 52, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 53, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 54, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 55, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 56, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 57, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 58, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 59, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 60, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 61, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 62, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 63, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 64, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 65, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 66, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 67, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 68, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 69, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 70, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 71, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 72, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 73, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 74, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 75, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 76, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 77, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 78, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 79, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 80, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 81, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 82, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 83, NorthWall, , , , , , , [SEP] 84, EastWall, , , , , , , [SEP] 85, SouthWall, , , , , , , [SEP] 86, WestWall, , , , , , , ", "output": ["STEP 1: Turn left, move around the island to the left, then turn around so you facing the other side of the island. | STEP 2: Pick up the tomato on the island. | STEP 3: Bring the tomato around the right side of the island, to the other side, to the stove, to the microwave above the stove. | STEP 4: Heat the tomato in the microwave. | STEP 5: Bring the heated tomato to the left, around the other side of the island, to the trash can at the end. | STEP 6: Put the heated tomato in the trash can. | END"]} +{"id": "trial_T20190908_235919_129519-0", "input": "Move a knife and a green cup 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, -1.0, 0.900, 1.5, 0, 270, 0, [SEP] 1, Vase, -1.985, 0.555, 2.822, 0, 0, 0, 77 [SEP] 2, CellPhone, 0.944, 0.908, -1.879, 0, 0, 0, 57 [SEP] 3, CellPhone, 0.688, 0.908, -0.381, 0, 0, 0, 52 [SEP] 4, DishSponge, 1.055, 1.665, -2.097, 0, 270, 0, 50 [SEP] 5, DishSponge, -0.865, 0.178, 0.575, 0, 180, 0, 71 [SEP] 6, ButterKnife, -0.550, 0.933, 0.162, 0, 0, 0, 51 [SEP] 7, ButterKnife, -1.292, 0.933, -0.643, 0, 0, 0, 51 [SEP] 8, Knife, -0.698, 0.957, -1.154, 0, 0, 0, 51 [SEP] 9, Plate, 1.193, 1.669, 0.153, 0, 270, 0, 59 [SEP] 10, Bowl, -1.467, 0.557, 2.718, 0, 0, 0, 77 [SEP] 11, SaltShaker, 0.833, 0.150, -0.571, 0, 270, 0, 54 [SEP] 12, PepperShaker, 0.794, 0.490, -0.565, 0, 270, 0, 55 [SEP] 13, PepperShaker, -1.292, 0.929, 0.144, 0, 0, 0, 51 [SEP] 14, Bread, -0.846, 1.014, -1.540, 0, 0, 0, 51 [SEP] 15, Bread, 0.944, 0.992, -0.381, 0, 0, 0, 52 [SEP] 16, Apple, 0.859, 0.961, -1.793, 0, 0, 0, 57 [SEP] 17, Statue, 0.859, 0.914, -0.034, 0, 0, 0, 52 [SEP] 18, Glassbottle, -1.881, 0.554, 2.615, 0, 0, 0, 77 [SEP] 19, Bread, 1.026, 1.482, 1.349, 0, 270, 0, 74 [SEP] 20, CreditCard, -1.878, 0.878, 2.746, 0, 0, 0, 78 [SEP] 21, CellPhone, -1.418, 0.930, -0.380, 0, 0, 0, 51 [SEP] 22, Potato, 0.995, 1.825, -1.339, 0, 270, 0, 73 [SEP] 23, Knife, -1.104, 0.957, -1.167, 0, 90, 0, 51 [SEP] 24, Fork, -0.697, 0.781, -0.832, 0, 180, 0, 72 [SEP] 25, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 45 [SEP] 26, Lettuce, 0.905, 1.212, 1.444, 0, 270, 0, 74 [SEP] 27, Plate, 1.194, 1.669, -0.593, 0, 270, 0, 60 [SEP] 28, Apple, -0.642, 0.830, -0.745, 0, 90, 0, 72 [SEP] 29, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 47 [SEP] 30, Spatula, 1.199, 0.926, -0.208, 0, 0, 0, 52 [SEP] 31, PaperTowelRoll, -1.101, 0.283, 0.641, 0, 90, 0, 71 [SEP] 32, Tomato, -0.624, 0.974, -1.308, 0, 0, 0, 51 [SEP] 33, Egg, 1.087, 1.439, 1.063, 0, 270, 0, 74 [SEP] 34, SaltShaker, -0.698, 0.929, -1.463, 0, 0, 0, 51 [SEP] 35, PepperShaker, -0.550, 0.929, -0.067, 0, 0, 0, 51 [SEP] 36, Vase, 1.114, 0.911, 0.139, 0, 0, 0, 52 [SEP] 37, ButterKnife, -1.325, 0.919, -0.884, 0, 10.678, 0, 51 [SEP] 38, SoapBottle, -1.054, 0.179, 0.543, 0, 180, 0, 71 [SEP] 39, Vase, 0.811, 0.109, -1.892, 0, 0, 0, 56 [SEP] 40, Bowl, 1.056, 1.669, -0.337, 0, 270, 0, 60 [SEP] 41, DishSponge, -0.550, 0.933, -1.463, 0, 0, 0, 51 [SEP] 42, Spoon, 0.773, 0.912, 0.313, 0, 0, 0, 52 [SEP] 43, Cup, -1.571, 0.879, 2.773, 0, 0, 0, 78 [SEP] 44, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 70 [SEP] 45, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 46, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 47, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 48, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 49, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 50, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 51, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 52, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 53, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 54, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 55, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 56, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 57, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 58, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 59, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 60, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 61, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 62, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 63, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 64, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 65, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 66, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 67, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 68, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 69, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 70, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 71, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 72, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 73, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 74, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 75, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 76, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 77, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 78, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 79, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 80, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 81, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 82, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 83, NorthWall, , , , , , , [SEP] 84, EastWall, , , , , , , [SEP] 85, SouthWall, , , , , , , [SEP] 86, WestWall, , , , , , , ", "output": ["STEP 1: Walk forward then turn to the left. Then go forward to the counter and turn right to face it. | STEP 2: Pick up the butter knife off of the counter. | STEP 3: Turn to the left then right then left again to the brown shelf. | STEP 4: Place the knife inside of the green cup on the shelf. | STEP 5: Pick up the green cup with the knife inside. | STEP 6: Turn to the right and go forward. Turn right again and go to the counter top. Turn left to face the counter top. | STEP 7: Place the green cup and knife on to the counter. | END"]} +{"id": "trial_T20190908_235919_129519-1", "input": "Put a green cup with a butter knife in 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, 0.900, 1.5, 0, 270, 0, [SEP] 1, Vase, -1.985, 0.555, 2.822, 0, 0, 0, 77 [SEP] 2, CellPhone, 0.944, 0.908, -1.879, 0, 0, 0, 57 [SEP] 3, CellPhone, 0.688, 0.908, -0.381, 0, 0, 0, 52 [SEP] 4, DishSponge, 1.055, 1.665, -2.097, 0, 270, 0, 50 [SEP] 5, DishSponge, -0.865, 0.178, 0.575, 0, 180, 0, 71 [SEP] 6, ButterKnife, -0.550, 0.933, 0.162, 0, 0, 0, 51 [SEP] 7, ButterKnife, -1.292, 0.933, -0.643, 0, 0, 0, 51 [SEP] 8, Knife, -0.698, 0.957, -1.154, 0, 0, 0, 51 [SEP] 9, Plate, 1.193, 1.669, 0.153, 0, 270, 0, 59 [SEP] 10, Bowl, -1.467, 0.557, 2.718, 0, 0, 0, 77 [SEP] 11, SaltShaker, 0.833, 0.150, -0.571, 0, 270, 0, 54 [SEP] 12, PepperShaker, 0.794, 0.490, -0.565, 0, 270, 0, 55 [SEP] 13, PepperShaker, -1.292, 0.929, 0.144, 0, 0, 0, 51 [SEP] 14, Bread, -0.846, 1.014, -1.540, 0, 0, 0, 51 [SEP] 15, Bread, 0.944, 0.992, -0.381, 0, 0, 0, 52 [SEP] 16, Apple, 0.859, 0.961, -1.793, 0, 0, 0, 57 [SEP] 17, Statue, 0.859, 0.914, -0.034, 0, 0, 0, 52 [SEP] 18, Glassbottle, -1.881, 0.554, 2.615, 0, 0, 0, 77 [SEP] 19, Bread, 1.026, 1.482, 1.349, 0, 270, 0, 74 [SEP] 20, CreditCard, -1.878, 0.878, 2.746, 0, 0, 0, 78 [SEP] 21, CellPhone, -1.418, 0.930, -0.380, 0, 0, 0, 51 [SEP] 22, Potato, 0.995, 1.825, -1.339, 0, 270, 0, 73 [SEP] 23, Knife, -1.104, 0.957, -1.167, 0, 90, 0, 51 [SEP] 24, Fork, -0.697, 0.781, -0.832, 0, 180, 0, 72 [SEP] 25, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 45 [SEP] 26, Lettuce, 0.905, 1.212, 1.444, 0, 270, 0, 74 [SEP] 27, Plate, 1.194, 1.669, -0.593, 0, 270, 0, 60 [SEP] 28, Apple, -0.642, 0.830, -0.745, 0, 90, 0, 72 [SEP] 29, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 47 [SEP] 30, Spatula, 1.199, 0.926, -0.208, 0, 0, 0, 52 [SEP] 31, PaperTowelRoll, -1.101, 0.283, 0.641, 0, 90, 0, 71 [SEP] 32, Tomato, -0.624, 0.974, -1.308, 0, 0, 0, 51 [SEP] 33, Egg, 1.087, 1.439, 1.063, 0, 270, 0, 74 [SEP] 34, SaltShaker, -0.698, 0.929, -1.463, 0, 0, 0, 51 [SEP] 35, PepperShaker, -0.550, 0.929, -0.067, 0, 0, 0, 51 [SEP] 36, Vase, 1.114, 0.911, 0.139, 0, 0, 0, 52 [SEP] 37, ButterKnife, -1.325, 0.919, -0.884, 0, 10.678, 0, 51 [SEP] 38, SoapBottle, -1.054, 0.179, 0.543, 0, 180, 0, 71 [SEP] 39, Vase, 0.811, 0.109, -1.892, 0, 0, 0, 56 [SEP] 40, Bowl, 1.056, 1.669, -0.337, 0, 270, 0, 60 [SEP] 41, DishSponge, -0.550, 0.933, -1.463, 0, 0, 0, 51 [SEP] 42, Spoon, 0.773, 0.912, 0.313, 0, 0, 0, 52 [SEP] 43, Cup, -1.571, 0.879, 2.773, 0, 0, 0, 78 [SEP] 44, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 70 [SEP] 45, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 46, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 47, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 48, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 49, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 50, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 51, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 52, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 53, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 54, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 55, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 56, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 57, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 58, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 59, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 60, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 61, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 62, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 63, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 64, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 65, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 66, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 67, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 68, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 69, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 70, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 71, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 72, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 73, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 74, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 75, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 76, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 77, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 78, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 79, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 80, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 81, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 82, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 83, NorthWall, , , , , , , [SEP] 84, EastWall, , , , , , , [SEP] 85, SouthWall, , , , , , , [SEP] 86, WestWall, , , , , , , ", "output": ["STEP 1: Go toward the wall, then turn left and go in between the chairs, then turn left to face the kitchen island. | STEP 2: Pick up the rightmost butter knife on the kitchen island. | STEP 3: Turn around and move forward, then go to the shelves to your right. | STEP 4: Put the butter knife in the green cup on the top shelf. | STEP 5: Pick up the green cup from the top shelf. | STEP 6: Turn right and go towards the wall, then turn right at the refrigerator and go forward, then turn left to face the dishwasher. | STEP 7: Put the green cup on the counter above the dishwasher. | END"]} +{"id": "trial_T20190908_235919_129519-2", "input": "Put a green cup with a butter knife in 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, 0.900, 1.5, 0, 270, 0, [SEP] 1, Vase, -1.985, 0.555, 2.822, 0, 0, 0, 77 [SEP] 2, CellPhone, 0.944, 0.908, -1.879, 0, 0, 0, 57 [SEP] 3, CellPhone, 0.688, 0.908, -0.381, 0, 0, 0, 52 [SEP] 4, DishSponge, 1.055, 1.665, -2.097, 0, 270, 0, 50 [SEP] 5, DishSponge, -0.865, 0.178, 0.575, 0, 180, 0, 71 [SEP] 6, ButterKnife, -0.550, 0.933, 0.162, 0, 0, 0, 51 [SEP] 7, ButterKnife, -1.292, 0.933, -0.643, 0, 0, 0, 51 [SEP] 8, Knife, -0.698, 0.957, -1.154, 0, 0, 0, 51 [SEP] 9, Plate, 1.193, 1.669, 0.153, 0, 270, 0, 59 [SEP] 10, Bowl, -1.467, 0.557, 2.718, 0, 0, 0, 77 [SEP] 11, SaltShaker, 0.833, 0.150, -0.571, 0, 270, 0, 54 [SEP] 12, PepperShaker, 0.794, 0.490, -0.565, 0, 270, 0, 55 [SEP] 13, PepperShaker, -1.292, 0.929, 0.144, 0, 0, 0, 51 [SEP] 14, Bread, -0.846, 1.014, -1.540, 0, 0, 0, 51 [SEP] 15, Bread, 0.944, 0.992, -0.381, 0, 0, 0, 52 [SEP] 16, Apple, 0.859, 0.961, -1.793, 0, 0, 0, 57 [SEP] 17, Statue, 0.859, 0.914, -0.034, 0, 0, 0, 52 [SEP] 18, Glassbottle, -1.881, 0.554, 2.615, 0, 0, 0, 77 [SEP] 19, Bread, 1.026, 1.482, 1.349, 0, 270, 0, 74 [SEP] 20, CreditCard, -1.878, 0.878, 2.746, 0, 0, 0, 78 [SEP] 21, CellPhone, -1.418, 0.930, -0.380, 0, 0, 0, 51 [SEP] 22, Potato, 0.995, 1.825, -1.339, 0, 270, 0, 73 [SEP] 23, Knife, -1.104, 0.957, -1.167, 0, 90, 0, 51 [SEP] 24, Fork, -0.697, 0.781, -0.832, 0, 180, 0, 72 [SEP] 25, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 45 [SEP] 26, Lettuce, 0.905, 1.212, 1.444, 0, 270, 0, 74 [SEP] 27, Plate, 1.194, 1.669, -0.593, 0, 270, 0, 60 [SEP] 28, Apple, -0.642, 0.830, -0.745, 0, 90, 0, 72 [SEP] 29, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 47 [SEP] 30, Spatula, 1.199, 0.926, -0.208, 0, 0, 0, 52 [SEP] 31, PaperTowelRoll, -1.101, 0.283, 0.641, 0, 90, 0, 71 [SEP] 32, Tomato, -0.624, 0.974, -1.308, 0, 0, 0, 51 [SEP] 33, Egg, 1.087, 1.439, 1.063, 0, 270, 0, 74 [SEP] 34, SaltShaker, -0.698, 0.929, -1.463, 0, 0, 0, 51 [SEP] 35, PepperShaker, -0.550, 0.929, -0.067, 0, 0, 0, 51 [SEP] 36, Vase, 1.114, 0.911, 0.139, 0, 0, 0, 52 [SEP] 37, ButterKnife, -1.325, 0.919, -0.884, 0, 10.678, 0, 51 [SEP] 38, SoapBottle, -1.054, 0.179, 0.543, 0, 180, 0, 71 [SEP] 39, Vase, 0.811, 0.109, -1.892, 0, 0, 0, 56 [SEP] 40, Bowl, 1.056, 1.669, -0.337, 0, 270, 0, 60 [SEP] 41, DishSponge, -0.550, 0.933, -1.463, 0, 0, 0, 51 [SEP] 42, Spoon, 0.773, 0.912, 0.313, 0, 0, 0, 52 [SEP] 43, Cup, -1.571, 0.879, 2.773, 0, 0, 0, 78 [SEP] 44, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 70 [SEP] 45, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 46, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 47, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 48, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 49, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 50, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 51, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 52, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 53, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 54, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 55, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 56, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 57, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 58, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 59, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 60, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 61, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 62, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 63, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 64, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 65, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 66, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 67, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 68, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 69, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 70, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 71, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 72, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 73, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 74, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 75, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 76, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 77, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 78, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 79, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 80, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 81, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 82, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 83, NorthWall, , , , , , , [SEP] 84, EastWall, , , , , , , [SEP] 85, SouthWall, , , , , , , [SEP] 86, WestWall, , , , , , , ", "output": ["STEP 1: Walk towards the wall, then hang a left and walk towards the window, turn left and walk up to the kitchen island. | STEP 2: Pick up the rightmost butter knife off of the kitchen island in front of you. | STEP 3: Turn around and walk forward, then hang a right and walk over to the wooden shelving unit against the wall. | STEP 4: Put the butter knife in the green cup on the top shelf of the wooden shelving unit. | STEP 5: Pick up the green cup with the butter knife in it. | STEP 6: Turn right and walk forward, then hang a right and walk over to the counter where the toaster is. | STEP 7: Put the green cup with the butter knife in it on the counter in front of the golden statue. | END"]} +{"id": "trial_T20190908_123236_460615-0", "input": "Put a glass vase and a 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, 0.25, 0.900, -1.0, 0, 0, 0, [SEP] 1, Pan, 1.126, 2.205, -1.517, 0, 180, 0, 70 [SEP] 2, Vase, -1.571, 0.882, 2.719, 0, 0, 0, 90 [SEP] 3, Potato, 0.905, 1.165, 1.444, 0, 270, 0, 86 [SEP] 4, Potato, -0.808, 0.811, -0.486, 0, 90, 0, 84 [SEP] 5, CreditCard, -1.778, 0.551, 2.718, 0, 0, 0, 89 [SEP] 6, CellPhone, 1.199, 0.908, -0.729, 0, 0, 0, 64 [SEP] 7, CellPhone, -1.292, 0.930, -0.118, 0, 0, 0, 63 [SEP] 8, Glassbottle, 0.811, 0.109, -2.292, 0, 0, 0, 68 [SEP] 9, Glassbottle, 1.194, 1.667, -2.029, 0, 270, 0, 62 [SEP] 10, Spoon, 0.794, 0.495, -0.648, 0, 270, 0, 67 [SEP] 11, Spoon, 0.794, 0.703, -0.690, 0, 270, 0, 61 [SEP] 12, Knife, -0.772, 0.957, -1.540, 0, 0, 0, 63 [SEP] 13, Knife, 0.773, 0.934, -1.879, 0, 270, 0, 69 [SEP] 14, Egg, 0.944, 0.949, -1.793, 0, 0, 0, 69 [SEP] 15, Cup, 1.199, 0.908, -0.208, 0, 0, 0, 64 [SEP] 16, Cup, 0.783, 1.399, 1.254, 0, 270, 0, 86 [SEP] 17, Plate, 1.147, 1.669, 0.089, 0, 270, 0, 71 [SEP] 18, Plate, 0.811, 0.111, -1.892, 0, 0, 0, 68 [SEP] 19, Tomato, -1.054, 0.219, 0.608, 0, 180, 0, 83 [SEP] 20, SoapBottle, -0.912, 0.179, 0.576, 0, 180, 0, 83 [SEP] 21, Bowl, -0.550, 0.936, -1.231, 0, 0, 0, 63 [SEP] 22, Bowl, 0.844, 1.405, 1.063, 0, 270, 0, 86 [SEP] 23, SaltShaker, -1.467, 0.550, 2.615, 0, 0, 0, 89 [SEP] 24, Lettuce, 1.114, 0.988, -0.381, 0, 0, 0, 64 [SEP] 25, Bread, 0.859, 0.992, -0.381, 0, 0, 0, 64 [SEP] 26, Bread, -1.292, 1.014, -0.905, 0, 0, 0, 63 [SEP] 27, Mug, 1.101, 1.661, -1.893, 0, 270, 0, 62 [SEP] 28, Apple, 0.944, 0.961, -0.034, 0, 0, 0, 64 [SEP] 29, Statue, -1.355, 0.936, 0.144, 0, 0, 0, 63 [SEP] 30, Glassbottle, -0.587, 0.781, -0.659, 0, 90, 0, 84 [SEP] 31, Bread, 0.773, 0.992, 0.139, 0, 0, 0, 64 [SEP] 32, CreditCard, 1.029, 0.908, -0.555, 0, 0, 0, 64 [SEP] 33, CellPhone, 1.029, 0.908, -0.729, 0, 0, 0, 64 [SEP] 34, Potato, 0.859, 0.941, -0.729, 0, 0, 0, 64 [SEP] 35, Knife, -0.550, 0.957, 0.162, 0, 90, 0, 63 [SEP] 36, Fork, 0.875, 0.702, -0.565, 0, 0, 0, 61 [SEP] 37, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 57 [SEP] 38, Lettuce, 0.867, 1.688, 1.209, 9.750, 11.009, 358.514, 86 [SEP] 39, Plate, 1.102, 1.669, -0.593, 0, 270, 0, 72 [SEP] 40, Apple, 0.844, 0.913, 1.254, 0, 270, 0, 86 [SEP] 41, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 59 [SEP] 42, Spatula, -1.104, 0.948, -0.118, 0, 0, 0, 63 [SEP] 43, PaperTowelRoll, -0.818, 0.281, 0.608, 0, 270, 0, 83 [SEP] 44, Tomato, 0.688, 0.952, -1.965, 0, 0, 0, 69 [SEP] 45, Egg, 1.087, 1.439, 1.540, 0, 270, 0, 86 [SEP] 46, SaltShaker, 0.834, 0.491, -0.565, 0, 270, 0, 67 [SEP] 47, PepperShaker, 0.875, 0.490, -0.772, 0, 270, 0, 67 [SEP] 48, Vase, -0.772, 0.933, -1.386, 0, 0, 0, 63 [SEP] 49, ButterKnife, 1.114, 0.911, -0.729, 0, 0, 0, 64 [SEP] 50, SoapBottle, -0.624, 0.933, 0.086, 0, 0, 0, 63 [SEP] 51, Vase, -1.104, 0.934, 0.144, 0, 0, 0, 63 [SEP] 52, Bowl, -1.363, 0.557, 2.770, 0, 0, 0, 89 [SEP] 53, DishSponge, 1.082, 2.207, -1.082, 0, 270, 0, 70 [SEP] 54, Spoon, -0.753, 0.777, -0.832, 0, 180, 0, 84 [SEP] 55, Cup, 0.966, 0.860, 1.254, 0, 270, 0, 86 [SEP] 56, Mug, 0.965, 1.396, 1.444, 0, 270, 0, 86 [SEP] 57, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 58, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 59, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 60, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 61, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 62, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 63, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 64, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 65, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 66, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 67, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 68, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 69, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 70, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 71, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 72, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 73, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 74, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 75, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 76, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 77, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 78, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 79, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 80, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 81, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 82, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 83, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 84, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 85, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 86, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 87, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 88, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 89, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 90, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 91, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 92, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 93, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 94, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 95, NorthWall, , , , , , , [SEP] 96, EastWall, , , , , , , [SEP] 97, SouthWall, , , , , , , [SEP] 98, WestWall, , , , , , , ", "output": ["STEP 1: Turn left towards the sink | STEP 2: Pick up the glass vase in the sink | STEP 3: Turn right to the cupboards and open them | STEP 4: Place the glass vase on the gold plate | STEP 5: Take them out of the cupboard | STEP 6: Turn right and towards the sink | STEP 7: Put the vase and plate in the sink | END"]} +{"id": "trial_T20190908_123236_460615-1", "input": "Put a plate with a bottle on 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, -1.0, 0, 0, 0, [SEP] 1, Pan, 1.126, 2.205, -1.517, 0, 180, 0, 70 [SEP] 2, Vase, -1.571, 0.882, 2.719, 0, 0, 0, 90 [SEP] 3, Potato, 0.905, 1.165, 1.444, 0, 270, 0, 86 [SEP] 4, Potato, -0.808, 0.811, -0.486, 0, 90, 0, 84 [SEP] 5, CreditCard, -1.778, 0.551, 2.718, 0, 0, 0, 89 [SEP] 6, CellPhone, 1.199, 0.908, -0.729, 0, 0, 0, 64 [SEP] 7, CellPhone, -1.292, 0.930, -0.118, 0, 0, 0, 63 [SEP] 8, Glassbottle, 0.811, 0.109, -2.292, 0, 0, 0, 68 [SEP] 9, Glassbottle, 1.194, 1.667, -2.029, 0, 270, 0, 62 [SEP] 10, Spoon, 0.794, 0.495, -0.648, 0, 270, 0, 67 [SEP] 11, Spoon, 0.794, 0.703, -0.690, 0, 270, 0, 61 [SEP] 12, Knife, -0.772, 0.957, -1.540, 0, 0, 0, 63 [SEP] 13, Knife, 0.773, 0.934, -1.879, 0, 270, 0, 69 [SEP] 14, Egg, 0.944, 0.949, -1.793, 0, 0, 0, 69 [SEP] 15, Cup, 1.199, 0.908, -0.208, 0, 0, 0, 64 [SEP] 16, Cup, 0.783, 1.399, 1.254, 0, 270, 0, 86 [SEP] 17, Plate, 1.147, 1.669, 0.089, 0, 270, 0, 71 [SEP] 18, Plate, 0.811, 0.111, -1.892, 0, 0, 0, 68 [SEP] 19, Tomato, -1.054, 0.219, 0.608, 0, 180, 0, 83 [SEP] 20, SoapBottle, -0.912, 0.179, 0.576, 0, 180, 0, 83 [SEP] 21, Bowl, -0.550, 0.936, -1.231, 0, 0, 0, 63 [SEP] 22, Bowl, 0.844, 1.405, 1.063, 0, 270, 0, 86 [SEP] 23, SaltShaker, -1.467, 0.550, 2.615, 0, 0, 0, 89 [SEP] 24, Lettuce, 1.114, 0.988, -0.381, 0, 0, 0, 64 [SEP] 25, Bread, 0.859, 0.992, -0.381, 0, 0, 0, 64 [SEP] 26, Bread, -1.292, 1.014, -0.905, 0, 0, 0, 63 [SEP] 27, Mug, 1.101, 1.661, -1.893, 0, 270, 0, 62 [SEP] 28, Apple, 0.944, 0.961, -0.034, 0, 0, 0, 64 [SEP] 29, Statue, -1.355, 0.936, 0.144, 0, 0, 0, 63 [SEP] 30, Glassbottle, -0.587, 0.781, -0.659, 0, 90, 0, 84 [SEP] 31, Bread, 0.773, 0.992, 0.139, 0, 0, 0, 64 [SEP] 32, CreditCard, 1.029, 0.908, -0.555, 0, 0, 0, 64 [SEP] 33, CellPhone, 1.029, 0.908, -0.729, 0, 0, 0, 64 [SEP] 34, Potato, 0.859, 0.941, -0.729, 0, 0, 0, 64 [SEP] 35, Knife, -0.550, 0.957, 0.162, 0, 90, 0, 63 [SEP] 36, Fork, 0.875, 0.702, -0.565, 0, 0, 0, 61 [SEP] 37, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 57 [SEP] 38, Lettuce, 0.867, 1.688, 1.209, 9.750, 11.009, 358.514, 86 [SEP] 39, Plate, 1.102, 1.669, -0.593, 0, 270, 0, 72 [SEP] 40, Apple, 0.844, 0.913, 1.254, 0, 270, 0, 86 [SEP] 41, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 59 [SEP] 42, Spatula, -1.104, 0.948, -0.118, 0, 0, 0, 63 [SEP] 43, PaperTowelRoll, -0.818, 0.281, 0.608, 0, 270, 0, 83 [SEP] 44, Tomato, 0.688, 0.952, -1.965, 0, 0, 0, 69 [SEP] 45, Egg, 1.087, 1.439, 1.540, 0, 270, 0, 86 [SEP] 46, SaltShaker, 0.834, 0.491, -0.565, 0, 270, 0, 67 [SEP] 47, PepperShaker, 0.875, 0.490, -0.772, 0, 270, 0, 67 [SEP] 48, Vase, -0.772, 0.933, -1.386, 0, 0, 0, 63 [SEP] 49, ButterKnife, 1.114, 0.911, -0.729, 0, 0, 0, 64 [SEP] 50, SoapBottle, -0.624, 0.933, 0.086, 0, 0, 0, 63 [SEP] 51, Vase, -1.104, 0.934, 0.144, 0, 0, 0, 63 [SEP] 52, Bowl, -1.363, 0.557, 2.770, 0, 0, 0, 89 [SEP] 53, DishSponge, 1.082, 2.207, -1.082, 0, 270, 0, 70 [SEP] 54, Spoon, -0.753, 0.777, -0.832, 0, 180, 0, 84 [SEP] 55, Cup, 0.966, 0.860, 1.254, 0, 270, 0, 86 [SEP] 56, Mug, 0.965, 1.396, 1.444, 0, 270, 0, 86 [SEP] 57, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 58, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 59, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 60, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 61, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 62, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 63, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 64, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 65, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 66, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 67, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 68, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 69, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 70, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 71, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 72, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 73, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 74, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 75, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 76, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 77, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 78, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 79, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 80, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 81, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 82, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 83, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 84, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 85, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 86, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 87, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 88, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 89, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 90, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 91, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 92, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 93, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 94, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 95, NorthWall, , , , , , , [SEP] 96, EastWall, , , , , , , [SEP] 97, SouthWall, , , , , , , [SEP] 98, WestWall, , , , , , , ", "output": ["STEP 1: Take a tiny step forward then turn left to face the sink and step towards it. | STEP 2: Pick up the glass battle that's in the sink. | STEP 3: Turn around and take a step left then step towards the counter and look up. | STEP 4: Open the cupboard doors and put the bottle on the plate that's up there. | STEP 5: Pick up the plate with the bottle on it and then close the doors. | STEP 6: Turn around and take a step to your left then walk towards the sink., | STEP 7: Put the plate in the sink. | END"]} +{"id": "trial_T20190908_123236_460615-2", "input": "put a plate and glass jug into the kitchen sink basin SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.25, 0.900, -1.0, 0, 0, 0, [SEP] 1, Pan, 1.126, 2.205, -1.517, 0, 180, 0, 70 [SEP] 2, Vase, -1.571, 0.882, 2.719, 0, 0, 0, 90 [SEP] 3, Potato, 0.905, 1.165, 1.444, 0, 270, 0, 86 [SEP] 4, Potato, -0.808, 0.811, -0.486, 0, 90, 0, 84 [SEP] 5, CreditCard, -1.778, 0.551, 2.718, 0, 0, 0, 89 [SEP] 6, CellPhone, 1.199, 0.908, -0.729, 0, 0, 0, 64 [SEP] 7, CellPhone, -1.292, 0.930, -0.118, 0, 0, 0, 63 [SEP] 8, Glassbottle, 0.811, 0.109, -2.292, 0, 0, 0, 68 [SEP] 9, Glassbottle, 1.194, 1.667, -2.029, 0, 270, 0, 62 [SEP] 10, Spoon, 0.794, 0.495, -0.648, 0, 270, 0, 67 [SEP] 11, Spoon, 0.794, 0.703, -0.690, 0, 270, 0, 61 [SEP] 12, Knife, -0.772, 0.957, -1.540, 0, 0, 0, 63 [SEP] 13, Knife, 0.773, 0.934, -1.879, 0, 270, 0, 69 [SEP] 14, Egg, 0.944, 0.949, -1.793, 0, 0, 0, 69 [SEP] 15, Cup, 1.199, 0.908, -0.208, 0, 0, 0, 64 [SEP] 16, Cup, 0.783, 1.399, 1.254, 0, 270, 0, 86 [SEP] 17, Plate, 1.147, 1.669, 0.089, 0, 270, 0, 71 [SEP] 18, Plate, 0.811, 0.111, -1.892, 0, 0, 0, 68 [SEP] 19, Tomato, -1.054, 0.219, 0.608, 0, 180, 0, 83 [SEP] 20, SoapBottle, -0.912, 0.179, 0.576, 0, 180, 0, 83 [SEP] 21, Bowl, -0.550, 0.936, -1.231, 0, 0, 0, 63 [SEP] 22, Bowl, 0.844, 1.405, 1.063, 0, 270, 0, 86 [SEP] 23, SaltShaker, -1.467, 0.550, 2.615, 0, 0, 0, 89 [SEP] 24, Lettuce, 1.114, 0.988, -0.381, 0, 0, 0, 64 [SEP] 25, Bread, 0.859, 0.992, -0.381, 0, 0, 0, 64 [SEP] 26, Bread, -1.292, 1.014, -0.905, 0, 0, 0, 63 [SEP] 27, Mug, 1.101, 1.661, -1.893, 0, 270, 0, 62 [SEP] 28, Apple, 0.944, 0.961, -0.034, 0, 0, 0, 64 [SEP] 29, Statue, -1.355, 0.936, 0.144, 0, 0, 0, 63 [SEP] 30, Glassbottle, -0.587, 0.781, -0.659, 0, 90, 0, 84 [SEP] 31, Bread, 0.773, 0.992, 0.139, 0, 0, 0, 64 [SEP] 32, CreditCard, 1.029, 0.908, -0.555, 0, 0, 0, 64 [SEP] 33, CellPhone, 1.029, 0.908, -0.729, 0, 0, 0, 64 [SEP] 34, Potato, 0.859, 0.941, -0.729, 0, 0, 0, 64 [SEP] 35, Knife, -0.550, 0.957, 0.162, 0, 90, 0, 63 [SEP] 36, Fork, 0.875, 0.702, -0.565, 0, 0, 0, 61 [SEP] 37, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 57 [SEP] 38, Lettuce, 0.867, 1.688, 1.209, 9.750, 11.009, 358.514, 86 [SEP] 39, Plate, 1.102, 1.669, -0.593, 0, 270, 0, 72 [SEP] 40, Apple, 0.844, 0.913, 1.254, 0, 270, 0, 86 [SEP] 41, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 59 [SEP] 42, Spatula, -1.104, 0.948, -0.118, 0, 0, 0, 63 [SEP] 43, PaperTowelRoll, -0.818, 0.281, 0.608, 0, 270, 0, 83 [SEP] 44, Tomato, 0.688, 0.952, -1.965, 0, 0, 0, 69 [SEP] 45, Egg, 1.087, 1.439, 1.540, 0, 270, 0, 86 [SEP] 46, SaltShaker, 0.834, 0.491, -0.565, 0, 270, 0, 67 [SEP] 47, PepperShaker, 0.875, 0.490, -0.772, 0, 270, 0, 67 [SEP] 48, Vase, -0.772, 0.933, -1.386, 0, 0, 0, 63 [SEP] 49, ButterKnife, 1.114, 0.911, -0.729, 0, 0, 0, 64 [SEP] 50, SoapBottle, -0.624, 0.933, 0.086, 0, 0, 0, 63 [SEP] 51, Vase, -1.104, 0.934, 0.144, 0, 0, 0, 63 [SEP] 52, Bowl, -1.363, 0.557, 2.770, 0, 0, 0, 89 [SEP] 53, DishSponge, 1.082, 2.207, -1.082, 0, 270, 0, 70 [SEP] 54, Spoon, -0.753, 0.777, -0.832, 0, 180, 0, 84 [SEP] 55, Cup, 0.966, 0.860, 1.254, 0, 270, 0, 86 [SEP] 56, Mug, 0.965, 1.396, 1.444, 0, 270, 0, 86 [SEP] 57, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 58, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 59, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 60, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 61, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 62, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 63, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 64, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 65, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 66, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 67, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 68, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 69, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 70, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 71, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 72, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 73, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 74, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 75, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 76, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 77, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 78, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 79, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 80, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 81, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 82, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 83, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 84, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 85, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 86, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 87, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 88, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 89, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 90, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 91, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 92, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 93, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 94, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 95, NorthWall, , , , , , , [SEP] 96, EastWall, , , , , , , [SEP] 97, SouthWall, , , , , , , [SEP] 98, WestWall, , , , , , , ", "output": ["STEP 1: turn to face kitchen sink | STEP 2: pick up glass jug from kitchen sink | STEP 3: turn around to face the counter opposite the sink between the fridge and stove | STEP 4: open the cabinet above the counter, place the glass on the plate inside | STEP 5: pick up the plate from the cabinet | STEP 6: turn around to face the sink | STEP 7: place the plate inside the sink basin | END"]} +{"id": "trial_T20190909_021247_306737-0", "input": "heat up coffee in a mug and put it away inside the cabinet door 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, 90, 0, [SEP] 1, Statue, -1.229, 0.936, -1.167, 0, 0, 0, 57 [SEP] 2, Potato, -1.355, 0.963, -0.905, 0, 0, 0, 57 [SEP] 3, CreditCard, -1.778, 0.551, 2.718, 0, 0, 0, 83 [SEP] 4, CellPhone, 0.834, 0.492, -0.607, 0, 270, 0, 61 [SEP] 5, DishSponge, 0.688, 0.910, -0.555, 0, 0, 0, 58 [SEP] 6, DishSponge, 1.114, 0.910, -1.879, 0, 0, 0, 63 [SEP] 7, ButterKnife, -1.292, 0.933, 0.144, 0, 0, 0, 57 [SEP] 8, Glassbottle, -1.467, 0.554, 2.667, 0, 0, 0, 83 [SEP] 9, Glassbottle, 1.212, 2.208, -1.082, 0, 270, 0, 64 [SEP] 10, Fork, -0.698, 0.934, -1.540, 0, 0, 0, 57 [SEP] 11, Fork, 0.875, 0.495, -0.731, 0, 0, 0, 61 [SEP] 12, Spoon, -0.753, 0.781, -0.745, 0, 90, 0, 78 [SEP] 13, Spatula, -0.753, 0.791, -0.918, 0, 180, 0, 78 [SEP] 14, Knife, -0.772, 0.957, -1.231, 0, 0, 0, 57 [SEP] 15, Egg, 0.859, 0.949, -1.879, 0, 0, 0, 63 [SEP] 16, SoapBottle, -1.007, 0.179, 0.543, 0, 180, 0, 77 [SEP] 17, PepperShaker, 0.753, 0.150, -0.611, 0, 270, 0, 60 [SEP] 18, PepperShaker, 0.773, 0.907, -0.729, 0, 0, 0, 58 [SEP] 19, Bread, 0.859, 0.992, 0.139, 0, 0, 0, 58 [SEP] 20, Bread, 1.114, 0.992, -0.381, 0, 0, 0, 58 [SEP] 21, Apple, 0.844, 1.693, 1.444, 0, 270, 0, 80 [SEP] 22, Apple, -0.912, 0.227, 0.641, 0, 180, 0, 77 [SEP] 23, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 57 [SEP] 24, Glassbottle, 1.126, 2.208, -1.408, 0, 270, 0, 64 [SEP] 25, Bread, -0.779, 0.996, 0.209, 0, 258.641, 0, 57 [SEP] 26, CreditCard, 0.794, 0.491, -0.690, 0, 270, 0, 61 [SEP] 27, CellPhone, 0.794, 0.699, -0.648, 0, 270, 0, 55 [SEP] 28, Potato, -0.642, 0.811, -0.832, 0, 180, 0, 78 [SEP] 29, Knife, 0.859, 0.934, -0.729, 0, 0, 0, 58 [SEP] 30, Fork, 0.773, 0.911, -1.965, 0, 0, 0, 63 [SEP] 31, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 51 [SEP] 32, Lettuce, 0.866, 1.688, 1.209, 9.746, 11.103, 0, 80 [SEP] 33, Plate, -1.985, 0.557, 2.718, 0, 0, 0, 83 [SEP] 34, Apple, 1.026, 0.913, 1.444, 0, 270, 0, 80 [SEP] 35, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 53 [SEP] 36, Spatula, 0.754, 0.718, -0.690, 0, 180, 0, 55 [SEP] 37, PaperTowelRoll, 0.944, 1.015, -1.793, 0, 0, 0, 63 [SEP] 38, Tomato, 1.087, 1.683, 0.967, 0, 270, 0, 80 [SEP] 39, Egg, 0.995, 1.833, -1.339, 0, 270, 0, 79 [SEP] 40, SaltShaker, 1.126, 2.204, -1.517, 0, 270, 0, 64 [SEP] 41, PepperShaker, 0.914, 0.150, -0.729, 0, 270, 0, 60 [SEP] 42, Vase, 1.056, 1.666, -0.593, 0, 270, 0, 66 [SEP] 43, ButterKnife, -0.624, 0.933, -1.154, 0, 0, 0, 57 [SEP] 44, SoapBottle, -1.571, 0.882, 2.719, 0, 0, 0, 84 [SEP] 45, Vase, 1.148, 1.667, -2.166, 0, 270, 0, 56 [SEP] 46, Bowl, 0.960, 0.111, -2.052, 0, 0, 0, 62 [SEP] 47, DishSponge, 0.960, 0.107, -2.292, 0, 0, 0, 62 [SEP] 48, Spoon, -0.550, 0.934, 0.009, 0, 0, 0, 57 [SEP] 49, Cup, 1.026, 1.132, 1.254, 0, 270, 0, 80 [SEP] 50, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 76 [SEP] 51, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 52, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 53, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 54, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 55, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 56, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 57, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 58, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 59, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 60, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 61, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 62, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 63, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 64, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 65, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 66, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 67, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 68, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 69, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 70, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 71, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 72, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 73, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 74, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 75, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 76, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 77, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 78, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 79, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 80, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 81, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 82, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 83, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 84, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 85, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 86, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 87, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 88, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 89, NorthWall, , , , , , , [SEP] 90, EastWall, , , , , , , [SEP] 91, SouthWall, , , , , , , [SEP] 92, WestWall, , , , , , , ", "output": ["STEP 1: turn right walk straight to the window then turn left and walk straight towards the counter and turn left then turn right and walk straight towards the counter | STEP 2: pick up the coffee mug on the coffee maker | STEP 3: turn left and walk straight then turn right towards the stove and look up | STEP 4: open the microwave door above the stove and put the coffee mug inside then close the door and start the timer and open the door and remove the mug and close the door | STEP 5: look down and turn left then walk straight then turn right towards the counter and look up at the cabinet | STEP 6: open the cabinet door and put the mug inside then close the door | END"]} +{"id": "trial_T20190909_021247_306737-1", "input": "Place a heated mug 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, -1.75, 0, 90, 0, [SEP] 1, Statue, -1.229, 0.936, -1.167, 0, 0, 0, 57 [SEP] 2, Potato, -1.355, 0.963, -0.905, 0, 0, 0, 57 [SEP] 3, CreditCard, -1.778, 0.551, 2.718, 0, 0, 0, 83 [SEP] 4, CellPhone, 0.834, 0.492, -0.607, 0, 270, 0, 61 [SEP] 5, DishSponge, 0.688, 0.910, -0.555, 0, 0, 0, 58 [SEP] 6, DishSponge, 1.114, 0.910, -1.879, 0, 0, 0, 63 [SEP] 7, ButterKnife, -1.292, 0.933, 0.144, 0, 0, 0, 57 [SEP] 8, Glassbottle, -1.467, 0.554, 2.667, 0, 0, 0, 83 [SEP] 9, Glassbottle, 1.212, 2.208, -1.082, 0, 270, 0, 64 [SEP] 10, Fork, -0.698, 0.934, -1.540, 0, 0, 0, 57 [SEP] 11, Fork, 0.875, 0.495, -0.731, 0, 0, 0, 61 [SEP] 12, Spoon, -0.753, 0.781, -0.745, 0, 90, 0, 78 [SEP] 13, Spatula, -0.753, 0.791, -0.918, 0, 180, 0, 78 [SEP] 14, Knife, -0.772, 0.957, -1.231, 0, 0, 0, 57 [SEP] 15, Egg, 0.859, 0.949, -1.879, 0, 0, 0, 63 [SEP] 16, SoapBottle, -1.007, 0.179, 0.543, 0, 180, 0, 77 [SEP] 17, PepperShaker, 0.753, 0.150, -0.611, 0, 270, 0, 60 [SEP] 18, PepperShaker, 0.773, 0.907, -0.729, 0, 0, 0, 58 [SEP] 19, Bread, 0.859, 0.992, 0.139, 0, 0, 0, 58 [SEP] 20, Bread, 1.114, 0.992, -0.381, 0, 0, 0, 58 [SEP] 21, Apple, 0.844, 1.693, 1.444, 0, 270, 0, 80 [SEP] 22, Apple, -0.912, 0.227, 0.641, 0, 180, 0, 77 [SEP] 23, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 57 [SEP] 24, Glassbottle, 1.126, 2.208, -1.408, 0, 270, 0, 64 [SEP] 25, Bread, -0.779, 0.996, 0.209, 0, 258.641, 0, 57 [SEP] 26, CreditCard, 0.794, 0.491, -0.690, 0, 270, 0, 61 [SEP] 27, CellPhone, 0.794, 0.699, -0.648, 0, 270, 0, 55 [SEP] 28, Potato, -0.642, 0.811, -0.832, 0, 180, 0, 78 [SEP] 29, Knife, 0.859, 0.934, -0.729, 0, 0, 0, 58 [SEP] 30, Fork, 0.773, 0.911, -1.965, 0, 0, 0, 63 [SEP] 31, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 51 [SEP] 32, Lettuce, 0.866, 1.688, 1.209, 9.746, 11.103, 0, 80 [SEP] 33, Plate, -1.985, 0.557, 2.718, 0, 0, 0, 83 [SEP] 34, Apple, 1.026, 0.913, 1.444, 0, 270, 0, 80 [SEP] 35, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 53 [SEP] 36, Spatula, 0.754, 0.718, -0.690, 0, 180, 0, 55 [SEP] 37, PaperTowelRoll, 0.944, 1.015, -1.793, 0, 0, 0, 63 [SEP] 38, Tomato, 1.087, 1.683, 0.967, 0, 270, 0, 80 [SEP] 39, Egg, 0.995, 1.833, -1.339, 0, 270, 0, 79 [SEP] 40, SaltShaker, 1.126, 2.204, -1.517, 0, 270, 0, 64 [SEP] 41, PepperShaker, 0.914, 0.150, -0.729, 0, 270, 0, 60 [SEP] 42, Vase, 1.056, 1.666, -0.593, 0, 270, 0, 66 [SEP] 43, ButterKnife, -0.624, 0.933, -1.154, 0, 0, 0, 57 [SEP] 44, SoapBottle, -1.571, 0.882, 2.719, 0, 0, 0, 84 [SEP] 45, Vase, 1.148, 1.667, -2.166, 0, 270, 0, 56 [SEP] 46, Bowl, 0.960, 0.111, -2.052, 0, 0, 0, 62 [SEP] 47, DishSponge, 0.960, 0.107, -2.292, 0, 0, 0, 62 [SEP] 48, Spoon, -0.550, 0.934, 0.009, 0, 0, 0, 57 [SEP] 49, Cup, 1.026, 1.132, 1.254, 0, 270, 0, 80 [SEP] 50, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 76 [SEP] 51, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 52, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 53, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 54, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 55, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 56, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 57, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 58, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 59, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 60, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 61, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 62, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 63, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 64, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 65, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 66, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 67, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 68, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 69, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 70, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 71, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 72, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 73, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 74, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 75, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 76, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 77, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 78, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 79, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 80, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 81, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 82, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 83, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 84, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 85, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 86, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 87, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 88, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 89, NorthWall, , , , , , , [SEP] 90, EastWall, , , , , , , [SEP] 91, SouthWall, , , , , , , [SEP] 92, WestWall, , , , , , , ", "output": ["STEP 1: Walk ahead and right to the coffee maker on the counter. | STEP 2: Take the mug out of the coffee maker. | STEP 3: Take a step left. | STEP 4: Heat the mug in the microwave. | STEP 5: Take a step left. | STEP 6: Place the mug in the cabinet left of the microwave, to the left of the white vase. | END"]} +{"id": "trial_T20190909_021247_306737-2", "input": "put heated mug inside 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, -1.75, 0, 90, 0, [SEP] 1, Statue, -1.229, 0.936, -1.167, 0, 0, 0, 57 [SEP] 2, Potato, -1.355, 0.963, -0.905, 0, 0, 0, 57 [SEP] 3, CreditCard, -1.778, 0.551, 2.718, 0, 0, 0, 83 [SEP] 4, CellPhone, 0.834, 0.492, -0.607, 0, 270, 0, 61 [SEP] 5, DishSponge, 0.688, 0.910, -0.555, 0, 0, 0, 58 [SEP] 6, DishSponge, 1.114, 0.910, -1.879, 0, 0, 0, 63 [SEP] 7, ButterKnife, -1.292, 0.933, 0.144, 0, 0, 0, 57 [SEP] 8, Glassbottle, -1.467, 0.554, 2.667, 0, 0, 0, 83 [SEP] 9, Glassbottle, 1.212, 2.208, -1.082, 0, 270, 0, 64 [SEP] 10, Fork, -0.698, 0.934, -1.540, 0, 0, 0, 57 [SEP] 11, Fork, 0.875, 0.495, -0.731, 0, 0, 0, 61 [SEP] 12, Spoon, -0.753, 0.781, -0.745, 0, 90, 0, 78 [SEP] 13, Spatula, -0.753, 0.791, -0.918, 0, 180, 0, 78 [SEP] 14, Knife, -0.772, 0.957, -1.231, 0, 0, 0, 57 [SEP] 15, Egg, 0.859, 0.949, -1.879, 0, 0, 0, 63 [SEP] 16, SoapBottle, -1.007, 0.179, 0.543, 0, 180, 0, 77 [SEP] 17, PepperShaker, 0.753, 0.150, -0.611, 0, 270, 0, 60 [SEP] 18, PepperShaker, 0.773, 0.907, -0.729, 0, 0, 0, 58 [SEP] 19, Bread, 0.859, 0.992, 0.139, 0, 0, 0, 58 [SEP] 20, Bread, 1.114, 0.992, -0.381, 0, 0, 0, 58 [SEP] 21, Apple, 0.844, 1.693, 1.444, 0, 270, 0, 80 [SEP] 22, Apple, -0.912, 0.227, 0.641, 0, 180, 0, 77 [SEP] 23, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 57 [SEP] 24, Glassbottle, 1.126, 2.208, -1.408, 0, 270, 0, 64 [SEP] 25, Bread, -0.779, 0.996, 0.209, 0, 258.641, 0, 57 [SEP] 26, CreditCard, 0.794, 0.491, -0.690, 0, 270, 0, 61 [SEP] 27, CellPhone, 0.794, 0.699, -0.648, 0, 270, 0, 55 [SEP] 28, Potato, -0.642, 0.811, -0.832, 0, 180, 0, 78 [SEP] 29, Knife, 0.859, 0.934, -0.729, 0, 0, 0, 58 [SEP] 30, Fork, 0.773, 0.911, -1.965, 0, 0, 0, 63 [SEP] 31, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 51 [SEP] 32, Lettuce, 0.866, 1.688, 1.209, 9.746, 11.103, 0, 80 [SEP] 33, Plate, -1.985, 0.557, 2.718, 0, 0, 0, 83 [SEP] 34, Apple, 1.026, 0.913, 1.444, 0, 270, 0, 80 [SEP] 35, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 53 [SEP] 36, Spatula, 0.754, 0.718, -0.690, 0, 180, 0, 55 [SEP] 37, PaperTowelRoll, 0.944, 1.015, -1.793, 0, 0, 0, 63 [SEP] 38, Tomato, 1.087, 1.683, 0.967, 0, 270, 0, 80 [SEP] 39, Egg, 0.995, 1.833, -1.339, 0, 270, 0, 79 [SEP] 40, SaltShaker, 1.126, 2.204, -1.517, 0, 270, 0, 64 [SEP] 41, PepperShaker, 0.914, 0.150, -0.729, 0, 270, 0, 60 [SEP] 42, Vase, 1.056, 1.666, -0.593, 0, 270, 0, 66 [SEP] 43, ButterKnife, -0.624, 0.933, -1.154, 0, 0, 0, 57 [SEP] 44, SoapBottle, -1.571, 0.882, 2.719, 0, 0, 0, 84 [SEP] 45, Vase, 1.148, 1.667, -2.166, 0, 270, 0, 56 [SEP] 46, Bowl, 0.960, 0.111, -2.052, 0, 0, 0, 62 [SEP] 47, DishSponge, 0.960, 0.107, -2.292, 0, 0, 0, 62 [SEP] 48, Spoon, -0.550, 0.934, 0.009, 0, 0, 0, 57 [SEP] 49, Cup, 1.026, 1.132, 1.254, 0, 270, 0, 80 [SEP] 50, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 76 [SEP] 51, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 52, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 53, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 54, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 55, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 56, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 57, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 58, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 59, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 60, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 61, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 62, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 63, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 64, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 65, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 66, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 67, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 68, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 69, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 70, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 71, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 72, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 73, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 74, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 75, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 76, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 77, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 78, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 79, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 80, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 81, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 82, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 83, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 84, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 85, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 86, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 87, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 88, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 89, NorthWall, , , , , , , [SEP] 90, EastWall, , , , , , , [SEP] 91, SouthWall, , , , , , , [SEP] 92, WestWall, , , , , , , ", "output": ["STEP 1: walk to face coffee maker | STEP 2: remove mug from inside coffee maker | STEP 3: walk to face microwave | STEP 4: heat mug in microwave, remove from microwave | STEP 5: gaze to the cabinets left of the microwave | STEP 6: put mug inside cabinet | END"]} +{"id": "trial_T20190908_020048_814402-0", "input": "Picking up a book and turning on a light to read it by 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, 0, 0, [SEP] 1, Mug, -0.567, 0.855, -1.183, 0, 90, 0, 32 [SEP] 2, Mug, -0.567, 0.855, -0.836, 0, 0, 0, 32 [SEP] 3, CreditCard, -1.571, 0.878, 0.832, 0, 0, 0, 42 [SEP] 4, CreditCard, -0.819, 0.857, -0.663, 0, 0, 0, 32 [SEP] 5, KeyChain, -2.344, 0.039, 2.682, 0, 180, 0, 47 [SEP] 6, Pillow, 0.800, 0.918, 1.366, 0, 0, 0, 23 [SEP] 7, AlarmClock, -0.735, 0.858, -0.836, 0, 0, 0, 32 [SEP] 8, AlarmClock, -1.834, 1.724, 0.366, 0, 0, 0, 36 [SEP] 9, Book, 1.206, 0.783, 2.524, 0, 0, 0, 23 [SEP] 10, AlarmClock, -1.834, 0.883, 0.366, 0, 0, 0, 42 [SEP] 11, BasketBall, 1.976, 0.120, 0.211, 0, 331.076, 0, [SEP] 12, Pen, -1.939, 1.729, 0.366, 0, 90, 0, 37 [SEP] 13, Laptop, 1.206, 0.781, 1.076, 0, 0, 0, 23 [SEP] 14, BaseballBat, 1.953, 0.659, -1.81, 346.388, 0, 0, [SEP] 15, Bowl, -0.567, 0.861, -0.663, 0, 0, 0, 32 [SEP] 16, Pillow, 0.800, 0.918, 1.945, 0, 0, 0, 23 [SEP] 17, KeyChain, -1.744, 0.879, 0.665, 0, 0, 0, 42 [SEP] 18, CreditCard, -0.567, 0.857, -1.010, 0, 0, 0, 32 [SEP] 19, CellPhone, -2.187, 0.040, 2.575, 0, 180, 0, 47 [SEP] 20, CD, -2.315, 0.386, 0.721, 0, 0, 0, 44 [SEP] 21, Pencil, -1.728, 1.353, 0.448, 0, 0, 0, 34 [SEP] 22, Mug, -0.399, 0.855, -0.836, 0, 90, 0, 32 [SEP] 23, Bed, 1.227, -0.002, 1.664, 0, 0, 0, [SEP] 24, LightSwitch, 2.151, 1.233, -0.518, 0, 270, 0, [SEP] 25, GarbageCan, -0.747, 0.014, -0.327, 0, 0, 0, [SEP] 26, Mirror, -1.358, 1.427, 2.855, 0, 0, 0, [SEP] 27, DeskLamp, -2.296, 0.858, 0.750, 0, 0, 0, [SEP] 28, Window, -0.421, 1.534, -1.947, 90, 0, 0, [SEP] 29, Window, 0.579, 1.534, -1.947, 90, 0, 0, [SEP] 30, Drawer, -0.491, 0.739, -0.855, 0, 90, 0, [SEP] 31, Drawer, -0.491, 0.204, -0.855, 0, 90, 0, [SEP] 32, Desk, -0.639, 0.009, -1.187, 0, 90, 0, [SEP] 33, Drawer, -0.491, 0.487, -0.855, 0, 90, 0, [SEP] 34, Shelf, -1.965, 1.514, 0.416, 0, 0, 0, [SEP] 35, Shelf, -1.965, 1.092, 0.416, 0, 0, 0, [SEP] 36, Shelf, -1.312, 1.888, 0.416, 0, 0, 0, [SEP] 37, Shelf, -1.965, 1.888, 0.416, 0, 0, 0, [SEP] 38, Shelf, -1.312, 1.092, 0.416, 0, 0, 0, [SEP] 39, Shelf, -1.312, 1.514, 0.416, 0, 0, 0, [SEP] 40, Blinds, 0.601, 2.161, -1.916, 0, 0, 0, [SEP] 41, Blinds, -0.402, 2.161, -1.916, 0, 0, 0, [SEP] 42, Desk, -1.726, 0.001, 0.575, 0, 0, 0, [SEP] 43, Drawer, -2.058, 0.733, 0.734, 0, 0, 0, [SEP] 44, Drawer, -2.058, 0.482, 0.734, 0, 0, 0, [SEP] 45, Drawer, -2.058, 0.198, 0.735, 0, 0, 0, [SEP] 46, Chair, -0.137, 0.000, -1.587, 0, 315, 0, [SEP] 47, Safe, -2.183, -7.748, 2.576, 0, 180, 0, [SEP] 48, Chair, -1.433, 0.009, 0.780, 357.672, 206.726, 0, [SEP] 49, LaundryHamper, 0.163, 0.003, 2.635, 0, 86.390, 0, [SEP] 50, NorthWall, , , , , , , [SEP] 51, EastWall, , , , , , , [SEP] 52, SouthWall, , , , , , , [SEP] 53, WestWall, , , , , , , ", "output": ["STEP 1: Turn right towards the bed | STEP 2: Pick up the green book from the bed | STEP 3: Turn around and go to the wall then turn to the desk to the left | STEP 4: Turn on the light | END"]} +{"id": "trial_T20190908_020048_814402-1", "input": "Examine a book under a lamp SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.25, 0.900, 1.75, 0, 0, 0, [SEP] 1, Mug, -0.567, 0.855, -1.183, 0, 90, 0, 32 [SEP] 2, Mug, -0.567, 0.855, -0.836, 0, 0, 0, 32 [SEP] 3, CreditCard, -1.571, 0.878, 0.832, 0, 0, 0, 42 [SEP] 4, CreditCard, -0.819, 0.857, -0.663, 0, 0, 0, 32 [SEP] 5, KeyChain, -2.344, 0.039, 2.682, 0, 180, 0, 47 [SEP] 6, Pillow, 0.800, 0.918, 1.366, 0, 0, 0, 23 [SEP] 7, AlarmClock, -0.735, 0.858, -0.836, 0, 0, 0, 32 [SEP] 8, AlarmClock, -1.834, 1.724, 0.366, 0, 0, 0, 36 [SEP] 9, Book, 1.206, 0.783, 2.524, 0, 0, 0, 23 [SEP] 10, AlarmClock, -1.834, 0.883, 0.366, 0, 0, 0, 42 [SEP] 11, BasketBall, 1.976, 0.120, 0.211, 0, 331.076, 0, [SEP] 12, Pen, -1.939, 1.729, 0.366, 0, 90, 0, 37 [SEP] 13, Laptop, 1.206, 0.781, 1.076, 0, 0, 0, 23 [SEP] 14, BaseballBat, 1.953, 0.659, -1.81, 346.388, 0, 0, [SEP] 15, Bowl, -0.567, 0.861, -0.663, 0, 0, 0, 32 [SEP] 16, Pillow, 0.800, 0.918, 1.945, 0, 0, 0, 23 [SEP] 17, KeyChain, -1.744, 0.879, 0.665, 0, 0, 0, 42 [SEP] 18, CreditCard, -0.567, 0.857, -1.010, 0, 0, 0, 32 [SEP] 19, CellPhone, -2.187, 0.040, 2.575, 0, 180, 0, 47 [SEP] 20, CD, -2.315, 0.386, 0.721, 0, 0, 0, 44 [SEP] 21, Pencil, -1.728, 1.353, 0.448, 0, 0, 0, 34 [SEP] 22, Mug, -0.399, 0.855, -0.836, 0, 90, 0, 32 [SEP] 23, Bed, 1.227, -0.002, 1.664, 0, 0, 0, [SEP] 24, LightSwitch, 2.151, 1.233, -0.518, 0, 270, 0, [SEP] 25, GarbageCan, -0.747, 0.014, -0.327, 0, 0, 0, [SEP] 26, Mirror, -1.358, 1.427, 2.855, 0, 0, 0, [SEP] 27, DeskLamp, -2.296, 0.858, 0.750, 0, 0, 0, [SEP] 28, Window, -0.421, 1.534, -1.947, 90, 0, 0, [SEP] 29, Window, 0.579, 1.534, -1.947, 90, 0, 0, [SEP] 30, Drawer, -0.491, 0.739, -0.855, 0, 90, 0, [SEP] 31, Drawer, -0.491, 0.204, -0.855, 0, 90, 0, [SEP] 32, Desk, -0.639, 0.009, -1.187, 0, 90, 0, [SEP] 33, Drawer, -0.491, 0.487, -0.855, 0, 90, 0, [SEP] 34, Shelf, -1.965, 1.514, 0.416, 0, 0, 0, [SEP] 35, Shelf, -1.965, 1.092, 0.416, 0, 0, 0, [SEP] 36, Shelf, -1.312, 1.888, 0.416, 0, 0, 0, [SEP] 37, Shelf, -1.965, 1.888, 0.416, 0, 0, 0, [SEP] 38, Shelf, -1.312, 1.092, 0.416, 0, 0, 0, [SEP] 39, Shelf, -1.312, 1.514, 0.416, 0, 0, 0, [SEP] 40, Blinds, 0.601, 2.161, -1.916, 0, 0, 0, [SEP] 41, Blinds, -0.402, 2.161, -1.916, 0, 0, 0, [SEP] 42, Desk, -1.726, 0.001, 0.575, 0, 0, 0, [SEP] 43, Drawer, -2.058, 0.733, 0.734, 0, 0, 0, [SEP] 44, Drawer, -2.058, 0.482, 0.734, 0, 0, 0, [SEP] 45, Drawer, -2.058, 0.198, 0.735, 0, 0, 0, [SEP] 46, Chair, -0.137, 0.000, -1.587, 0, 315, 0, [SEP] 47, Safe, -2.183, -7.748, 2.576, 0, 180, 0, [SEP] 48, Chair, -1.433, 0.009, 0.780, 357.672, 206.726, 0, [SEP] 49, LaundryHamper, 0.163, 0.003, 2.635, 0, 86.390, 0, [SEP] 50, NorthWall, , , , , , , [SEP] 51, EastWall, , , , , , , [SEP] 52, SouthWall, , , , , , , [SEP] 53, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and walk to the bed | STEP 2: Pick up the green book that says What is Math that is sitting on the bed | STEP 3: Turn around and cross the room and then turn left at the wall and walk to the desk | STEP 4: Turn on the lamp that is sitting on the desk | END"]} +{"id": "trial_T20190908_020048_814402-2", "input": "Carry a book 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, -0.25, 0.900, 1.75, 0, 0, 0, [SEP] 1, Mug, -0.567, 0.855, -1.183, 0, 90, 0, 32 [SEP] 2, Mug, -0.567, 0.855, -0.836, 0, 0, 0, 32 [SEP] 3, CreditCard, -1.571, 0.878, 0.832, 0, 0, 0, 42 [SEP] 4, CreditCard, -0.819, 0.857, -0.663, 0, 0, 0, 32 [SEP] 5, KeyChain, -2.344, 0.039, 2.682, 0, 180, 0, 47 [SEP] 6, Pillow, 0.800, 0.918, 1.366, 0, 0, 0, 23 [SEP] 7, AlarmClock, -0.735, 0.858, -0.836, 0, 0, 0, 32 [SEP] 8, AlarmClock, -1.834, 1.724, 0.366, 0, 0, 0, 36 [SEP] 9, Book, 1.206, 0.783, 2.524, 0, 0, 0, 23 [SEP] 10, AlarmClock, -1.834, 0.883, 0.366, 0, 0, 0, 42 [SEP] 11, BasketBall, 1.976, 0.120, 0.211, 0, 331.076, 0, [SEP] 12, Pen, -1.939, 1.729, 0.366, 0, 90, 0, 37 [SEP] 13, Laptop, 1.206, 0.781, 1.076, 0, 0, 0, 23 [SEP] 14, BaseballBat, 1.953, 0.659, -1.81, 346.388, 0, 0, [SEP] 15, Bowl, -0.567, 0.861, -0.663, 0, 0, 0, 32 [SEP] 16, Pillow, 0.800, 0.918, 1.945, 0, 0, 0, 23 [SEP] 17, KeyChain, -1.744, 0.879, 0.665, 0, 0, 0, 42 [SEP] 18, CreditCard, -0.567, 0.857, -1.010, 0, 0, 0, 32 [SEP] 19, CellPhone, -2.187, 0.040, 2.575, 0, 180, 0, 47 [SEP] 20, CD, -2.315, 0.386, 0.721, 0, 0, 0, 44 [SEP] 21, Pencil, -1.728, 1.353, 0.448, 0, 0, 0, 34 [SEP] 22, Mug, -0.399, 0.855, -0.836, 0, 90, 0, 32 [SEP] 23, Bed, 1.227, -0.002, 1.664, 0, 0, 0, [SEP] 24, LightSwitch, 2.151, 1.233, -0.518, 0, 270, 0, [SEP] 25, GarbageCan, -0.747, 0.014, -0.327, 0, 0, 0, [SEP] 26, Mirror, -1.358, 1.427, 2.855, 0, 0, 0, [SEP] 27, DeskLamp, -2.296, 0.858, 0.750, 0, 0, 0, [SEP] 28, Window, -0.421, 1.534, -1.947, 90, 0, 0, [SEP] 29, Window, 0.579, 1.534, -1.947, 90, 0, 0, [SEP] 30, Drawer, -0.491, 0.739, -0.855, 0, 90, 0, [SEP] 31, Drawer, -0.491, 0.204, -0.855, 0, 90, 0, [SEP] 32, Desk, -0.639, 0.009, -1.187, 0, 90, 0, [SEP] 33, Drawer, -0.491, 0.487, -0.855, 0, 90, 0, [SEP] 34, Shelf, -1.965, 1.514, 0.416, 0, 0, 0, [SEP] 35, Shelf, -1.965, 1.092, 0.416, 0, 0, 0, [SEP] 36, Shelf, -1.312, 1.888, 0.416, 0, 0, 0, [SEP] 37, Shelf, -1.965, 1.888, 0.416, 0, 0, 0, [SEP] 38, Shelf, -1.312, 1.092, 0.416, 0, 0, 0, [SEP] 39, Shelf, -1.312, 1.514, 0.416, 0, 0, 0, [SEP] 40, Blinds, 0.601, 2.161, -1.916, 0, 0, 0, [SEP] 41, Blinds, -0.402, 2.161, -1.916, 0, 0, 0, [SEP] 42, Desk, -1.726, 0.001, 0.575, 0, 0, 0, [SEP] 43, Drawer, -2.058, 0.733, 0.734, 0, 0, 0, [SEP] 44, Drawer, -2.058, 0.482, 0.734, 0, 0, 0, [SEP] 45, Drawer, -2.058, 0.198, 0.735, 0, 0, 0, [SEP] 46, Chair, -0.137, 0.000, -1.587, 0, 315, 0, [SEP] 47, Safe, -2.183, -7.748, 2.576, 0, 180, 0, [SEP] 48, Chair, -1.433, 0.009, 0.780, 357.672, 206.726, 0, [SEP] 49, LaundryHamper, 0.163, 0.003, 2.635, 0, 86.390, 0, [SEP] 50, NorthWall, , , , , , , [SEP] 51, EastWall, , , , , , , [SEP] 52, SouthWall, , , , , , , [SEP] 53, WestWall, , , , , , , ", "output": ["STEP 1: Move to the side of the bed facing the green book on top of the bed | STEP 2: Pick up the green book sitting on top of the bed | STEP 3: Carry the book over to the desk in the corner of the room with the desk lamp on top of it | STEP 4: Turn on the lamp | END"]} +{"id": "trial_T20190906_191501_563086-0", "input": "Place the salt shaker 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, 1.5, 0, 270, 0, [SEP] 1, CreditCard, 0.793, 0.150, -0.650, 0, 270, 0, 55 [SEP] 2, CreditCard, -0.550, 0.930, -1.618, 0, 0, 0, 52 [SEP] 3, CellPhone, 0.875, 0.491, -0.607, 0, 270, 0, 56 [SEP] 4, Spoon, 0.944, 0.912, -0.555, 0, 0, 0, 53 [SEP] 5, Spatula, 1.029, 0.926, -0.208, 0, 90, 0, 53 [SEP] 6, Spatula, -0.808, 0.795, -0.832, 0, 180, 0, 73 [SEP] 7, Egg, -0.477, 0.971, 0.162, 0, 0, 0, 52 [SEP] 8, Plate, 0.966, 1.405, 1.158, 0, 270, 0, 75 [SEP] 9, Plate, 0.905, 0.866, 1.063, 0, 270, 0, 75 [SEP] 10, SaltShaker, 0.956, 0.698, -0.690, 0, 270, 0, 50 [SEP] 11, SaltShaker, 0.754, 0.491, -0.648, 0, 270, 0, 56 [SEP] 12, PepperShaker, -1.881, 0.550, 2.874, 0, 0, 0, 78 [SEP] 13, PepperShaker, 0.811, 0.104, -1.892, 0, 0, 0, 57 [SEP] 14, Lettuce, 0.905, 1.212, 1.349, 0, 270, 0, 75 [SEP] 15, Mug, 0.966, 1.396, 1.349, 0, 270, 0, 75 [SEP] 16, Mug, 0.995, 1.790, -1.132, 0, 180, 0, 74 [SEP] 17, Apple, -0.865, 0.229, 0.510, 0, 180, 0, 72 [SEP] 18, Statue, -0.624, 0.936, -1.463, 0, 0, 0, 52 [SEP] 19, Glassbottle, 0.688, 0.912, 0.139, 0, 0, 0, 53 [SEP] 20, Bread, -1.355, 1.014, -1.167, 0, 0, 0, 52 [SEP] 21, CreditCard, 0.688, 0.908, -0.034, 0, 0, 0, 53 [SEP] 22, CellPhone, -1.418, 0.930, 0.144, 0, 0, 0, 52 [SEP] 23, Potato, 0.844, 1.432, 0.967, 0, 270, 0, 75 [SEP] 24, Knife, -0.624, 0.957, -1.154, 0, 0, 0, 52 [SEP] 25, Fork, 0.833, 0.154, -0.769, 0, 0, 0, 55 [SEP] 26, Pan, 1.077, 0.950, -1.504, 0, 0, 0, 48 [SEP] 27, Lettuce, 1.026, 1.212, 1.063, 0, 270, 0, 75 [SEP] 28, Plate, 1.082, 2.211, -1.299, 0, 270, 0, 59 [SEP] 29, Apple, 0.688, 0.961, -2.222, 0, 0, 0, 58 [SEP] 30, Pot, 1.077, 0.950, -1.098, 0, 0, 0, 54 [SEP] 31, Spatula, -0.753, 0.791, -0.659, 0, 180, 0, 73 [SEP] 32, PaperTowelRoll, -0.818, 0.283, 0.641, 0, 270, 0, 72 [SEP] 33, Tomato, 1.114, 0.952, -0.381, 0, 0, 0, 53 [SEP] 34, Egg, -0.808, 0.818, -0.486, 0, 90, 0, 73 [SEP] 35, SaltShaker, 0.944, 0.907, -0.381, 0, 0, 0, 53 [SEP] 36, PepperShaker, 1.055, 1.662, -2.097, 0, 270, 0, 51 [SEP] 37, Vase, 1.169, 2.207, -1.517, 0, 270, 0, 59 [SEP] 38, ButterKnife, -0.772, 0.933, -1.618, 0, 0, 0, 52 [SEP] 39, SoapBottle, 0.859, 0.911, -1.793, 0, 0, 0, 58 [SEP] 40, Vase, -0.624, 0.934, 0.162, 0, 0, 0, 52 [SEP] 41, Bowl, 0.688, 0.914, -1.879, 0, 0, 0, 58 [SEP] 42, DishSponge, -0.698, 0.933, -0.143, 0, 0, 0, 52 [SEP] 43, Spoon, 0.859, 0.912, -0.381, 0, 0, 0, 53 [SEP] 44, Cup, -0.642, 0.777, -0.486, 0, 90, 0, 73 [SEP] 45, Mug, 1.093, 1.790, -1.339, 0, 270, 0, 74 [SEP] 46, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 47, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 48, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 49, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 50, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 51, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 52, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 53, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 54, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 55, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 56, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 57, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 58, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 59, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 60, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 61, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 62, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 63, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 64, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 65, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 66, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 67, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 68, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 69, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 70, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 71, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 72, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 73, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 74, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 75, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 76, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 77, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 78, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 79, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 80, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 81, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 82, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 83, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 84, NorthWall, , , , , , , [SEP] 85, EastWall, , , , , , , [SEP] 86, SouthWall, , , , , , , [SEP] 87, WestWall, , , , , , , ", "output": ["STEP 1: Turn around, walk towards the fridge, turn right towards the tomato on the counter to your left. | STEP 2: Pick up the salt shaker next to the tomato on the counter. | STEP 3: Look up to see the cabinet at the top. | STEP 4: Open the cabinet door, place the shaker in it, and close the door. | END"]} +{"id": "trial_T20190906_191501_563086-1", "input": "Put the salt in the cabinet 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, -1.5, 0.900, 1.5, 0, 270, 0, [SEP] 1, CreditCard, 0.793, 0.150, -0.650, 0, 270, 0, 55 [SEP] 2, CreditCard, -0.550, 0.930, -1.618, 0, 0, 0, 52 [SEP] 3, CellPhone, 0.875, 0.491, -0.607, 0, 270, 0, 56 [SEP] 4, Spoon, 0.944, 0.912, -0.555, 0, 0, 0, 53 [SEP] 5, Spatula, 1.029, 0.926, -0.208, 0, 90, 0, 53 [SEP] 6, Spatula, -0.808, 0.795, -0.832, 0, 180, 0, 73 [SEP] 7, Egg, -0.477, 0.971, 0.162, 0, 0, 0, 52 [SEP] 8, Plate, 0.966, 1.405, 1.158, 0, 270, 0, 75 [SEP] 9, Plate, 0.905, 0.866, 1.063, 0, 270, 0, 75 [SEP] 10, SaltShaker, 0.956, 0.698, -0.690, 0, 270, 0, 50 [SEP] 11, SaltShaker, 0.754, 0.491, -0.648, 0, 270, 0, 56 [SEP] 12, PepperShaker, -1.881, 0.550, 2.874, 0, 0, 0, 78 [SEP] 13, PepperShaker, 0.811, 0.104, -1.892, 0, 0, 0, 57 [SEP] 14, Lettuce, 0.905, 1.212, 1.349, 0, 270, 0, 75 [SEP] 15, Mug, 0.966, 1.396, 1.349, 0, 270, 0, 75 [SEP] 16, Mug, 0.995, 1.790, -1.132, 0, 180, 0, 74 [SEP] 17, Apple, -0.865, 0.229, 0.510, 0, 180, 0, 72 [SEP] 18, Statue, -0.624, 0.936, -1.463, 0, 0, 0, 52 [SEP] 19, Glassbottle, 0.688, 0.912, 0.139, 0, 0, 0, 53 [SEP] 20, Bread, -1.355, 1.014, -1.167, 0, 0, 0, 52 [SEP] 21, CreditCard, 0.688, 0.908, -0.034, 0, 0, 0, 53 [SEP] 22, CellPhone, -1.418, 0.930, 0.144, 0, 0, 0, 52 [SEP] 23, Potato, 0.844, 1.432, 0.967, 0, 270, 0, 75 [SEP] 24, Knife, -0.624, 0.957, -1.154, 0, 0, 0, 52 [SEP] 25, Fork, 0.833, 0.154, -0.769, 0, 0, 0, 55 [SEP] 26, Pan, 1.077, 0.950, -1.504, 0, 0, 0, 48 [SEP] 27, Lettuce, 1.026, 1.212, 1.063, 0, 270, 0, 75 [SEP] 28, Plate, 1.082, 2.211, -1.299, 0, 270, 0, 59 [SEP] 29, Apple, 0.688, 0.961, -2.222, 0, 0, 0, 58 [SEP] 30, Pot, 1.077, 0.950, -1.098, 0, 0, 0, 54 [SEP] 31, Spatula, -0.753, 0.791, -0.659, 0, 180, 0, 73 [SEP] 32, PaperTowelRoll, -0.818, 0.283, 0.641, 0, 270, 0, 72 [SEP] 33, Tomato, 1.114, 0.952, -0.381, 0, 0, 0, 53 [SEP] 34, Egg, -0.808, 0.818, -0.486, 0, 90, 0, 73 [SEP] 35, SaltShaker, 0.944, 0.907, -0.381, 0, 0, 0, 53 [SEP] 36, PepperShaker, 1.055, 1.662, -2.097, 0, 270, 0, 51 [SEP] 37, Vase, 1.169, 2.207, -1.517, 0, 270, 0, 59 [SEP] 38, ButterKnife, -0.772, 0.933, -1.618, 0, 0, 0, 52 [SEP] 39, SoapBottle, 0.859, 0.911, -1.793, 0, 0, 0, 58 [SEP] 40, Vase, -0.624, 0.934, 0.162, 0, 0, 0, 52 [SEP] 41, Bowl, 0.688, 0.914, -1.879, 0, 0, 0, 58 [SEP] 42, DishSponge, -0.698, 0.933, -0.143, 0, 0, 0, 52 [SEP] 43, Spoon, 0.859, 0.912, -0.381, 0, 0, 0, 53 [SEP] 44, Cup, -0.642, 0.777, -0.486, 0, 90, 0, 73 [SEP] 45, Mug, 1.093, 1.790, -1.339, 0, 270, 0, 74 [SEP] 46, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 47, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 48, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 49, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 50, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 51, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 52, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 53, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 54, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 55, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 56, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 57, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 58, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 59, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 60, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 61, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 62, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 63, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 64, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 65, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 66, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 67, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 68, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 69, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 70, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 71, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 72, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 73, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 74, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 75, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 76, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 77, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 78, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 79, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 80, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 81, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 82, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 83, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 84, NorthWall, , , , , , , [SEP] 85, EastWall, , , , , , , [SEP] 86, SouthWall, , , , , , , [SEP] 87, WestWall, , , , , , , ", "output": ["STEP 1: Move to the counter left of the stove. | STEP 2: Pick up the salt from the counter. | STEP 3: Bring salt up the the cabinet above the counter. | STEP 4: Put the salt in the cabinet above the counter to the left of the microwave. | END"]} +{"id": "trial_T20190906_191501_563086-2", "input": "Put the salt shaker in the cabinet to the left above 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, 1.5, 0, 270, 0, [SEP] 1, CreditCard, 0.793, 0.150, -0.650, 0, 270, 0, 55 [SEP] 2, CreditCard, -0.550, 0.930, -1.618, 0, 0, 0, 52 [SEP] 3, CellPhone, 0.875, 0.491, -0.607, 0, 270, 0, 56 [SEP] 4, Spoon, 0.944, 0.912, -0.555, 0, 0, 0, 53 [SEP] 5, Spatula, 1.029, 0.926, -0.208, 0, 90, 0, 53 [SEP] 6, Spatula, -0.808, 0.795, -0.832, 0, 180, 0, 73 [SEP] 7, Egg, -0.477, 0.971, 0.162, 0, 0, 0, 52 [SEP] 8, Plate, 0.966, 1.405, 1.158, 0, 270, 0, 75 [SEP] 9, Plate, 0.905, 0.866, 1.063, 0, 270, 0, 75 [SEP] 10, SaltShaker, 0.956, 0.698, -0.690, 0, 270, 0, 50 [SEP] 11, SaltShaker, 0.754, 0.491, -0.648, 0, 270, 0, 56 [SEP] 12, PepperShaker, -1.881, 0.550, 2.874, 0, 0, 0, 78 [SEP] 13, PepperShaker, 0.811, 0.104, -1.892, 0, 0, 0, 57 [SEP] 14, Lettuce, 0.905, 1.212, 1.349, 0, 270, 0, 75 [SEP] 15, Mug, 0.966, 1.396, 1.349, 0, 270, 0, 75 [SEP] 16, Mug, 0.995, 1.790, -1.132, 0, 180, 0, 74 [SEP] 17, Apple, -0.865, 0.229, 0.510, 0, 180, 0, 72 [SEP] 18, Statue, -0.624, 0.936, -1.463, 0, 0, 0, 52 [SEP] 19, Glassbottle, 0.688, 0.912, 0.139, 0, 0, 0, 53 [SEP] 20, Bread, -1.355, 1.014, -1.167, 0, 0, 0, 52 [SEP] 21, CreditCard, 0.688, 0.908, -0.034, 0, 0, 0, 53 [SEP] 22, CellPhone, -1.418, 0.930, 0.144, 0, 0, 0, 52 [SEP] 23, Potato, 0.844, 1.432, 0.967, 0, 270, 0, 75 [SEP] 24, Knife, -0.624, 0.957, -1.154, 0, 0, 0, 52 [SEP] 25, Fork, 0.833, 0.154, -0.769, 0, 0, 0, 55 [SEP] 26, Pan, 1.077, 0.950, -1.504, 0, 0, 0, 48 [SEP] 27, Lettuce, 1.026, 1.212, 1.063, 0, 270, 0, 75 [SEP] 28, Plate, 1.082, 2.211, -1.299, 0, 270, 0, 59 [SEP] 29, Apple, 0.688, 0.961, -2.222, 0, 0, 0, 58 [SEP] 30, Pot, 1.077, 0.950, -1.098, 0, 0, 0, 54 [SEP] 31, Spatula, -0.753, 0.791, -0.659, 0, 180, 0, 73 [SEP] 32, PaperTowelRoll, -0.818, 0.283, 0.641, 0, 270, 0, 72 [SEP] 33, Tomato, 1.114, 0.952, -0.381, 0, 0, 0, 53 [SEP] 34, Egg, -0.808, 0.818, -0.486, 0, 90, 0, 73 [SEP] 35, SaltShaker, 0.944, 0.907, -0.381, 0, 0, 0, 53 [SEP] 36, PepperShaker, 1.055, 1.662, -2.097, 0, 270, 0, 51 [SEP] 37, Vase, 1.169, 2.207, -1.517, 0, 270, 0, 59 [SEP] 38, ButterKnife, -0.772, 0.933, -1.618, 0, 0, 0, 52 [SEP] 39, SoapBottle, 0.859, 0.911, -1.793, 0, 0, 0, 58 [SEP] 40, Vase, -0.624, 0.934, 0.162, 0, 0, 0, 52 [SEP] 41, Bowl, 0.688, 0.914, -1.879, 0, 0, 0, 58 [SEP] 42, DishSponge, -0.698, 0.933, -0.143, 0, 0, 0, 52 [SEP] 43, Spoon, 0.859, 0.912, -0.381, 0, 0, 0, 53 [SEP] 44, Cup, -0.642, 0.777, -0.486, 0, 90, 0, 73 [SEP] 45, Mug, 1.093, 1.790, -1.339, 0, 270, 0, 74 [SEP] 46, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 47, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 48, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 49, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 50, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 51, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 52, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 53, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 54, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 55, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 56, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 57, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 58, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 59, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 60, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 61, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 62, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 63, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 64, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 65, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 66, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 67, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 68, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 69, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 70, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 71, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 72, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 73, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 74, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 75, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 76, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 77, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 78, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 79, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 80, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 81, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 82, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 83, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 84, NorthWall, , , , , , , [SEP] 85, EastWall, , , , , , , [SEP] 86, SouthWall, , , , , , , [SEP] 87, WestWall, , , , , , , ", "output": ["STEP 1: Move to the counter top to the left of the stove | STEP 2: Pick up the salt shaker from the counter top. | STEP 3: Open the cabinet above the place the salt shaker came from | STEP 4: Put the salt shaker inside the cabinet and close the door. | END"]} +{"id": "trial_T20190908_214926_337906-0", "input": "put a rinsed off bar of soap in 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, -0.75, 0.901, 2.75, 0, 270, 0, [SEP] 1, Cloth, -0.279, 0.075, 2.247, 0, 0, 0, 22 [SEP] 2, HandTowel, -0.038, 1.619, 3.799, 0, 90, 0, 27 [SEP] 3, HandTowel, -0.038, 1.619, 1.887, 0, 90, 0, 26 [SEP] 4, Towel, -1.082, 1.326, 1.302, 0, 0, 0, 23 [SEP] 5, SoapBar, -0.141, 0.954, 2.772, 0, 0, 0, 20 [SEP] 6, ToiletPaper, -0.280, 0.654, 1.985, 0, 180, 90, 25 [SEP] 7, Plunger, -0.112, -0.000, 1.848, 0, 0, 0, [SEP] 8, Candle, -0.381, 0.075, 2.381, 0, 0, 0, 22 [SEP] 9, ToiletPaper, -0.077, 0.950, 1.544, 0, 0, 0, 28 [SEP] 10, SprayBottle, -0.077, 0.954, 1.419, 0, 0, 0, 28 [SEP] 11, Cloth, -0.351, 0.946, 2.074, 0, 0, 0, 34 [SEP] 12, ScrubBrush, -0.322, 3.109, 1.950, 0, 0, 0, [SEP] 13, SoapBottle, -0.326, 0.955, 2.843, 0, 0, 0, 20 [SEP] 14, Mirror, -0.030, 1.544, 2.864, 0, 0, 0, [SEP] 15, Sink, -0.302, 0.799, 3.263, 0, 270, 0, [SEP] 16, Cabinet, -0.491, 0.404, 2.863, 0, 0, 0, [SEP] 17, Cabinet, -0.495, 0.384, 2.842, 0, 0, 0, [SEP] 18, ShowerDoor, -1.647, 1.017, 1.180, 0, 0, 0, [SEP] 19, ShowerGlass, -0.909, 0.788, 0.485, 0, 0, 0, [SEP] 20, CounterTop, -0.261, 0.927, 2.843, 0, 0, 0, [SEP] 21, Cabinet, -0.495, 0.384, 3.650, 0, 0, 0, [SEP] 22, Cabinet, -0.491, 0.404, 2.055, 0, 0, 0, [SEP] 23, TowelHolder, -1.082, 1.312, 1.195, 0, 0, 0, [SEP] 24, LightSwitch, -2.424, 1.447, 3.338, 0, 90, 0, [SEP] 25, ToiletPaperHanger, -0.266, 0.786, 2.043, 0, 180, 0, [SEP] 26, HandTowelHolder, 0.000, 1.721, 1.887, 0, 180, 0, [SEP] 27, HandTowelHolder, 0.000, 1.721, 3.799, 0, 180, 0, [SEP] 28, Toilet, -0.542, 3.109, 1.493, 0, 270, 0, [SEP] 29, GarbageCan, -2.159, -0.000, 3.756, 0, 0, 0, [SEP] 30, SinkBasin, -0.308, 0.820, 3.266, 0, 0, 0, [SEP] 31, ShowerHead, -0.134, 1.888, 0.564, 0, 90, 0, [SEP] 32, Faucet, 0.0, 1.009, 3.265, 0, 0, 0, [SEP] 33, Faucet, 0.0, 1.009, 2.421, 0, 0, 0, [SEP] 34, SinkBasin, -0.308, 0.820, 2.422, 0, 0, 0, [SEP] 35, Sink, -0.302, 0.799, 2.419, 0, 270, 0, [SEP] 36, NorthWall, , , , , , , [SEP] 37, SouthWall, , , , , , , [SEP] 38, SouthWall, , , , , , , ", "output": ["STEP 1: turn around to face the counter between the two sinks | STEP 2: pick up the bar of soap that is on the back of the counter between the two sinks | STEP 3: move to the right to face the sink on the right | STEP 4: put the bar of soap in to the sink, turn on the water to rinse off the soap, turn off the water and remove the soap from the sink | STEP 5: move back slightly away from the sink | STEP 6: open the left cabinet door below the sink on the right and put the bar of soap in to the cabinet and close the door | END"]} +{"id": "trial_T20190908_214926_337906-1", "input": "Put a clean bar of soap 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, -0.75, 0.901, 2.75, 0, 270, 0, [SEP] 1, Cloth, -0.279, 0.075, 2.247, 0, 0, 0, 22 [SEP] 2, HandTowel, -0.038, 1.619, 3.799, 0, 90, 0, 27 [SEP] 3, HandTowel, -0.038, 1.619, 1.887, 0, 90, 0, 26 [SEP] 4, Towel, -1.082, 1.326, 1.302, 0, 0, 0, 23 [SEP] 5, SoapBar, -0.141, 0.954, 2.772, 0, 0, 0, 20 [SEP] 6, ToiletPaper, -0.280, 0.654, 1.985, 0, 180, 90, 25 [SEP] 7, Plunger, -0.112, -0.000, 1.848, 0, 0, 0, [SEP] 8, Candle, -0.381, 0.075, 2.381, 0, 0, 0, 22 [SEP] 9, ToiletPaper, -0.077, 0.950, 1.544, 0, 0, 0, 28 [SEP] 10, SprayBottle, -0.077, 0.954, 1.419, 0, 0, 0, 28 [SEP] 11, Cloth, -0.351, 0.946, 2.074, 0, 0, 0, 34 [SEP] 12, ScrubBrush, -0.322, 3.109, 1.950, 0, 0, 0, [SEP] 13, SoapBottle, -0.326, 0.955, 2.843, 0, 0, 0, 20 [SEP] 14, Mirror, -0.030, 1.544, 2.864, 0, 0, 0, [SEP] 15, Sink, -0.302, 0.799, 3.263, 0, 270, 0, [SEP] 16, Cabinet, -0.491, 0.404, 2.863, 0, 0, 0, [SEP] 17, Cabinet, -0.495, 0.384, 2.842, 0, 0, 0, [SEP] 18, ShowerDoor, -1.647, 1.017, 1.180, 0, 0, 0, [SEP] 19, ShowerGlass, -0.909, 0.788, 0.485, 0, 0, 0, [SEP] 20, CounterTop, -0.261, 0.927, 2.843, 0, 0, 0, [SEP] 21, Cabinet, -0.495, 0.384, 3.650, 0, 0, 0, [SEP] 22, Cabinet, -0.491, 0.404, 2.055, 0, 0, 0, [SEP] 23, TowelHolder, -1.082, 1.312, 1.195, 0, 0, 0, [SEP] 24, LightSwitch, -2.424, 1.447, 3.338, 0, 90, 0, [SEP] 25, ToiletPaperHanger, -0.266, 0.786, 2.043, 0, 180, 0, [SEP] 26, HandTowelHolder, 0.000, 1.721, 1.887, 0, 180, 0, [SEP] 27, HandTowelHolder, 0.000, 1.721, 3.799, 0, 180, 0, [SEP] 28, Toilet, -0.542, 3.109, 1.493, 0, 270, 0, [SEP] 29, GarbageCan, -2.159, -0.000, 3.756, 0, 0, 0, [SEP] 30, SinkBasin, -0.308, 0.820, 3.266, 0, 0, 0, [SEP] 31, ShowerHead, -0.134, 1.888, 0.564, 0, 90, 0, [SEP] 32, Faucet, 0.0, 1.009, 3.265, 0, 0, 0, [SEP] 33, Faucet, 0.0, 1.009, 2.421, 0, 0, 0, [SEP] 34, SinkBasin, -0.308, 0.820, 2.422, 0, 0, 0, [SEP] 35, Sink, -0.302, 0.799, 2.419, 0, 270, 0, [SEP] 36, NorthWall, , , , , , , [SEP] 37, SouthWall, , , , , , , [SEP] 38, SouthWall, , , , , , , ", "output": ["STEP 1: Turn around to face the counter. | STEP 2: Pick up the bar of soap off of the counter. | STEP 3: Turn around and walk towards the door, then turn left and walk forward, turn left again to face the sink. | STEP 4: Put the bar of soap in the right sink basin and turn on the water, after a couple seconds turn the water off and remove the now clean bar of soap. | STEP 5: Turn around and walk towards the wall, then turn left and walk towards the shower, turn left again to face the counter. | STEP 6: Open the second cabinet door from the right and put the clean bar of soap inside the cabinet then close the door. | END"]} +{"id": "trial_T20190908_214926_337906-2", "input": "Move soap from counter to sink, followed by moving to cupboard below 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, 2.75, 0, 270, 0, [SEP] 1, Cloth, -0.279, 0.075, 2.247, 0, 0, 0, 22 [SEP] 2, HandTowel, -0.038, 1.619, 3.799, 0, 90, 0, 27 [SEP] 3, HandTowel, -0.038, 1.619, 1.887, 0, 90, 0, 26 [SEP] 4, Towel, -1.082, 1.326, 1.302, 0, 0, 0, 23 [SEP] 5, SoapBar, -0.141, 0.954, 2.772, 0, 0, 0, 20 [SEP] 6, ToiletPaper, -0.280, 0.654, 1.985, 0, 180, 90, 25 [SEP] 7, Plunger, -0.112, -0.000, 1.848, 0, 0, 0, [SEP] 8, Candle, -0.381, 0.075, 2.381, 0, 0, 0, 22 [SEP] 9, ToiletPaper, -0.077, 0.950, 1.544, 0, 0, 0, 28 [SEP] 10, SprayBottle, -0.077, 0.954, 1.419, 0, 0, 0, 28 [SEP] 11, Cloth, -0.351, 0.946, 2.074, 0, 0, 0, 34 [SEP] 12, ScrubBrush, -0.322, 3.109, 1.950, 0, 0, 0, [SEP] 13, SoapBottle, -0.326, 0.955, 2.843, 0, 0, 0, 20 [SEP] 14, Mirror, -0.030, 1.544, 2.864, 0, 0, 0, [SEP] 15, Sink, -0.302, 0.799, 3.263, 0, 270, 0, [SEP] 16, Cabinet, -0.491, 0.404, 2.863, 0, 0, 0, [SEP] 17, Cabinet, -0.495, 0.384, 2.842, 0, 0, 0, [SEP] 18, ShowerDoor, -1.647, 1.017, 1.180, 0, 0, 0, [SEP] 19, ShowerGlass, -0.909, 0.788, 0.485, 0, 0, 0, [SEP] 20, CounterTop, -0.261, 0.927, 2.843, 0, 0, 0, [SEP] 21, Cabinet, -0.495, 0.384, 3.650, 0, 0, 0, [SEP] 22, Cabinet, -0.491, 0.404, 2.055, 0, 0, 0, [SEP] 23, TowelHolder, -1.082, 1.312, 1.195, 0, 0, 0, [SEP] 24, LightSwitch, -2.424, 1.447, 3.338, 0, 90, 0, [SEP] 25, ToiletPaperHanger, -0.266, 0.786, 2.043, 0, 180, 0, [SEP] 26, HandTowelHolder, 0.000, 1.721, 1.887, 0, 180, 0, [SEP] 27, HandTowelHolder, 0.000, 1.721, 3.799, 0, 180, 0, [SEP] 28, Toilet, -0.542, 3.109, 1.493, 0, 270, 0, [SEP] 29, GarbageCan, -2.159, -0.000, 3.756, 0, 0, 0, [SEP] 30, SinkBasin, -0.308, 0.820, 3.266, 0, 0, 0, [SEP] 31, ShowerHead, -0.134, 1.888, 0.564, 0, 90, 0, [SEP] 32, Faucet, 0.0, 1.009, 3.265, 0, 0, 0, [SEP] 33, Faucet, 0.0, 1.009, 2.421, 0, 0, 0, [SEP] 34, SinkBasin, -0.308, 0.820, 2.422, 0, 0, 0, [SEP] 35, Sink, -0.302, 0.799, 2.419, 0, 270, 0, [SEP] 36, NorthWall, , , , , , , [SEP] 37, SouthWall, , , , , , , [SEP] 38, SouthWall, , , , , , , ", "output": ["STEP 1: Turn around facing sink | STEP 2: Pick up bar of soap | STEP 3: Turn around, take one step, turn left, take one step, turn left facing sink | STEP 4: Put soap in sink, turn water on, turn water off, remove soap from sink | STEP 5: Turn around, take one step, turn around, | STEP 6: Open cupboard below sink, put soap inside, close cupboard below sink | END"]} +{"id": "trial_T20190908_121952_610012-0", "input": "Take the pencil from the desk, put it back 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, 0.75, 0.900, -0.25, 0, 270, 0, [SEP] 1, Mug, -0.399, 0.855, -1.529, 0, 0, 0, 33 [SEP] 2, CD, -0.511, 0.083, -1.093, 0, 0, 0, 32 [SEP] 3, CD, -1.179, 1.350, 0.407, 0, 0, 0, 37 [SEP] 4, CellPhone, -0.819, 0.858, -1.010, 0, 0, 0, 33 [SEP] 5, CellPhone, -2.074, 0.105, 0.683, 0, 0, 0, 46 [SEP] 6, Pencil, -1.918, 0.882, 0.665, 0, 0, 0, 43 [SEP] 7, KeyChain, -1.728, 1.723, 0.325, 0, 0, 0, 38 [SEP] 8, Pillow, 0.800, 0.918, 0.787, 0, 0, 0, 24 [SEP] 9, AlarmClock, -2.045, 1.350, 0.448, 0, 0, 0, 43 [SEP] 10, Book, 1.815, 0.783, 1.076, 0, 0, 0, 24 [SEP] 11, AlarmClock, -1.179, 1.724, 0.489, 0, 0, 0, 37 [SEP] 12, BasketBall, 1.976, 0.120, 0.211, 0, 331.076, 0, [SEP] 13, Pen, -0.549, 0.089, -0.852, 0, 0, 0, 32 [SEP] 14, Laptop, 0.800, 0.781, 1.655, 0, 0, 0, 24 [SEP] 15, BaseballBat, 1.953, 0.659, -1.81, 346.388, 0, 0, [SEP] 16, Bowl, -0.827, 0.850, -1.641, 0, 0, 0, 33 [SEP] 17, Pillow, 1.118, 0.867, 2.464, 0, 0, 0, 24 [SEP] 18, KeyChain, -1.744, 0.879, 0.330, 0, 0, 0, 36 [SEP] 19, CreditCard, -0.587, 0.364, -1.093, 0, 0, 0, 32 [SEP] 20, CellPhone, 1.815, 0.784, 2.234, 0, 0, 0, 24 [SEP] 21, CD, -0.710, 0.202, -0.310, 0, 0, 0, 26 [SEP] 22, Pencil, -0.819, 0.861, -0.836, 0, 0, 0, 33 [SEP] 23, Mug, -0.399, 0.855, -0.836, 0, 0, 0, 33 [SEP] 24, Bed, 1.227, -0.002, 1.664, 0, 0, 0, [SEP] 25, LightSwitch, 2.151, 1.233, -0.518, 0, 270, 0, [SEP] 26, GarbageCan, -0.747, 0.014, -0.327, 0, 0, 0, [SEP] 27, Mirror, -1.358, 1.427, 2.855, 0, 0, 0, [SEP] 28, DeskLamp, -2.296, 0.858, 0.750, 0, 0, 0, [SEP] 29, Window, -0.421, 1.534, -1.947, 90, 0, 0, [SEP] 30, Window, 0.579, 1.534, -1.947, 90, 0, 0, [SEP] 31, Drawer, -0.491, 0.739, -0.855, 0, 90, 0, [SEP] 32, Drawer, -0.491, 0.204, -0.855, 0, 90, 0, [SEP] 33, Desk, -0.639, 0.009, -1.187, 0, 90, 0, [SEP] 34, Drawer, -0.491, 0.487, -0.855, 0, 90, 0, [SEP] 35, Shelf, -1.965, 1.514, 0.416, 0, 0, 0, [SEP] 36, Shelf, -1.965, 1.092, 0.416, 0, 0, 0, [SEP] 37, Shelf, -1.312, 1.888, 0.416, 0, 0, 0, [SEP] 38, Shelf, -1.965, 1.888, 0.416, 0, 0, 0, [SEP] 39, Shelf, -1.312, 1.092, 0.416, 0, 0, 0, [SEP] 40, Shelf, -1.312, 1.514, 0.416, 0, 0, 0, [SEP] 41, Blinds, 0.601, 2.161, -1.916, 0, 0, 0, [SEP] 42, Blinds, -0.402, 2.161, -1.916, 0, 0, 0, [SEP] 43, Desk, -1.726, 0.001, 0.575, 0, 0, 0, [SEP] 44, Drawer, -2.058, 0.733, 0.734, 0, 0, 0, [SEP] 45, Drawer, -2.058, 0.482, 0.734, 0, 0, 0, [SEP] 46, Drawer, -2.058, 0.198, 0.735, 0, 0, 0, [SEP] 47, Chair, -0.137, 0.000, -1.587, 0, 315, 0, [SEP] 48, Safe, -2.183, -7.748, 2.576, 0, 180, 0, [SEP] 49, Chair, -1.433, 0.009, 0.780, 357.672, 206.726, 0, [SEP] 50, LaundryHamper, 0.163, 0.003, 2.635, 0, 86.390, 0, [SEP] 51, NorthWall, , , , , , , [SEP] 52, EastWall, , , , , , , [SEP] 53, SouthWall, , , , , , , [SEP] 54, WestWall, , , , , , , ", "output": ["STEP 1: Turn to the right | STEP 2: head to the desk in the corner | STEP 3: Take the pencil from the desk | STEP 4: Turn around twice, put the pencil on the desk | END"]} +{"id": "trial_T20190908_121952_610012-1", "input": "Walk to the desk and pick up a pencil also put it back. 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, Mug, -0.399, 0.855, -1.529, 0, 0, 0, 33 [SEP] 2, CD, -0.511, 0.083, -1.093, 0, 0, 0, 32 [SEP] 3, CD, -1.179, 1.350, 0.407, 0, 0, 0, 37 [SEP] 4, CellPhone, -0.819, 0.858, -1.010, 0, 0, 0, 33 [SEP] 5, CellPhone, -2.074, 0.105, 0.683, 0, 0, 0, 46 [SEP] 6, Pencil, -1.918, 0.882, 0.665, 0, 0, 0, 43 [SEP] 7, KeyChain, -1.728, 1.723, 0.325, 0, 0, 0, 38 [SEP] 8, Pillow, 0.800, 0.918, 0.787, 0, 0, 0, 24 [SEP] 9, AlarmClock, -2.045, 1.350, 0.448, 0, 0, 0, 43 [SEP] 10, Book, 1.815, 0.783, 1.076, 0, 0, 0, 24 [SEP] 11, AlarmClock, -1.179, 1.724, 0.489, 0, 0, 0, 37 [SEP] 12, BasketBall, 1.976, 0.120, 0.211, 0, 331.076, 0, [SEP] 13, Pen, -0.549, 0.089, -0.852, 0, 0, 0, 32 [SEP] 14, Laptop, 0.800, 0.781, 1.655, 0, 0, 0, 24 [SEP] 15, BaseballBat, 1.953, 0.659, -1.81, 346.388, 0, 0, [SEP] 16, Bowl, -0.827, 0.850, -1.641, 0, 0, 0, 33 [SEP] 17, Pillow, 1.118, 0.867, 2.464, 0, 0, 0, 24 [SEP] 18, KeyChain, -1.744, 0.879, 0.330, 0, 0, 0, 36 [SEP] 19, CreditCard, -0.587, 0.364, -1.093, 0, 0, 0, 32 [SEP] 20, CellPhone, 1.815, 0.784, 2.234, 0, 0, 0, 24 [SEP] 21, CD, -0.710, 0.202, -0.310, 0, 0, 0, 26 [SEP] 22, Pencil, -0.819, 0.861, -0.836, 0, 0, 0, 33 [SEP] 23, Mug, -0.399, 0.855, -0.836, 0, 0, 0, 33 [SEP] 24, Bed, 1.227, -0.002, 1.664, 0, 0, 0, [SEP] 25, LightSwitch, 2.151, 1.233, -0.518, 0, 270, 0, [SEP] 26, GarbageCan, -0.747, 0.014, -0.327, 0, 0, 0, [SEP] 27, Mirror, -1.358, 1.427, 2.855, 0, 0, 0, [SEP] 28, DeskLamp, -2.296, 0.858, 0.750, 0, 0, 0, [SEP] 29, Window, -0.421, 1.534, -1.947, 90, 0, 0, [SEP] 30, Window, 0.579, 1.534, -1.947, 90, 0, 0, [SEP] 31, Drawer, -0.491, 0.739, -0.855, 0, 90, 0, [SEP] 32, Drawer, -0.491, 0.204, -0.855, 0, 90, 0, [SEP] 33, Desk, -0.639, 0.009, -1.187, 0, 90, 0, [SEP] 34, Drawer, -0.491, 0.487, -0.855, 0, 90, 0, [SEP] 35, Shelf, -1.965, 1.514, 0.416, 0, 0, 0, [SEP] 36, Shelf, -1.965, 1.092, 0.416, 0, 0, 0, [SEP] 37, Shelf, -1.312, 1.888, 0.416, 0, 0, 0, [SEP] 38, Shelf, -1.965, 1.888, 0.416, 0, 0, 0, [SEP] 39, Shelf, -1.312, 1.092, 0.416, 0, 0, 0, [SEP] 40, Shelf, -1.312, 1.514, 0.416, 0, 0, 0, [SEP] 41, Blinds, 0.601, 2.161, -1.916, 0, 0, 0, [SEP] 42, Blinds, -0.402, 2.161, -1.916, 0, 0, 0, [SEP] 43, Desk, -1.726, 0.001, 0.575, 0, 0, 0, [SEP] 44, Drawer, -2.058, 0.733, 0.734, 0, 0, 0, [SEP] 45, Drawer, -2.058, 0.482, 0.734, 0, 0, 0, [SEP] 46, Drawer, -2.058, 0.198, 0.735, 0, 0, 0, [SEP] 47, Chair, -0.137, 0.000, -1.587, 0, 315, 0, [SEP] 48, Safe, -2.183, -7.748, 2.576, 0, 180, 0, [SEP] 49, Chair, -1.433, 0.009, 0.780, 357.672, 206.726, 0, [SEP] 50, LaundryHamper, 0.163, 0.003, 2.635, 0, 86.390, 0, [SEP] 51, NorthWall, , , , , , , [SEP] 52, EastWall, , , , , , , [SEP] 53, SouthWall, , , , , , , [SEP] 54, WestWall, , , , , , , ", "output": ["STEP 1: Turn right at the trash can and walk to the left of the bed. Turn left at the desk to your left. | STEP 2: Pick up the white pencil on the desk. | STEP 3: Turn around in a circle. | STEP 4: Put the pencil back down on the desk by the books. | END"]} +{"id": "trial_T20190908_121952_610012-2", "input": "Move the pencil on the desk over. 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, Mug, -0.399, 0.855, -1.529, 0, 0, 0, 33 [SEP] 2, CD, -0.511, 0.083, -1.093, 0, 0, 0, 32 [SEP] 3, CD, -1.179, 1.350, 0.407, 0, 0, 0, 37 [SEP] 4, CellPhone, -0.819, 0.858, -1.010, 0, 0, 0, 33 [SEP] 5, CellPhone, -2.074, 0.105, 0.683, 0, 0, 0, 46 [SEP] 6, Pencil, -1.918, 0.882, 0.665, 0, 0, 0, 43 [SEP] 7, KeyChain, -1.728, 1.723, 0.325, 0, 0, 0, 38 [SEP] 8, Pillow, 0.800, 0.918, 0.787, 0, 0, 0, 24 [SEP] 9, AlarmClock, -2.045, 1.350, 0.448, 0, 0, 0, 43 [SEP] 10, Book, 1.815, 0.783, 1.076, 0, 0, 0, 24 [SEP] 11, AlarmClock, -1.179, 1.724, 0.489, 0, 0, 0, 37 [SEP] 12, BasketBall, 1.976, 0.120, 0.211, 0, 331.076, 0, [SEP] 13, Pen, -0.549, 0.089, -0.852, 0, 0, 0, 32 [SEP] 14, Laptop, 0.800, 0.781, 1.655, 0, 0, 0, 24 [SEP] 15, BaseballBat, 1.953, 0.659, -1.81, 346.388, 0, 0, [SEP] 16, Bowl, -0.827, 0.850, -1.641, 0, 0, 0, 33 [SEP] 17, Pillow, 1.118, 0.867, 2.464, 0, 0, 0, 24 [SEP] 18, KeyChain, -1.744, 0.879, 0.330, 0, 0, 0, 36 [SEP] 19, CreditCard, -0.587, 0.364, -1.093, 0, 0, 0, 32 [SEP] 20, CellPhone, 1.815, 0.784, 2.234, 0, 0, 0, 24 [SEP] 21, CD, -0.710, 0.202, -0.310, 0, 0, 0, 26 [SEP] 22, Pencil, -0.819, 0.861, -0.836, 0, 0, 0, 33 [SEP] 23, Mug, -0.399, 0.855, -0.836, 0, 0, 0, 33 [SEP] 24, Bed, 1.227, -0.002, 1.664, 0, 0, 0, [SEP] 25, LightSwitch, 2.151, 1.233, -0.518, 0, 270, 0, [SEP] 26, GarbageCan, -0.747, 0.014, -0.327, 0, 0, 0, [SEP] 27, Mirror, -1.358, 1.427, 2.855, 0, 0, 0, [SEP] 28, DeskLamp, -2.296, 0.858, 0.750, 0, 0, 0, [SEP] 29, Window, -0.421, 1.534, -1.947, 90, 0, 0, [SEP] 30, Window, 0.579, 1.534, -1.947, 90, 0, 0, [SEP] 31, Drawer, -0.491, 0.739, -0.855, 0, 90, 0, [SEP] 32, Drawer, -0.491, 0.204, -0.855, 0, 90, 0, [SEP] 33, Desk, -0.639, 0.009, -1.187, 0, 90, 0, [SEP] 34, Drawer, -0.491, 0.487, -0.855, 0, 90, 0, [SEP] 35, Shelf, -1.965, 1.514, 0.416, 0, 0, 0, [SEP] 36, Shelf, -1.965, 1.092, 0.416, 0, 0, 0, [SEP] 37, Shelf, -1.312, 1.888, 0.416, 0, 0, 0, [SEP] 38, Shelf, -1.965, 1.888, 0.416, 0, 0, 0, [SEP] 39, Shelf, -1.312, 1.092, 0.416, 0, 0, 0, [SEP] 40, Shelf, -1.312, 1.514, 0.416, 0, 0, 0, [SEP] 41, Blinds, 0.601, 2.161, -1.916, 0, 0, 0, [SEP] 42, Blinds, -0.402, 2.161, -1.916, 0, 0, 0, [SEP] 43, Desk, -1.726, 0.001, 0.575, 0, 0, 0, [SEP] 44, Drawer, -2.058, 0.733, 0.734, 0, 0, 0, [SEP] 45, Drawer, -2.058, 0.482, 0.734, 0, 0, 0, [SEP] 46, Drawer, -2.058, 0.198, 0.735, 0, 0, 0, [SEP] 47, Chair, -0.137, 0.000, -1.587, 0, 315, 0, [SEP] 48, Safe, -2.183, -7.748, 2.576, 0, 180, 0, [SEP] 49, Chair, -1.433, 0.009, 0.780, 357.672, 206.726, 0, [SEP] 50, LaundryHamper, 0.163, 0.003, 2.635, 0, 86.390, 0, [SEP] 51, NorthWall, , , , , , , [SEP] 52, EastWall, , , , , , , [SEP] 53, SouthWall, , , , , , , [SEP] 54, WestWall, , , , , , , ", "output": ["STEP 1: Turn to your right and walk past the desk, then turn left and go to the end of the desk, closest to the wall. | STEP 2: Pick up the pencil on the desk, to the right of the lamp. | STEP 3: Move over to your left slightly so that you are right next to the blue office chair. | STEP 4: Place the pencil back on the desk, in front of the keys. | END"]} +{"id": "trial_T20190907_171850_960211-0", "input": "Put the warm 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, -2.0, 0.900, -1.75, 0, 0, 0, [SEP] 1, Pan, 0.965, 1.399, 1.444, 0, 0, 0, 78 [SEP] 2, Statue, -1.355, 0.936, -0.118, 0, 0, 0, 55 [SEP] 3, Vase, 1.194, 1.667, -0.593, 0, 270, 0, 64 [SEP] 4, CreditCard, 0.688, 0.908, -0.729, 0, 0, 0, 56 [SEP] 5, CellPhone, -0.920, 0.930, 0.009, 0, 0, 0, 55 [SEP] 6, Glassbottle, 0.773, 0.912, -1.793, 0, 0, 0, 61 [SEP] 7, Fork, 0.875, 0.494, -0.524, 0, 0, 0, 59 [SEP] 8, Spatula, -0.698, 0.948, -1.540, 0, 0, 0, 55 [SEP] 9, Knife, 0.859, 0.934, -0.208, 0, 180, 0, 56 [SEP] 10, Egg, -0.697, 0.818, -0.745, 0, 90, 0, 76 [SEP] 11, Cup, 1.087, 0.860, 1.254, 0, 270, 0, 78 [SEP] 12, Cup, 1.194, 1.663, -0.337, 0, 270, 0, 64 [SEP] 13, Tomato, 0.966, 0.903, 0.967, 0, 270, 0, 78 [SEP] 14, SoapBottle, 0.861, 0.108, -2.212, 0, 0, 0, 60 [SEP] 15, SaltShaker, 1.199, 0.907, -0.208, 0, 0, 0, 56 [SEP] 16, SaltShaker, -1.778, 0.550, 2.563, 0, 0, 0, 81 [SEP] 17, PepperShaker, 1.082, 2.204, -1.082, 0, 270, 0, 62 [SEP] 18, Lettuce, -0.912, 0.254, 0.543, 0, 90, 0, 75 [SEP] 19, Bread, 0.773, 0.992, -0.381, 0, 0, 0, 56 [SEP] 20, Mug, 0.811, 0.103, -1.812, 0, 0, 0, 60 [SEP] 21, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 55 [SEP] 22, Glassbottle, -1.229, 0.934, -0.380, 0, 0, 0, 55 [SEP] 23, Bread, 0.859, 0.992, 0.139, 0, 0, 0, 56 [SEP] 24, CreditCard, -0.920, 0.930, -1.540, 0, 0, 0, 55 [SEP] 25, CellPhone, -1.467, 0.550, 2.718, 0, 0, 0, 81 [SEP] 26, Potato, 1.126, 1.825, -1.339, 0, 270, 0, 77 [SEP] 27, Knife, 0.868, 0.700, -0.600, 90, 315, 0, 53 [SEP] 28, Fork, 0.875, 0.494, -0.690, 0, 0, 0, 59 [SEP] 29, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 49 [SEP] 30, Lettuce, 1.026, 1.720, 1.254, 0, 270, 0, 78 [SEP] 31, Plate, -1.985, 0.557, 2.667, 0, 0, 0, 81 [SEP] 32, Apple, 0.844, 1.452, 0.967, 0, 270, 0, 78 [SEP] 33, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 51 [SEP] 34, Spatula, -0.753, 0.795, -0.573, 0, 180, 0, 76 [SEP] 35, PaperTowelRoll, 0.688, 1.015, -1.793, 0, 0, 0, 61 [SEP] 36, Tomato, -0.550, 0.974, 0.239, 0, 0, 0, 55 [SEP] 37, Egg, 1.093, 1.821, -1.236, 0, 270, 0, 77 [SEP] 38, SaltShaker, -1.104, 0.929, -1.167, 0, 0, 0, 55 [SEP] 39, PepperShaker, 1.147, 1.662, 0.089, 0, 270, 0, 63 [SEP] 40, Vase, -0.772, 0.933, -1.231, 0, 0, 0, 55 [SEP] 41, ButterKnife, 1.029, 0.911, -0.555, 0, 0, 0, 56 [SEP] 42, SoapBottle, 1.029, 0.911, 0.139, 0, 0, 0, 56 [SEP] 43, Vase, 1.114, 0.912, -0.034, 0, 0, 0, 56 [SEP] 44, Bowl, 1.029, 0.914, -1.793, 0, 0, 0, 61 [SEP] 45, DishSponge, -0.624, 0.933, -0.143, 0, 0, 0, 55 [SEP] 46, Spoon, -0.698, 0.777, -0.486, 0, 90, 0, 76 [SEP] 47, Cup, 0.944, 0.908, -0.555, 0, 0, 0, 56 [SEP] 48, Mug, 0.688, 0.906, -2.222, 0, 0, 0, 61 [SEP] 49, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 50, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 51, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 52, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 53, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 54, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 55, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 56, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 57, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 58, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 59, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 60, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 61, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 62, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 63, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 64, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 65, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 66, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 67, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 68, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 69, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 70, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 71, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 72, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 73, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 74, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 75, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 76, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 77, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 78, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 79, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 80, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 81, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 82, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 83, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 84, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 85, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 86, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 87, NorthWall, , , , , , , [SEP] 88, EastWall, , , , , , , [SEP] 89, SouthWall, , , , , , , [SEP] 90, WestWall, , , , , , , ", "output": ["STEP 1: Turn around to your right move forward then turn left, head to the coffee maker | STEP 2: Pick up the mug in front of the coffee maker on the counter | STEP 3: Turn to your left head to the microwave above the stove | STEP 4: Open the microwave then put in and out the mug then close the microwave | STEP 5: Turn to your right and head to the coffee maker | STEP 6: Put the mug on the coffee maker | END"]} +{"id": "trial_T20190907_171850_960211-1", "input": "Put a warm 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, -2.0, 0.900, -1.75, 0, 0, 0, [SEP] 1, Pan, 0.965, 1.399, 1.444, 0, 0, 0, 78 [SEP] 2, Statue, -1.355, 0.936, -0.118, 0, 0, 0, 55 [SEP] 3, Vase, 1.194, 1.667, -0.593, 0, 270, 0, 64 [SEP] 4, CreditCard, 0.688, 0.908, -0.729, 0, 0, 0, 56 [SEP] 5, CellPhone, -0.920, 0.930, 0.009, 0, 0, 0, 55 [SEP] 6, Glassbottle, 0.773, 0.912, -1.793, 0, 0, 0, 61 [SEP] 7, Fork, 0.875, 0.494, -0.524, 0, 0, 0, 59 [SEP] 8, Spatula, -0.698, 0.948, -1.540, 0, 0, 0, 55 [SEP] 9, Knife, 0.859, 0.934, -0.208, 0, 180, 0, 56 [SEP] 10, Egg, -0.697, 0.818, -0.745, 0, 90, 0, 76 [SEP] 11, Cup, 1.087, 0.860, 1.254, 0, 270, 0, 78 [SEP] 12, Cup, 1.194, 1.663, -0.337, 0, 270, 0, 64 [SEP] 13, Tomato, 0.966, 0.903, 0.967, 0, 270, 0, 78 [SEP] 14, SoapBottle, 0.861, 0.108, -2.212, 0, 0, 0, 60 [SEP] 15, SaltShaker, 1.199, 0.907, -0.208, 0, 0, 0, 56 [SEP] 16, SaltShaker, -1.778, 0.550, 2.563, 0, 0, 0, 81 [SEP] 17, PepperShaker, 1.082, 2.204, -1.082, 0, 270, 0, 62 [SEP] 18, Lettuce, -0.912, 0.254, 0.543, 0, 90, 0, 75 [SEP] 19, Bread, 0.773, 0.992, -0.381, 0, 0, 0, 56 [SEP] 20, Mug, 0.811, 0.103, -1.812, 0, 0, 0, 60 [SEP] 21, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 55 [SEP] 22, Glassbottle, -1.229, 0.934, -0.380, 0, 0, 0, 55 [SEP] 23, Bread, 0.859, 0.992, 0.139, 0, 0, 0, 56 [SEP] 24, CreditCard, -0.920, 0.930, -1.540, 0, 0, 0, 55 [SEP] 25, CellPhone, -1.467, 0.550, 2.718, 0, 0, 0, 81 [SEP] 26, Potato, 1.126, 1.825, -1.339, 0, 270, 0, 77 [SEP] 27, Knife, 0.868, 0.700, -0.600, 90, 315, 0, 53 [SEP] 28, Fork, 0.875, 0.494, -0.690, 0, 0, 0, 59 [SEP] 29, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 49 [SEP] 30, Lettuce, 1.026, 1.720, 1.254, 0, 270, 0, 78 [SEP] 31, Plate, -1.985, 0.557, 2.667, 0, 0, 0, 81 [SEP] 32, Apple, 0.844, 1.452, 0.967, 0, 270, 0, 78 [SEP] 33, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 51 [SEP] 34, Spatula, -0.753, 0.795, -0.573, 0, 180, 0, 76 [SEP] 35, PaperTowelRoll, 0.688, 1.015, -1.793, 0, 0, 0, 61 [SEP] 36, Tomato, -0.550, 0.974, 0.239, 0, 0, 0, 55 [SEP] 37, Egg, 1.093, 1.821, -1.236, 0, 270, 0, 77 [SEP] 38, SaltShaker, -1.104, 0.929, -1.167, 0, 0, 0, 55 [SEP] 39, PepperShaker, 1.147, 1.662, 0.089, 0, 270, 0, 63 [SEP] 40, Vase, -0.772, 0.933, -1.231, 0, 0, 0, 55 [SEP] 41, ButterKnife, 1.029, 0.911, -0.555, 0, 0, 0, 56 [SEP] 42, SoapBottle, 1.029, 0.911, 0.139, 0, 0, 0, 56 [SEP] 43, Vase, 1.114, 0.912, -0.034, 0, 0, 0, 56 [SEP] 44, Bowl, 1.029, 0.914, -1.793, 0, 0, 0, 61 [SEP] 45, DishSponge, -0.624, 0.933, -0.143, 0, 0, 0, 55 [SEP] 46, Spoon, -0.698, 0.777, -0.486, 0, 90, 0, 76 [SEP] 47, Cup, 0.944, 0.908, -0.555, 0, 0, 0, 56 [SEP] 48, Mug, 0.688, 0.906, -2.222, 0, 0, 0, 61 [SEP] 49, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 50, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 51, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 52, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 53, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 54, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 55, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 56, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 57, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 58, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 59, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 60, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 61, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 62, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 63, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 64, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 65, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 66, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 67, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 68, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 69, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 70, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 71, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 72, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 73, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 74, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 75, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 76, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 77, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 78, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 79, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 80, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 81, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 82, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 83, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 84, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 85, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 86, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 87, NorthWall, , , , , , , [SEP] 88, EastWall, , , , , , , [SEP] 89, SouthWall, , , , , , , [SEP] 90, WestWall, , , , , , , ", "output": ["STEP 1: Turn around, move forward, then turn left, to approach the coffee maker. | STEP 2: Pick up the mug on the counter, in front of the coffee maker. | STEP 3: Turn left, go straight, then turn right at the stove and look up at the microwave. | STEP 4: Heat the mug inside of the microwave. | STEP 5: Turn right, go forward, then turn left to face the coffee maker. | STEP 6: Put the mug at the coffee maker. | END"]} +{"id": "trial_T20190907_171850_960211-2", "input": "Put a warmed mug 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, -2.0, 0.900, -1.75, 0, 0, 0, [SEP] 1, Pan, 0.965, 1.399, 1.444, 0, 0, 0, 78 [SEP] 2, Statue, -1.355, 0.936, -0.118, 0, 0, 0, 55 [SEP] 3, Vase, 1.194, 1.667, -0.593, 0, 270, 0, 64 [SEP] 4, CreditCard, 0.688, 0.908, -0.729, 0, 0, 0, 56 [SEP] 5, CellPhone, -0.920, 0.930, 0.009, 0, 0, 0, 55 [SEP] 6, Glassbottle, 0.773, 0.912, -1.793, 0, 0, 0, 61 [SEP] 7, Fork, 0.875, 0.494, -0.524, 0, 0, 0, 59 [SEP] 8, Spatula, -0.698, 0.948, -1.540, 0, 0, 0, 55 [SEP] 9, Knife, 0.859, 0.934, -0.208, 0, 180, 0, 56 [SEP] 10, Egg, -0.697, 0.818, -0.745, 0, 90, 0, 76 [SEP] 11, Cup, 1.087, 0.860, 1.254, 0, 270, 0, 78 [SEP] 12, Cup, 1.194, 1.663, -0.337, 0, 270, 0, 64 [SEP] 13, Tomato, 0.966, 0.903, 0.967, 0, 270, 0, 78 [SEP] 14, SoapBottle, 0.861, 0.108, -2.212, 0, 0, 0, 60 [SEP] 15, SaltShaker, 1.199, 0.907, -0.208, 0, 0, 0, 56 [SEP] 16, SaltShaker, -1.778, 0.550, 2.563, 0, 0, 0, 81 [SEP] 17, PepperShaker, 1.082, 2.204, -1.082, 0, 270, 0, 62 [SEP] 18, Lettuce, -0.912, 0.254, 0.543, 0, 90, 0, 75 [SEP] 19, Bread, 0.773, 0.992, -0.381, 0, 0, 0, 56 [SEP] 20, Mug, 0.811, 0.103, -1.812, 0, 0, 0, 60 [SEP] 21, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 55 [SEP] 22, Glassbottle, -1.229, 0.934, -0.380, 0, 0, 0, 55 [SEP] 23, Bread, 0.859, 0.992, 0.139, 0, 0, 0, 56 [SEP] 24, CreditCard, -0.920, 0.930, -1.540, 0, 0, 0, 55 [SEP] 25, CellPhone, -1.467, 0.550, 2.718, 0, 0, 0, 81 [SEP] 26, Potato, 1.126, 1.825, -1.339, 0, 270, 0, 77 [SEP] 27, Knife, 0.868, 0.700, -0.600, 90, 315, 0, 53 [SEP] 28, Fork, 0.875, 0.494, -0.690, 0, 0, 0, 59 [SEP] 29, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 49 [SEP] 30, Lettuce, 1.026, 1.720, 1.254, 0, 270, 0, 78 [SEP] 31, Plate, -1.985, 0.557, 2.667, 0, 0, 0, 81 [SEP] 32, Apple, 0.844, 1.452, 0.967, 0, 270, 0, 78 [SEP] 33, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 51 [SEP] 34, Spatula, -0.753, 0.795, -0.573, 0, 180, 0, 76 [SEP] 35, PaperTowelRoll, 0.688, 1.015, -1.793, 0, 0, 0, 61 [SEP] 36, Tomato, -0.550, 0.974, 0.239, 0, 0, 0, 55 [SEP] 37, Egg, 1.093, 1.821, -1.236, 0, 270, 0, 77 [SEP] 38, SaltShaker, -1.104, 0.929, -1.167, 0, 0, 0, 55 [SEP] 39, PepperShaker, 1.147, 1.662, 0.089, 0, 270, 0, 63 [SEP] 40, Vase, -0.772, 0.933, -1.231, 0, 0, 0, 55 [SEP] 41, ButterKnife, 1.029, 0.911, -0.555, 0, 0, 0, 56 [SEP] 42, SoapBottle, 1.029, 0.911, 0.139, 0, 0, 0, 56 [SEP] 43, Vase, 1.114, 0.912, -0.034, 0, 0, 0, 56 [SEP] 44, Bowl, 1.029, 0.914, -1.793, 0, 0, 0, 61 [SEP] 45, DishSponge, -0.624, 0.933, -0.143, 0, 0, 0, 55 [SEP] 46, Spoon, -0.698, 0.777, -0.486, 0, 90, 0, 76 [SEP] 47, Cup, 0.944, 0.908, -0.555, 0, 0, 0, 56 [SEP] 48, Mug, 0.688, 0.906, -2.222, 0, 0, 0, 61 [SEP] 49, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 50, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 51, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 52, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 53, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 54, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 55, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 56, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 57, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 58, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 59, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 60, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 61, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 62, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 63, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 64, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 65, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 66, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 67, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 68, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 69, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 70, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 71, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 72, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 73, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 74, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 75, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 76, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 77, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 78, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 79, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 80, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 81, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 82, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 83, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 84, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 85, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 86, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 87, NorthWall, , , , , , , [SEP] 88, EastWall, , , , , , , [SEP] 89, SouthWall, , , , , , , [SEP] 90, WestWall, , , , , , , ", "output": ["STEP 1: Go right and stand in front of the coffee maker. | STEP 2: Pick the white mug up from the counter. | STEP 3: Turn left and then right to face the stove. | STEP 4: Put the mug into the microwave and turn it on and then off and open the door to get the mug out and shut the door. | STEP 5: Go to the right to stand in front of the coffee maker. | STEP 6: Put the mug under the coffee maker on the counter. | END"]} +{"id": "trial_T20190907_161252_926204-0", "input": "Examine a basketball 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, -0.25, 0.900, 1.5, 0, 0, 0, [SEP] 1, Mug, -1.179, 1.721, 0.489, 0, 0, 0, 35 [SEP] 2, CD, -1.286, 1.350, 0.407, 0, 0, 0, 35 [SEP] 3, CD, -1.914, 0.386, 0.721, 0, 0, 0, 43 [SEP] 4, Pen, -1.728, 1.729, 0.489, 0, 0, 0, 36 [SEP] 5, KeyChain, -0.511, 0.365, -1.093, 0, 0, 0, 32 [SEP] 6, KeyChain, -2.187, 0.039, 2.469, 0, 180, 0, 46 [SEP] 7, AlarmClock, -2.045, 1.350, 0.448, 0, 0, 0, 41 [SEP] 8, Book, 1.206, 0.783, 0.787, 0, 0, 0, 22 [SEP] 9, AlarmClock, -1.834, 1.724, 0.366, 0, 0, 0, 35 [SEP] 10, BasketBall, 1.976, 0.120, 0.211, 0, 331.076, 0, [SEP] 11, Pen, -0.511, 0.089, -0.933, 0, 0, 0, 30 [SEP] 12, Laptop, 1.612, 0.781, 1.076, 0, 0, 0, 22 [SEP] 13, BaseballBat, 1.953, 0.659, -1.81, 346.388, 0, 0, [SEP] 14, Bowl, -0.483, 0.861, -1.010, 0, 0, 0, 31 [SEP] 15, Pillow, 1.118, 0.867, 2.464, 0, 0, 0, 22 [SEP] 16, KeyChain, -1.744, 0.879, 0.330, 0, 0, 0, 34 [SEP] 17, CreditCard, -0.587, 0.083, -0.852, 0, 0, 0, 30 [SEP] 18, CellPhone, -2.083, 0.040, 2.629, 0, 180, 0, 49 [SEP] 19, CD, -0.435, 0.083, -0.772, 0, 0, 0, 30 [SEP] 20, Pencil, -2.235, 0.671, 0.721, 0, 0, 0, 42 [SEP] 21, Mug, -0.735, 0.855, -1.010, 0, 0, 0, 31 [SEP] 22, Bed, 1.227, -0.002, 1.664, 0, 0, 0, [SEP] 23, LightSwitch, 2.151, 1.233, -0.518, 0, 270, 0, [SEP] 24, GarbageCan, -0.747, 0.014, -0.327, 0, 0, 0, [SEP] 25, Mirror, -1.358, 1.427, 2.855, 0, 0, 0, [SEP] 26, DeskLamp, -2.296, 0.858, 0.750, 0, 0, 0, [SEP] 27, Window, -0.421, 1.534, -1.947, 90, 0, 0, [SEP] 28, Window, 0.579, 1.534, -1.947, 90, 0, 0, [SEP] 29, Drawer, -0.491, 0.739, -0.855, 0, 90, 0, [SEP] 30, Drawer, -0.491, 0.204, -0.855, 0, 90, 0, [SEP] 31, Desk, -0.639, 0.009, -1.187, 0, 90, 0, [SEP] 32, Drawer, -0.491, 0.487, -0.855, 0, 90, 0, [SEP] 33, Shelf, -1.965, 1.514, 0.416, 0, 0, 0, [SEP] 34, Shelf, -1.965, 1.092, 0.416, 0, 0, 0, [SEP] 35, Shelf, -1.312, 1.888, 0.416, 0, 0, 0, [SEP] 36, Shelf, -1.965, 1.888, 0.416, 0, 0, 0, [SEP] 37, Shelf, -1.312, 1.092, 0.416, 0, 0, 0, [SEP] 38, Shelf, -1.312, 1.514, 0.416, 0, 0, 0, [SEP] 39, Blinds, 0.601, 2.161, -1.916, 0, 0, 0, [SEP] 40, Blinds, -0.402, 2.161, -1.916, 0, 0, 0, [SEP] 41, Desk, -1.726, 0.001, 0.575, 0, 0, 0, [SEP] 42, Drawer, -2.058, 0.733, 0.734, 0, 0, 0, [SEP] 43, Drawer, -2.058, 0.482, 0.734, 0, 0, 0, [SEP] 44, Drawer, -2.058, 0.198, 0.735, 0, 0, 0, [SEP] 45, Chair, -0.137, 0.000, -1.587, 0, 315, 0, [SEP] 46, Safe, -2.183, -7.748, 2.576, 0, 180, 0, [SEP] 47, Chair, -1.433, 0.009, 0.780, 357.672, 206.726, 0, [SEP] 48, LaundryHamper, 0.163, 0.003, 2.635, 0, 86.390, 0, [SEP] 49, , , , , , , , [SEP] 50, NorthWall, , , , , , , [SEP] 51, EastWall, , , , , , , [SEP] 52, SouthWall, , , , , , , [SEP] 53, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and head to the desk, then turn left and walk to the basketball on the floor. | STEP 2: Pick up the basketball from the floor. | STEP 3: Turn left, walk to the desk to the left of the bed and stand in front of the lamp on the desk. | STEP 4: Turn on the lamp. | END"]} +{"id": "trial_T20190907_161252_926204-1", "input": "Examine a basketball 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, -0.25, 0.900, 1.5, 0, 0, 0, [SEP] 1, Mug, -1.179, 1.721, 0.489, 0, 0, 0, 35 [SEP] 2, CD, -1.286, 1.350, 0.407, 0, 0, 0, 35 [SEP] 3, CD, -1.914, 0.386, 0.721, 0, 0, 0, 43 [SEP] 4, Pen, -1.728, 1.729, 0.489, 0, 0, 0, 36 [SEP] 5, KeyChain, -0.511, 0.365, -1.093, 0, 0, 0, 32 [SEP] 6, KeyChain, -2.187, 0.039, 2.469, 0, 180, 0, 46 [SEP] 7, AlarmClock, -2.045, 1.350, 0.448, 0, 0, 0, 41 [SEP] 8, Book, 1.206, 0.783, 0.787, 0, 0, 0, 22 [SEP] 9, AlarmClock, -1.834, 1.724, 0.366, 0, 0, 0, 35 [SEP] 10, BasketBall, 1.976, 0.120, 0.211, 0, 331.076, 0, [SEP] 11, Pen, -0.511, 0.089, -0.933, 0, 0, 0, 30 [SEP] 12, Laptop, 1.612, 0.781, 1.076, 0, 0, 0, 22 [SEP] 13, BaseballBat, 1.953, 0.659, -1.81, 346.388, 0, 0, [SEP] 14, Bowl, -0.483, 0.861, -1.010, 0, 0, 0, 31 [SEP] 15, Pillow, 1.118, 0.867, 2.464, 0, 0, 0, 22 [SEP] 16, KeyChain, -1.744, 0.879, 0.330, 0, 0, 0, 34 [SEP] 17, CreditCard, -0.587, 0.083, -0.852, 0, 0, 0, 30 [SEP] 18, CellPhone, -2.083, 0.040, 2.629, 0, 180, 0, 49 [SEP] 19, CD, -0.435, 0.083, -0.772, 0, 0, 0, 30 [SEP] 20, Pencil, -2.235, 0.671, 0.721, 0, 0, 0, 42 [SEP] 21, Mug, -0.735, 0.855, -1.010, 0, 0, 0, 31 [SEP] 22, Bed, 1.227, -0.002, 1.664, 0, 0, 0, [SEP] 23, LightSwitch, 2.151, 1.233, -0.518, 0, 270, 0, [SEP] 24, GarbageCan, -0.747, 0.014, -0.327, 0, 0, 0, [SEP] 25, Mirror, -1.358, 1.427, 2.855, 0, 0, 0, [SEP] 26, DeskLamp, -2.296, 0.858, 0.750, 0, 0, 0, [SEP] 27, Window, -0.421, 1.534, -1.947, 90, 0, 0, [SEP] 28, Window, 0.579, 1.534, -1.947, 90, 0, 0, [SEP] 29, Drawer, -0.491, 0.739, -0.855, 0, 90, 0, [SEP] 30, Drawer, -0.491, 0.204, -0.855, 0, 90, 0, [SEP] 31, Desk, -0.639, 0.009, -1.187, 0, 90, 0, [SEP] 32, Drawer, -0.491, 0.487, -0.855, 0, 90, 0, [SEP] 33, Shelf, -1.965, 1.514, 0.416, 0, 0, 0, [SEP] 34, Shelf, -1.965, 1.092, 0.416, 0, 0, 0, [SEP] 35, Shelf, -1.312, 1.888, 0.416, 0, 0, 0, [SEP] 36, Shelf, -1.965, 1.888, 0.416, 0, 0, 0, [SEP] 37, Shelf, -1.312, 1.092, 0.416, 0, 0, 0, [SEP] 38, Shelf, -1.312, 1.514, 0.416, 0, 0, 0, [SEP] 39, Blinds, 0.601, 2.161, -1.916, 0, 0, 0, [SEP] 40, Blinds, -0.402, 2.161, -1.916, 0, 0, 0, [SEP] 41, Desk, -1.726, 0.001, 0.575, 0, 0, 0, [SEP] 42, Drawer, -2.058, 0.733, 0.734, 0, 0, 0, [SEP] 43, Drawer, -2.058, 0.482, 0.734, 0, 0, 0, [SEP] 44, Drawer, -2.058, 0.198, 0.735, 0, 0, 0, [SEP] 45, Chair, -0.137, 0.000, -1.587, 0, 315, 0, [SEP] 46, Safe, -2.183, -7.748, 2.576, 0, 180, 0, [SEP] 47, Chair, -1.433, 0.009, 0.780, 357.672, 206.726, 0, [SEP] 48, LaundryHamper, 0.163, 0.003, 2.635, 0, 86.390, 0, [SEP] 49, , , , , , , , [SEP] 50, NorthWall, , , , , , , [SEP] 51, EastWall, , , , , , , [SEP] 52, SouthWall, , , , , , , [SEP] 53, WestWall, , , , , , , ", "output": ["STEP 1: Turn around, then go straight, then turn left, then go forward, then turn left to face to bed. | STEP 2: Pick up the basketball in front of the bed. | STEP 3: Turn left, go forward, turn right, go forward, turn left, go to the wall, then turn left to face the lamp. | STEP 4: Turn on the lamp. | END"]} +{"id": "trial_T20190907_161252_926204-2", "input": "examine basketball with 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, 1.5, 0, 0, 0, [SEP] 1, Mug, -1.179, 1.721, 0.489, 0, 0, 0, 35 [SEP] 2, CD, -1.286, 1.350, 0.407, 0, 0, 0, 35 [SEP] 3, CD, -1.914, 0.386, 0.721, 0, 0, 0, 43 [SEP] 4, Pen, -1.728, 1.729, 0.489, 0, 0, 0, 36 [SEP] 5, KeyChain, -0.511, 0.365, -1.093, 0, 0, 0, 32 [SEP] 6, KeyChain, -2.187, 0.039, 2.469, 0, 180, 0, 46 [SEP] 7, AlarmClock, -2.045, 1.350, 0.448, 0, 0, 0, 41 [SEP] 8, Book, 1.206, 0.783, 0.787, 0, 0, 0, 22 [SEP] 9, AlarmClock, -1.834, 1.724, 0.366, 0, 0, 0, 35 [SEP] 10, BasketBall, 1.976, 0.120, 0.211, 0, 331.076, 0, [SEP] 11, Pen, -0.511, 0.089, -0.933, 0, 0, 0, 30 [SEP] 12, Laptop, 1.612, 0.781, 1.076, 0, 0, 0, 22 [SEP] 13, BaseballBat, 1.953, 0.659, -1.81, 346.388, 0, 0, [SEP] 14, Bowl, -0.483, 0.861, -1.010, 0, 0, 0, 31 [SEP] 15, Pillow, 1.118, 0.867, 2.464, 0, 0, 0, 22 [SEP] 16, KeyChain, -1.744, 0.879, 0.330, 0, 0, 0, 34 [SEP] 17, CreditCard, -0.587, 0.083, -0.852, 0, 0, 0, 30 [SEP] 18, CellPhone, -2.083, 0.040, 2.629, 0, 180, 0, 49 [SEP] 19, CD, -0.435, 0.083, -0.772, 0, 0, 0, 30 [SEP] 20, Pencil, -2.235, 0.671, 0.721, 0, 0, 0, 42 [SEP] 21, Mug, -0.735, 0.855, -1.010, 0, 0, 0, 31 [SEP] 22, Bed, 1.227, -0.002, 1.664, 0, 0, 0, [SEP] 23, LightSwitch, 2.151, 1.233, -0.518, 0, 270, 0, [SEP] 24, GarbageCan, -0.747, 0.014, -0.327, 0, 0, 0, [SEP] 25, Mirror, -1.358, 1.427, 2.855, 0, 0, 0, [SEP] 26, DeskLamp, -2.296, 0.858, 0.750, 0, 0, 0, [SEP] 27, Window, -0.421, 1.534, -1.947, 90, 0, 0, [SEP] 28, Window, 0.579, 1.534, -1.947, 90, 0, 0, [SEP] 29, Drawer, -0.491, 0.739, -0.855, 0, 90, 0, [SEP] 30, Drawer, -0.491, 0.204, -0.855, 0, 90, 0, [SEP] 31, Desk, -0.639, 0.009, -1.187, 0, 90, 0, [SEP] 32, Drawer, -0.491, 0.487, -0.855, 0, 90, 0, [SEP] 33, Shelf, -1.965, 1.514, 0.416, 0, 0, 0, [SEP] 34, Shelf, -1.965, 1.092, 0.416, 0, 0, 0, [SEP] 35, Shelf, -1.312, 1.888, 0.416, 0, 0, 0, [SEP] 36, Shelf, -1.965, 1.888, 0.416, 0, 0, 0, [SEP] 37, Shelf, -1.312, 1.092, 0.416, 0, 0, 0, [SEP] 38, Shelf, -1.312, 1.514, 0.416, 0, 0, 0, [SEP] 39, Blinds, 0.601, 2.161, -1.916, 0, 0, 0, [SEP] 40, Blinds, -0.402, 2.161, -1.916, 0, 0, 0, [SEP] 41, Desk, -1.726, 0.001, 0.575, 0, 0, 0, [SEP] 42, Drawer, -2.058, 0.733, 0.734, 0, 0, 0, [SEP] 43, Drawer, -2.058, 0.482, 0.734, 0, 0, 0, [SEP] 44, Drawer, -2.058, 0.198, 0.735, 0, 0, 0, [SEP] 45, Chair, -0.137, 0.000, -1.587, 0, 315, 0, [SEP] 46, Safe, -2.183, -7.748, 2.576, 0, 180, 0, [SEP] 47, Chair, -1.433, 0.009, 0.780, 357.672, 206.726, 0, [SEP] 48, LaundryHamper, 0.163, 0.003, 2.635, 0, 86.390, 0, [SEP] 49, , , , , , , , [SEP] 50, NorthWall, , , , , , , [SEP] 51, EastWall, , , , , , , [SEP] 52, SouthWall, , , , , , , [SEP] 53, WestWall, , , , , , , ", "output": ["STEP 1: turn around, walk forward, turn left, walk forward to the wall, turn left to face bed | STEP 2: pick up the basketball that is on the floor | STEP 3: turn left, walk forward, turn right, walk forward, turn left, walk forward, turn left to face the desk | STEP 4: turn the lamp on | END"]} +{"id": "trial_T20190906_224631_058932-0", "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, -3.0, 0.900, -2.0, 0, 180, 0, [SEP] 1, Pan, 1.026, 1.399, 1.254, 0, 90, 0, 84 [SEP] 2, Statue, -1.571, 0.884, 2.719, 0, 0, 0, 61 [SEP] 3, Statue, -1.292, 0.936, 0.144, 0, 0, 0, 61 [SEP] 4, Vase, 1.193, 1.667, 0.089, 0, 270, 0, 69 [SEP] 5, Potato, 0.965, 0.893, 1.444, 0, 270, 0, 84 [SEP] 6, Potato, -1.054, 0.207, 0.576, 0, 180, 0, 81 [SEP] 7, CellPhone, -1.363, 0.550, 2.667, 0, 0, 0, 87 [SEP] 8, CellPhone, -0.477, 0.930, 0.162, 0, 0, 0, 61 [SEP] 9, DishSponge, 0.915, 0.701, -0.648, 0, 270, 0, 59 [SEP] 10, ButterKnife, -1.229, 0.933, -1.430, 0, 0, 0, 61 [SEP] 11, Glassbottle, -0.808, 0.781, -0.745, 0, 90, 0, 82 [SEP] 12, Fork, -0.772, 0.934, -0.067, 0, 90, 0, 61 [SEP] 13, Fork, -0.550, 0.934, -0.143, 0, 0, 0, 61 [SEP] 14, Spatula, 0.773, 0.926, -0.555, 0, 90, 0, 62 [SEP] 15, Knife, -0.772, 0.957, -1.618, 0, 0, 0, 61 [SEP] 16, Knife, 1.029, 0.934, -0.034, 0, 90, 0, 62 [SEP] 17, Cup, -0.920, 0.930, -1.540, 0, 0, 0, 61 [SEP] 18, Plate, 1.169, 2.211, -1.517, 0, 270, 0, 68 [SEP] 19, Plate, 0.773, 0.914, -0.729, 0, 0, 0, 62 [SEP] 20, SoapBottle, 0.944, 0.911, -0.208, 0, 0, 0, 62 [SEP] 21, SaltShaker, 1.055, 1.662, -1.961, 0, 270, 0, 60 [SEP] 22, PepperShaker, 1.102, 1.662, -0.593, 0, 270, 0, 70 [SEP] 23, Lettuce, 1.114, 0.988, -0.034, 0, 0, 0, 62 [SEP] 24, Lettuce, -1.167, 1.010, -0.905, 0, 0, 0, 61 [SEP] 25, Apple, -1.418, 0.983, -0.905, 0, 0, 0, 61 [SEP] 26, Apple, 1.114, 0.961, -0.208, 0, 0, 0, 62 [SEP] 27, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 61 [SEP] 28, Glassbottle, -0.624, 0.934, 0.086, 0, 0, 0, 61 [SEP] 29, Bread, 0.859, 0.992, -0.034, 0, 0, 0, 62 [SEP] 30, CreditCard, 0.773, 0.908, -1.879, 0, 0, 0, 67 [SEP] 31, CellPhone, 1.029, 0.908, -0.729, 0, 0, 0, 62 [SEP] 32, Potato, 0.773, 0.941, 0.139, 0, 0, 0, 62 [SEP] 33, Knife, -0.550, 0.957, -1.463, 0, 0, 0, 61 [SEP] 34, Fork, 1.029, 0.911, -0.555, 0, 0, 0, 62 [SEP] 35, Pan, 1.077, 0.950, -1.504, 0, 0, 0, 57 [SEP] 36, Lettuce, 0.688, 0.988, -1.879, 0, 0, 0, 67 [SEP] 37, Plate, -0.642, 0.783, -0.659, 0, 90, 0, 82 [SEP] 38, Apple, -0.960, 0.227, 0.576, 0, 180, 0, 81 [SEP] 39, Pot, -1.674, 0.557, 2.718, 0, 0, 0, 87 [SEP] 40, Spatula, 1.199, 0.926, -0.208, 0, 90, 0, 62 [SEP] 41, PaperTowelRoll, -1.985, 0.658, 2.563, 0, 0, 0, 87 [SEP] 42, Tomato, -0.587, 0.821, -0.486, 0, 90, 0, 82 [SEP] 43, Egg, -0.698, 0.814, -0.486, 0, 90, 0, 82 [SEP] 44, SaltShaker, 0.914, 0.150, -0.769, 0, 270, 0, 64 [SEP] 45, PepperShaker, 0.861, 0.104, -2.292, 0, 0, 0, 66 [SEP] 46, Vase, 1.126, 2.207, -1.299, 0, 270, 0, 68 [SEP] 47, ButterKnife, -0.550, 0.933, -1.231, 0, 0, 0, 61 [SEP] 48, SoapBottle, 0.910, 0.108, -2.132, 0, 0, 0, 66 [SEP] 49, Vase, -1.985, 0.555, 2.822, 0, 0, 0, 87 [SEP] 50, Bowl, 1.026, 0.866, 1.254, 0, 270, 0, 84 [SEP] 51, DishSponge, 0.859, 0.910, -1.879, 0, 0, 0, 67 [SEP] 52, Spoon, 0.773, 0.912, 0.313, 0, 0, 0, 62 [SEP] 53, Cup, 1.087, 1.132, 1.254, 0, 270, 0, 84 [SEP] 54, Mug, 1.194, 1.661, -2.302, 0, 0, 0, 60 [SEP] 55, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 56, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 57, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 58, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 59, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 60, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 61, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 62, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 63, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 64, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 65, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 66, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 67, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 68, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 69, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 70, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 71, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 72, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 73, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 74, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 75, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 76, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 77, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 78, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 79, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 80, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 81, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 82, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 83, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 84, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 85, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 86, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 87, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 88, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 89, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 90, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 91, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 92, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 93, NorthWall, , , , , , , [SEP] 94, EastWall, , , , , , , [SEP] 95, SouthWall, , , , , , , [SEP] 96, WestWall, , , , , , , ", "output": ["STEP 1: Turn left, go towards the coffee maker, turn left go to the dishwasher on the right. | STEP 2: Take the yellow handle knife from the counter behind the bread. | STEP 3: Cut the bread into slices. | STEP 4: Stay at the counter. | STEP 5: Put the knife on the counter in front of the bread and spatula. | STEP 6: Stay at the counter. | STEP 7: Take a slice of bread from the counter. | STEP 8: Turn left, go to the white refrigerator. | STEP 9: Put the bread in the refrigerator on the shelf with the potato in front of the bowl. Close then open the fridge door. Take the bread from the fridge. | STEP 10: Turn right, go in front of the oven. | STEP 11: Put the bread in the microwave above the oven. | END"]} +{"id": "trial_T20190906_224631_058932-1", "input": "Put a freshly sliced piece of bread 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, -3.0, 0.900, -2.0, 0, 180, 0, [SEP] 1, Pan, 1.026, 1.399, 1.254, 0, 90, 0, 84 [SEP] 2, Statue, -1.571, 0.884, 2.719, 0, 0, 0, 61 [SEP] 3, Statue, -1.292, 0.936, 0.144, 0, 0, 0, 61 [SEP] 4, Vase, 1.193, 1.667, 0.089, 0, 270, 0, 69 [SEP] 5, Potato, 0.965, 0.893, 1.444, 0, 270, 0, 84 [SEP] 6, Potato, -1.054, 0.207, 0.576, 0, 180, 0, 81 [SEP] 7, CellPhone, -1.363, 0.550, 2.667, 0, 0, 0, 87 [SEP] 8, CellPhone, -0.477, 0.930, 0.162, 0, 0, 0, 61 [SEP] 9, DishSponge, 0.915, 0.701, -0.648, 0, 270, 0, 59 [SEP] 10, ButterKnife, -1.229, 0.933, -1.430, 0, 0, 0, 61 [SEP] 11, Glassbottle, -0.808, 0.781, -0.745, 0, 90, 0, 82 [SEP] 12, Fork, -0.772, 0.934, -0.067, 0, 90, 0, 61 [SEP] 13, Fork, -0.550, 0.934, -0.143, 0, 0, 0, 61 [SEP] 14, Spatula, 0.773, 0.926, -0.555, 0, 90, 0, 62 [SEP] 15, Knife, -0.772, 0.957, -1.618, 0, 0, 0, 61 [SEP] 16, Knife, 1.029, 0.934, -0.034, 0, 90, 0, 62 [SEP] 17, Cup, -0.920, 0.930, -1.540, 0, 0, 0, 61 [SEP] 18, Plate, 1.169, 2.211, -1.517, 0, 270, 0, 68 [SEP] 19, Plate, 0.773, 0.914, -0.729, 0, 0, 0, 62 [SEP] 20, SoapBottle, 0.944, 0.911, -0.208, 0, 0, 0, 62 [SEP] 21, SaltShaker, 1.055, 1.662, -1.961, 0, 270, 0, 60 [SEP] 22, PepperShaker, 1.102, 1.662, -0.593, 0, 270, 0, 70 [SEP] 23, Lettuce, 1.114, 0.988, -0.034, 0, 0, 0, 62 [SEP] 24, Lettuce, -1.167, 1.010, -0.905, 0, 0, 0, 61 [SEP] 25, Apple, -1.418, 0.983, -0.905, 0, 0, 0, 61 [SEP] 26, Apple, 1.114, 0.961, -0.208, 0, 0, 0, 62 [SEP] 27, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 61 [SEP] 28, Glassbottle, -0.624, 0.934, 0.086, 0, 0, 0, 61 [SEP] 29, Bread, 0.859, 0.992, -0.034, 0, 0, 0, 62 [SEP] 30, CreditCard, 0.773, 0.908, -1.879, 0, 0, 0, 67 [SEP] 31, CellPhone, 1.029, 0.908, -0.729, 0, 0, 0, 62 [SEP] 32, Potato, 0.773, 0.941, 0.139, 0, 0, 0, 62 [SEP] 33, Knife, -0.550, 0.957, -1.463, 0, 0, 0, 61 [SEP] 34, Fork, 1.029, 0.911, -0.555, 0, 0, 0, 62 [SEP] 35, Pan, 1.077, 0.950, -1.504, 0, 0, 0, 57 [SEP] 36, Lettuce, 0.688, 0.988, -1.879, 0, 0, 0, 67 [SEP] 37, Plate, -0.642, 0.783, -0.659, 0, 90, 0, 82 [SEP] 38, Apple, -0.960, 0.227, 0.576, 0, 180, 0, 81 [SEP] 39, Pot, -1.674, 0.557, 2.718, 0, 0, 0, 87 [SEP] 40, Spatula, 1.199, 0.926, -0.208, 0, 90, 0, 62 [SEP] 41, PaperTowelRoll, -1.985, 0.658, 2.563, 0, 0, 0, 87 [SEP] 42, Tomato, -0.587, 0.821, -0.486, 0, 90, 0, 82 [SEP] 43, Egg, -0.698, 0.814, -0.486, 0, 90, 0, 82 [SEP] 44, SaltShaker, 0.914, 0.150, -0.769, 0, 270, 0, 64 [SEP] 45, PepperShaker, 0.861, 0.104, -2.292, 0, 0, 0, 66 [SEP] 46, Vase, 1.126, 2.207, -1.299, 0, 270, 0, 68 [SEP] 47, ButterKnife, -0.550, 0.933, -1.231, 0, 0, 0, 61 [SEP] 48, SoapBottle, 0.910, 0.108, -2.132, 0, 0, 0, 66 [SEP] 49, Vase, -1.985, 0.555, 2.822, 0, 0, 0, 87 [SEP] 50, Bowl, 1.026, 0.866, 1.254, 0, 270, 0, 84 [SEP] 51, DishSponge, 0.859, 0.910, -1.879, 0, 0, 0, 67 [SEP] 52, Spoon, 0.773, 0.912, 0.313, 0, 0, 0, 62 [SEP] 53, Cup, 1.087, 1.132, 1.254, 0, 270, 0, 84 [SEP] 54, Mug, 1.194, 1.661, -2.302, 0, 0, 0, 60 [SEP] 55, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 56, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 57, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 58, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 59, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 60, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 61, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 62, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 63, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 64, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 65, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 66, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 67, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 68, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 69, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 70, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 71, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 72, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 73, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 74, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 75, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 76, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 77, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 78, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 79, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 80, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 81, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 82, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 83, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 84, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 85, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 86, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 87, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 88, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 89, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 90, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 91, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 92, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 93, NorthWall, , , , , , , [SEP] 94, EastWall, , , , , , , [SEP] 95, SouthWall, , , , , , , [SEP] 96, WestWall, , , , , , , ", "output": ["STEP 1: Go as far as you can to your left, then turn left again and continue to the counter to the right of the fridge. | STEP 2: Pick up the knife behind the loaf of bread on the counter. | STEP 3: Slice the right half of the loaf of bread. | STEP 4: Move one step to the right. | STEP 5: Put the knife on the counter, in front of the bread and spatula, parallel to the edge of the counter | STEP 6: Go back one step to the left. | STEP 7: Remove leftmost slice of bread, from near the center of the loaf. | STEP 8: Take the bread slice to the refrigerator on your left. | STEP 9: Put the bread on the middle of the center refrigerator shelf and close the refrigerator, then open it and take the bread slice back out and close the door. | STEP 10: Move to your right to stand facing the stove. | STEP 11: Put the slice of bread into the microwave above the stove. | END"]} +{"id": "trial_T20190906_224631_058932-2", "input": "Place a chilled slice of bread 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, -3.0, 0.900, -2.0, 0, 180, 0, [SEP] 1, Pan, 1.026, 1.399, 1.254, 0, 90, 0, 84 [SEP] 2, Statue, -1.571, 0.884, 2.719, 0, 0, 0, 61 [SEP] 3, Statue, -1.292, 0.936, 0.144, 0, 0, 0, 61 [SEP] 4, Vase, 1.193, 1.667, 0.089, 0, 270, 0, 69 [SEP] 5, Potato, 0.965, 0.893, 1.444, 0, 270, 0, 84 [SEP] 6, Potato, -1.054, 0.207, 0.576, 0, 180, 0, 81 [SEP] 7, CellPhone, -1.363, 0.550, 2.667, 0, 0, 0, 87 [SEP] 8, CellPhone, -0.477, 0.930, 0.162, 0, 0, 0, 61 [SEP] 9, DishSponge, 0.915, 0.701, -0.648, 0, 270, 0, 59 [SEP] 10, ButterKnife, -1.229, 0.933, -1.430, 0, 0, 0, 61 [SEP] 11, Glassbottle, -0.808, 0.781, -0.745, 0, 90, 0, 82 [SEP] 12, Fork, -0.772, 0.934, -0.067, 0, 90, 0, 61 [SEP] 13, Fork, -0.550, 0.934, -0.143, 0, 0, 0, 61 [SEP] 14, Spatula, 0.773, 0.926, -0.555, 0, 90, 0, 62 [SEP] 15, Knife, -0.772, 0.957, -1.618, 0, 0, 0, 61 [SEP] 16, Knife, 1.029, 0.934, -0.034, 0, 90, 0, 62 [SEP] 17, Cup, -0.920, 0.930, -1.540, 0, 0, 0, 61 [SEP] 18, Plate, 1.169, 2.211, -1.517, 0, 270, 0, 68 [SEP] 19, Plate, 0.773, 0.914, -0.729, 0, 0, 0, 62 [SEP] 20, SoapBottle, 0.944, 0.911, -0.208, 0, 0, 0, 62 [SEP] 21, SaltShaker, 1.055, 1.662, -1.961, 0, 270, 0, 60 [SEP] 22, PepperShaker, 1.102, 1.662, -0.593, 0, 270, 0, 70 [SEP] 23, Lettuce, 1.114, 0.988, -0.034, 0, 0, 0, 62 [SEP] 24, Lettuce, -1.167, 1.010, -0.905, 0, 0, 0, 61 [SEP] 25, Apple, -1.418, 0.983, -0.905, 0, 0, 0, 61 [SEP] 26, Apple, 1.114, 0.961, -0.208, 0, 0, 0, 62 [SEP] 27, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 61 [SEP] 28, Glassbottle, -0.624, 0.934, 0.086, 0, 0, 0, 61 [SEP] 29, Bread, 0.859, 0.992, -0.034, 0, 0, 0, 62 [SEP] 30, CreditCard, 0.773, 0.908, -1.879, 0, 0, 0, 67 [SEP] 31, CellPhone, 1.029, 0.908, -0.729, 0, 0, 0, 62 [SEP] 32, Potato, 0.773, 0.941, 0.139, 0, 0, 0, 62 [SEP] 33, Knife, -0.550, 0.957, -1.463, 0, 0, 0, 61 [SEP] 34, Fork, 1.029, 0.911, -0.555, 0, 0, 0, 62 [SEP] 35, Pan, 1.077, 0.950, -1.504, 0, 0, 0, 57 [SEP] 36, Lettuce, 0.688, 0.988, -1.879, 0, 0, 0, 67 [SEP] 37, Plate, -0.642, 0.783, -0.659, 0, 90, 0, 82 [SEP] 38, Apple, -0.960, 0.227, 0.576, 0, 180, 0, 81 [SEP] 39, Pot, -1.674, 0.557, 2.718, 0, 0, 0, 87 [SEP] 40, Spatula, 1.199, 0.926, -0.208, 0, 90, 0, 62 [SEP] 41, PaperTowelRoll, -1.985, 0.658, 2.563, 0, 0, 0, 87 [SEP] 42, Tomato, -0.587, 0.821, -0.486, 0, 90, 0, 82 [SEP] 43, Egg, -0.698, 0.814, -0.486, 0, 90, 0, 82 [SEP] 44, SaltShaker, 0.914, 0.150, -0.769, 0, 270, 0, 64 [SEP] 45, PepperShaker, 0.861, 0.104, -2.292, 0, 0, 0, 66 [SEP] 46, Vase, 1.126, 2.207, -1.299, 0, 270, 0, 68 [SEP] 47, ButterKnife, -0.550, 0.933, -1.231, 0, 0, 0, 61 [SEP] 48, SoapBottle, 0.910, 0.108, -2.132, 0, 0, 0, 66 [SEP] 49, Vase, -1.985, 0.555, 2.822, 0, 0, 0, 87 [SEP] 50, Bowl, 1.026, 0.866, 1.254, 0, 270, 0, 84 [SEP] 51, DishSponge, 0.859, 0.910, -1.879, 0, 0, 0, 67 [SEP] 52, Spoon, 0.773, 0.912, 0.313, 0, 0, 0, 62 [SEP] 53, Cup, 1.087, 1.132, 1.254, 0, 270, 0, 84 [SEP] 54, Mug, 1.194, 1.661, -2.302, 0, 0, 0, 60 [SEP] 55, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 56, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 57, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 58, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 59, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 60, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 61, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 62, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 63, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 64, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 65, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 66, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 67, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 68, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 69, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 70, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 71, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 72, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 73, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 74, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 75, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 76, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 77, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 78, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 79, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 80, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 81, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 82, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 83, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 84, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 85, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 86, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 87, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 88, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 89, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 90, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 91, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 92, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 93, NorthWall, , , , , , , [SEP] 94, EastWall, , , , , , , [SEP] 95, SouthWall, , , , , , , [SEP] 96, WestWall, , , , , , , ", "output": ["STEP 1: Turn to your left and walk to the toaster next to the refrigerator. | STEP 2: Pick up the knife from the counter. | STEP 3: Cut the loaf of bread. | STEP 4: Move one step to your right. | STEP 5: Place the knife on the counter. | STEP 6: Walk one step to the left. | STEP 7: Pick up a slice of bread from the middle of the loaf. | STEP 8: Walk over to the refrigerator. | STEP 9: Open the fridge and place the bread inside and then shut the fridge briefly before opening it again and picking up the slice of bread. | STEP 10: Walk over to the microwave above the stove. | STEP 11: Place the slice of bread inside the microwave. | END"]} +{"id": "trial_T20190908_073656_715770-0", "input": "Place a slice of cooked apple 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, -2.5, 0.900, 1.25, 0, 270, 0, [SEP] 1, Potato, -1.054, 0.209, 0.543, 0, 180, 0, 77 [SEP] 2, Potato, 0.966, 0.893, 0.967, 0, 270, 0, 80 [SEP] 3, CreditCard, 0.944, 0.908, -0.555, 0, 0, 0, 58 [SEP] 4, ButterKnife, 1.114, 0.911, -0.381, 0, 0, 0, 58 [SEP] 5, ButterKnife, 0.859, 0.911, -0.381, 0, 180, 0, 58 [SEP] 6, Fork, 0.773, 0.911, -1.965, 0, 90, 0, 63 [SEP] 7, Fork, 1.199, 0.911, -0.381, 0, 90, 0, 58 [SEP] 8, Spoon, -0.550, 0.934, 0.315, 0, 0, 0, 57 [SEP] 9, Spoon, 0.944, 0.912, -0.555, 0, 0, 0, 58 [SEP] 10, Spatula, 0.859, 0.926, -0.381, 0, 0, 0, 58 [SEP] 11, Spatula, -0.753, 0.791, -0.745, 0, 180, 0, 78 [SEP] 12, Cup, 0.783, 1.640, 0.967, 0, 270, 0, 80 [SEP] 13, Cup, -0.808, 0.777, -0.573, 0, 90, 0, 78 [SEP] 14, SoapBottle, 0.760, 0.121, 0.398, 0, 270, 0, 52 [SEP] 15, SoapBottle, 0.910, 0.108, -2.212, 0, 0, 0, 62 [SEP] 16, SaltShaker, 0.859, 0.907, -0.555, 0, 0, 0, 58 [SEP] 17, PepperShaker, 1.055, 1.662, -2.097, 0, 270, 0, 56 [SEP] 18, PepperShaker, -1.981, 0.878, 2.746, 0, 0, 0, 84 [SEP] 19, Bread, -0.846, 1.014, -1.386, 0, 0, 0, 57 [SEP] 20, Bread, -1.167, 1.014, 0.144, 0, 0, 0, 57 [SEP] 21, Apple, 0.783, 0.913, 1.540, 0, 270, 0, 80 [SEP] 22, Apple, -0.912, 0.229, 0.608, 0, 180, 0, 77 [SEP] 23, Statue, -1.104, 0.936, -0.905, 0, 0, 0, 57 [SEP] 24, Glassbottle, -1.041, 0.934, -0.118, 0, 0, 0, 57 [SEP] 25, Bread, 0.944, 0.992, 0.139, 0, 0, 0, 58 [SEP] 26, CreditCard, 1.029, 0.908, -0.729, 0, 0, 0, 58 [SEP] 27, CellPhone, -1.467, 0.550, 2.770, 0, 0, 0, 83 [SEP] 28, Potato, -0.550, 0.963, 0.162, 0, 0, 0, 57 [SEP] 29, Knife, -1.104, 0.957, -0.643, 0, 90, 0, 57 [SEP] 30, Fork, 0.688, 0.911, -2.222, 0, 270, 0, 63 [SEP] 31, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 51 [SEP] 32, Lettuce, 0.866, 1.688, 1.209, 9.746, 11.109, 0, 80 [SEP] 33, Plate, -1.985, 0.557, 2.718, 0, 0, 0, 83 [SEP] 34, Apple, 0.966, 1.452, 1.158, 0, 270, 0, 80 [SEP] 35, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 53 [SEP] 36, Spatula, -0.587, 0.795, -0.832, 0, 0, 0, 78 [SEP] 37, PaperTowelRoll, -0.920, 1.037, 0.009, 0, 0, 0, 57 [SEP] 38, Tomato, -1.292, 0.974, -1.167, 0, 0, 0, 57 [SEP] 39, Egg, -0.753, 0.818, -0.486, 0, 90, 0, 78 [SEP] 40, SaltShaker, 1.199, 0.907, -0.034, 0, 0, 0, 58 [SEP] 41, PepperShaker, 0.833, 0.150, -0.650, 0, 270, 0, 60 [SEP] 42, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 83 [SEP] 43, ButterKnife, 0.773, 0.911, 0.313, 0, 0, 0, 58 [SEP] 44, SoapBottle, 0.688, 0.911, -2.051, 0, 0, 0, 63 [SEP] 45, Vase, 1.029, 0.912, -0.208, 0, 0, 0, 58 [SEP] 46, Bowl, 1.102, 1.669, -0.465, 0, 270, 0, 66 [SEP] 47, DishSponge, 1.126, 2.207, -0.973, 0, 270, 0, 64 [SEP] 48, Spoon, -0.550, 0.934, -0.067, 0, 0, 0, 57 [SEP] 49, Cup, 0.773, 0.908, -0.729, 0, 0, 0, 58 [SEP] 50, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 76 [SEP] 51, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 52, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 53, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 54, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 55, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 56, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 57, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 58, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 59, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 60, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 61, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 62, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 63, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 64, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 65, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 66, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 67, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 68, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 69, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 70, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 71, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 72, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 73, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 74, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 75, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 76, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 77, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 78, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 79, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 80, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 81, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 82, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 83, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 84, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 85, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 86, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 87, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 88, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 89, NorthWall, , , , , , , [SEP] 90, EastWall, , , , , , , [SEP] 91, SouthWall, , , , , , , [SEP] 92, WestWall, , , , , , , ", "output": ["STEP 1: Turn left, move to the counter, right of the refrigerator. | STEP 2: Pick up the knife from the counter. | STEP 3: Turn left, move to the bin at the end of the island. | STEP 4: Cut the apple, in the bin, in to sections. | STEP 5: Put the knife in the bin. | STEP 6: Pick up a section of apple. | STEP 7: Turn left, move to in front of the microwave. | STEP 8: Put the apple section in the microwave, cook it, pick it back up. | STEP 9: Turn left, move to the bin at the end of the island. | STEP 10: Put the cooked apple section in the bin. | END"]} +{"id": "trial_T20190908_073656_715770-1", "input": "Put a hot 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, -2.5, 0.900, 1.25, 0, 270, 0, [SEP] 1, Potato, -1.054, 0.209, 0.543, 0, 180, 0, 77 [SEP] 2, Potato, 0.966, 0.893, 0.967, 0, 270, 0, 80 [SEP] 3, CreditCard, 0.944, 0.908, -0.555, 0, 0, 0, 58 [SEP] 4, ButterKnife, 1.114, 0.911, -0.381, 0, 0, 0, 58 [SEP] 5, ButterKnife, 0.859, 0.911, -0.381, 0, 180, 0, 58 [SEP] 6, Fork, 0.773, 0.911, -1.965, 0, 90, 0, 63 [SEP] 7, Fork, 1.199, 0.911, -0.381, 0, 90, 0, 58 [SEP] 8, Spoon, -0.550, 0.934, 0.315, 0, 0, 0, 57 [SEP] 9, Spoon, 0.944, 0.912, -0.555, 0, 0, 0, 58 [SEP] 10, Spatula, 0.859, 0.926, -0.381, 0, 0, 0, 58 [SEP] 11, Spatula, -0.753, 0.791, -0.745, 0, 180, 0, 78 [SEP] 12, Cup, 0.783, 1.640, 0.967, 0, 270, 0, 80 [SEP] 13, Cup, -0.808, 0.777, -0.573, 0, 90, 0, 78 [SEP] 14, SoapBottle, 0.760, 0.121, 0.398, 0, 270, 0, 52 [SEP] 15, SoapBottle, 0.910, 0.108, -2.212, 0, 0, 0, 62 [SEP] 16, SaltShaker, 0.859, 0.907, -0.555, 0, 0, 0, 58 [SEP] 17, PepperShaker, 1.055, 1.662, -2.097, 0, 270, 0, 56 [SEP] 18, PepperShaker, -1.981, 0.878, 2.746, 0, 0, 0, 84 [SEP] 19, Bread, -0.846, 1.014, -1.386, 0, 0, 0, 57 [SEP] 20, Bread, -1.167, 1.014, 0.144, 0, 0, 0, 57 [SEP] 21, Apple, 0.783, 0.913, 1.540, 0, 270, 0, 80 [SEP] 22, Apple, -0.912, 0.229, 0.608, 0, 180, 0, 77 [SEP] 23, Statue, -1.104, 0.936, -0.905, 0, 0, 0, 57 [SEP] 24, Glassbottle, -1.041, 0.934, -0.118, 0, 0, 0, 57 [SEP] 25, Bread, 0.944, 0.992, 0.139, 0, 0, 0, 58 [SEP] 26, CreditCard, 1.029, 0.908, -0.729, 0, 0, 0, 58 [SEP] 27, CellPhone, -1.467, 0.550, 2.770, 0, 0, 0, 83 [SEP] 28, Potato, -0.550, 0.963, 0.162, 0, 0, 0, 57 [SEP] 29, Knife, -1.104, 0.957, -0.643, 0, 90, 0, 57 [SEP] 30, Fork, 0.688, 0.911, -2.222, 0, 270, 0, 63 [SEP] 31, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 51 [SEP] 32, Lettuce, 0.866, 1.688, 1.209, 9.746, 11.109, 0, 80 [SEP] 33, Plate, -1.985, 0.557, 2.718, 0, 0, 0, 83 [SEP] 34, Apple, 0.966, 1.452, 1.158, 0, 270, 0, 80 [SEP] 35, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 53 [SEP] 36, Spatula, -0.587, 0.795, -0.832, 0, 0, 0, 78 [SEP] 37, PaperTowelRoll, -0.920, 1.037, 0.009, 0, 0, 0, 57 [SEP] 38, Tomato, -1.292, 0.974, -1.167, 0, 0, 0, 57 [SEP] 39, Egg, -0.753, 0.818, -0.486, 0, 90, 0, 78 [SEP] 40, SaltShaker, 1.199, 0.907, -0.034, 0, 0, 0, 58 [SEP] 41, PepperShaker, 0.833, 0.150, -0.650, 0, 270, 0, 60 [SEP] 42, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 83 [SEP] 43, ButterKnife, 0.773, 0.911, 0.313, 0, 0, 0, 58 [SEP] 44, SoapBottle, 0.688, 0.911, -2.051, 0, 0, 0, 63 [SEP] 45, Vase, 1.029, 0.912, -0.208, 0, 0, 0, 58 [SEP] 46, Bowl, 1.102, 1.669, -0.465, 0, 270, 0, 66 [SEP] 47, DishSponge, 1.126, 2.207, -0.973, 0, 270, 0, 64 [SEP] 48, Spoon, -0.550, 0.934, -0.067, 0, 0, 0, 57 [SEP] 49, Cup, 0.773, 0.908, -0.729, 0, 0, 0, 58 [SEP] 50, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 76 [SEP] 51, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 52, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 53, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 54, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 55, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 56, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 57, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 58, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 59, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 60, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 61, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 62, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 63, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 64, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 65, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 66, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 67, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 68, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 69, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 70, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 71, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 72, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 73, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 74, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 75, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 76, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 77, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 78, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 79, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 80, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 81, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 82, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 83, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 84, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 85, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 86, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 87, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 88, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 89, NorthWall, , , , , , , [SEP] 90, EastWall, , , , , , , [SEP] 91, SouthWall, , , , , , , [SEP] 92, WestWall, , , , , , , ", "output": ["STEP 1: Turn, go across the room to the fridge, take a right and go to the counter to the right of the fridge. | STEP 2: Pick up the butter knife on the counter. | STEP 3: Go to the trash can at the end of the counter. | STEP 4: Slice the apple in the trash can. | STEP 5: Put the butter knife in the trash can. | STEP 6: Pick up an apple slice out of the trash can. | STEP 7: Turn around and go to the microwave. | STEP 8: Cook the apple slice in the microwave. | STEP 9: Turn and go back to the trash can. | STEP 10: Put the warm apple slice in the trash. | END"]} +{"id": "trial_T20190908_073656_715770-2", "input": "Slice apple in the trash can, grab a piece, cook it in the microwave, put 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, -2.5, 0.900, 1.25, 0, 270, 0, [SEP] 1, Potato, -1.054, 0.209, 0.543, 0, 180, 0, 77 [SEP] 2, Potato, 0.966, 0.893, 0.967, 0, 270, 0, 80 [SEP] 3, CreditCard, 0.944, 0.908, -0.555, 0, 0, 0, 58 [SEP] 4, ButterKnife, 1.114, 0.911, -0.381, 0, 0, 0, 58 [SEP] 5, ButterKnife, 0.859, 0.911, -0.381, 0, 180, 0, 58 [SEP] 6, Fork, 0.773, 0.911, -1.965, 0, 90, 0, 63 [SEP] 7, Fork, 1.199, 0.911, -0.381, 0, 90, 0, 58 [SEP] 8, Spoon, -0.550, 0.934, 0.315, 0, 0, 0, 57 [SEP] 9, Spoon, 0.944, 0.912, -0.555, 0, 0, 0, 58 [SEP] 10, Spatula, 0.859, 0.926, -0.381, 0, 0, 0, 58 [SEP] 11, Spatula, -0.753, 0.791, -0.745, 0, 180, 0, 78 [SEP] 12, Cup, 0.783, 1.640, 0.967, 0, 270, 0, 80 [SEP] 13, Cup, -0.808, 0.777, -0.573, 0, 90, 0, 78 [SEP] 14, SoapBottle, 0.760, 0.121, 0.398, 0, 270, 0, 52 [SEP] 15, SoapBottle, 0.910, 0.108, -2.212, 0, 0, 0, 62 [SEP] 16, SaltShaker, 0.859, 0.907, -0.555, 0, 0, 0, 58 [SEP] 17, PepperShaker, 1.055, 1.662, -2.097, 0, 270, 0, 56 [SEP] 18, PepperShaker, -1.981, 0.878, 2.746, 0, 0, 0, 84 [SEP] 19, Bread, -0.846, 1.014, -1.386, 0, 0, 0, 57 [SEP] 20, Bread, -1.167, 1.014, 0.144, 0, 0, 0, 57 [SEP] 21, Apple, 0.783, 0.913, 1.540, 0, 270, 0, 80 [SEP] 22, Apple, -0.912, 0.229, 0.608, 0, 180, 0, 77 [SEP] 23, Statue, -1.104, 0.936, -0.905, 0, 0, 0, 57 [SEP] 24, Glassbottle, -1.041, 0.934, -0.118, 0, 0, 0, 57 [SEP] 25, Bread, 0.944, 0.992, 0.139, 0, 0, 0, 58 [SEP] 26, CreditCard, 1.029, 0.908, -0.729, 0, 0, 0, 58 [SEP] 27, CellPhone, -1.467, 0.550, 2.770, 0, 0, 0, 83 [SEP] 28, Potato, -0.550, 0.963, 0.162, 0, 0, 0, 57 [SEP] 29, Knife, -1.104, 0.957, -0.643, 0, 90, 0, 57 [SEP] 30, Fork, 0.688, 0.911, -2.222, 0, 270, 0, 63 [SEP] 31, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 51 [SEP] 32, Lettuce, 0.866, 1.688, 1.209, 9.746, 11.109, 0, 80 [SEP] 33, Plate, -1.985, 0.557, 2.718, 0, 0, 0, 83 [SEP] 34, Apple, 0.966, 1.452, 1.158, 0, 270, 0, 80 [SEP] 35, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 53 [SEP] 36, Spatula, -0.587, 0.795, -0.832, 0, 0, 0, 78 [SEP] 37, PaperTowelRoll, -0.920, 1.037, 0.009, 0, 0, 0, 57 [SEP] 38, Tomato, -1.292, 0.974, -1.167, 0, 0, 0, 57 [SEP] 39, Egg, -0.753, 0.818, -0.486, 0, 90, 0, 78 [SEP] 40, SaltShaker, 1.199, 0.907, -0.034, 0, 0, 0, 58 [SEP] 41, PepperShaker, 0.833, 0.150, -0.650, 0, 270, 0, 60 [SEP] 42, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 83 [SEP] 43, ButterKnife, 0.773, 0.911, 0.313, 0, 0, 0, 58 [SEP] 44, SoapBottle, 0.688, 0.911, -2.051, 0, 0, 0, 63 [SEP] 45, Vase, 1.029, 0.912, -0.208, 0, 0, 0, 58 [SEP] 46, Bowl, 1.102, 1.669, -0.465, 0, 270, 0, 66 [SEP] 47, DishSponge, 1.126, 2.207, -0.973, 0, 270, 0, 64 [SEP] 48, Spoon, -0.550, 0.934, -0.067, 0, 0, 0, 57 [SEP] 49, Cup, 0.773, 0.908, -0.729, 0, 0, 0, 58 [SEP] 50, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 76 [SEP] 51, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 52, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 53, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 54, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 55, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 56, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 57, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 58, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 59, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 60, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 61, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 62, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 63, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 64, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 65, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 66, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 67, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 68, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 69, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 70, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 71, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 72, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 73, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 74, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 75, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 76, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 77, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 78, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 79, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 80, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 81, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 82, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 83, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 84, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 85, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 86, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 87, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 88, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 89, NorthWall, , , , , , , [SEP] 90, EastWall, , , , , , , [SEP] 91, SouthWall, , , , , , , [SEP] 92, WestWall, , , , , , , ", "output": ["STEP 1: Walk towards the counter next to the fridge | STEP 2: Grab a knife from the counter | STEP 3: Walk with the knife towards the trash can | STEP 4: Slice apple in the trash can | STEP 5: Put knife in the trash can | STEP 6: Pick up an apple piece from the trash can | STEP 7: Walk with the apple piece towards the microwave | STEP 8: Put the apple piece inside the microwave, cook it and take it out | STEP 9: Walk with the apple piece towards the trash can | STEP 10: Put the apple piece inside the trash can | END"]} +{"id": "trial_T20190908_220604_010430-0", "input": "look at the pencil 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, 1.25, 0.900, 0.0, 0, 180, 0, [SEP] 1, Bowl, -0.819, 0.861, -1.183, 0, 0, 0, 42 [SEP] 2, Mug, -0.651, 0.855, -1.356, 0, 0, 0, 42 [SEP] 3, Mug, -2.091, 0.876, 0.665, 0, 0, 0, 52 [SEP] 4, CD, -2.187, 0.039, 2.522, 0, 180, 0, 57 [SEP] 5, CellPhone, -0.549, 0.650, -0.692, 0, 0, 0, 40 [SEP] 6, CellPhone, -2.083, 0.040, 2.522, 0, 180, 0, 57 [SEP] 7, Pen, -0.473, 0.089, -0.852, 0, 0, 0, 41 [SEP] 8, Pen, -2.074, 0.110, 0.721, 0, 0, 0, 55 [SEP] 9, Pencil, -0.483, 0.861, -1.356, 0, 0, 0, 42 [SEP] 10, Pencil, -1.224, 0.882, 0.832, 0, 0, 0, 52 [SEP] 11, Pencil, -1.744, 0.882, 0.665, 0, 0, 0, 52 [SEP] 12, CreditCard, -0.549, 0.083, -0.612, 0, 0, 0, 41 [SEP] 13, KeyChain, -1.918, 0.879, 0.832, 0, 0, 0, 52 [SEP] 14, Book, -0.735, 0.857, -0.836, 0, 0, 0, 42 [SEP] 15, Book, -0.511, 0.648, -0.932, 0, 0, 0, 40 [SEP] 16, Laptop, 1.003, 0.781, 1.076, 0, 0, 0, 33 [SEP] 17, AlarmClock, -1.392, 1.724, 0.448, 0, 0, 0, 46 [SEP] 18, AlarmClock, -1.834, 0.883, 0.489, 0, 0, 0, 52 [SEP] 19, Book, 1.815, 0.783, 0.787, 0, 0, 0, 33 [SEP] 20, AlarmClock, -2.045, 1.350, 0.448, 0, 0, 0, 52 [SEP] 21, BasketBall, 1.976, 0.120, 0.211, 0, 331.076, 0, [SEP] 22, Pen, -1.728, 1.355, 0.407, 0, 0, 0, 44 [SEP] 23, Laptop, 1.409, 0.781, 1.945, 0, 0, 0, 33 [SEP] 24, BaseballBat, 1.953, 0.659, -1.81, 346.388, 0, 0, [SEP] 25, Bowl, -0.827, 0.850, -1.641, 0, 0, 0, 42 [SEP] 26, Pillow, 1.118, 0.867, 2.464, 0, 0, 0, 33 [SEP] 27, KeyChain, -2.187, 0.039, 2.736, 0, 270, 0, 57 [SEP] 28, CreditCard, -1.179, 1.350, 0.366, 0, 0, 0, 49 [SEP] 29, CellPhone, -1.744, 0.879, 0.581, 0, 0, 0, 52 [SEP] 30, CD, -0.567, 0.857, -1.702, 0, 0, 0, 42 [SEP] 31, Pencil, -1.939, 1.353, 0.530, 0, 0, 0, 44 [SEP] 32, Mug, -1.834, 1.721, 0.366, 0, 0, 0, 46 [SEP] 33, Bed, 1.227, -0.002, 1.664, 0, 0, 0, [SEP] 34, LightSwitch, 2.151, 1.233, -0.518, 0, 270, 0, [SEP] 35, GarbageCan, -0.747, 0.014, -0.327, 0, 0, 0, [SEP] 36, Mirror, -1.358, 1.427, 2.855, 0, 0, 0, [SEP] 37, DeskLamp, -2.296, 0.858, 0.750, 0, 0, 0, [SEP] 38, Window, -0.421, 1.534, -1.947, 90, 0, 0, [SEP] 39, Window, 0.579, 1.534, -1.947, 90, 0, 0, [SEP] 40, Drawer, -0.491, 0.739, -0.855, 0, 90, 0, [SEP] 41, Drawer, -0.491, 0.204, -0.855, 0, 90, 0, [SEP] 42, Desk, -0.639, 0.009, -1.187, 0, 90, 0, [SEP] 43, Drawer, -0.491, 0.487, -0.855, 0, 90, 0, [SEP] 44, Shelf, -1.965, 1.514, 0.416, 0, 0, 0, [SEP] 45, Shelf, -1.965, 1.092, 0.416, 0, 0, 0, [SEP] 46, Shelf, -1.312, 1.888, 0.416, 0, 0, 0, [SEP] 47, Shelf, -1.965, 1.888, 0.416, 0, 0, 0, [SEP] 48, Shelf, -1.312, 1.092, 0.416, 0, 0, 0, [SEP] 49, Shelf, -1.312, 1.514, 0.416, 0, 0, 0, [SEP] 50, Blinds, 0.601, 2.161, -1.916, 0, 0, 0, [SEP] 51, Blinds, -0.402, 2.161, -1.916, 0, 0, 0, [SEP] 52, Desk, -1.726, 0.001, 0.575, 0, 0, 0, [SEP] 53, Drawer, -2.058, 0.733, 0.734, 0, 0, 0, [SEP] 54, Drawer, -2.058, 0.482, 0.734, 0, 0, 0, [SEP] 55, Drawer, -2.058, 0.198, 0.735, 0, 0, 0, [SEP] 56, Chair, -0.137, 0.000, -1.587, 0, 315, 0, [SEP] 57, Safe, -2.183, -7.748, 2.576, 0, 180, 0, [SEP] 58, Chair, -1.433, 0.009, 0.780, 357.672, 206.726, 0, [SEP] 59, LaundryHamper, 0.163, 0.003, 2.635, 0, 86.390, 0, [SEP] 60, NorthWall, , , , , , , [SEP] 61, EastWall, , , , , , , [SEP] 62, SouthWall, , , , , , , [SEP] 63, WestWall, , , , , , , ", "output": ["STEP 1: go to the desk | STEP 2: pick up the pencil from the desk | STEP 3: take the pencil to the lamp | STEP 4: turn on the lamp | END"]} +{"id": "trial_T20190908_220604_010430-1", "input": "Examine a pencil 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, 1.25, 0.900, 0.0, 0, 180, 0, [SEP] 1, Bowl, -0.819, 0.861, -1.183, 0, 0, 0, 42 [SEP] 2, Mug, -0.651, 0.855, -1.356, 0, 0, 0, 42 [SEP] 3, Mug, -2.091, 0.876, 0.665, 0, 0, 0, 52 [SEP] 4, CD, -2.187, 0.039, 2.522, 0, 180, 0, 57 [SEP] 5, CellPhone, -0.549, 0.650, -0.692, 0, 0, 0, 40 [SEP] 6, CellPhone, -2.083, 0.040, 2.522, 0, 180, 0, 57 [SEP] 7, Pen, -0.473, 0.089, -0.852, 0, 0, 0, 41 [SEP] 8, Pen, -2.074, 0.110, 0.721, 0, 0, 0, 55 [SEP] 9, Pencil, -0.483, 0.861, -1.356, 0, 0, 0, 42 [SEP] 10, Pencil, -1.224, 0.882, 0.832, 0, 0, 0, 52 [SEP] 11, Pencil, -1.744, 0.882, 0.665, 0, 0, 0, 52 [SEP] 12, CreditCard, -0.549, 0.083, -0.612, 0, 0, 0, 41 [SEP] 13, KeyChain, -1.918, 0.879, 0.832, 0, 0, 0, 52 [SEP] 14, Book, -0.735, 0.857, -0.836, 0, 0, 0, 42 [SEP] 15, Book, -0.511, 0.648, -0.932, 0, 0, 0, 40 [SEP] 16, Laptop, 1.003, 0.781, 1.076, 0, 0, 0, 33 [SEP] 17, AlarmClock, -1.392, 1.724, 0.448, 0, 0, 0, 46 [SEP] 18, AlarmClock, -1.834, 0.883, 0.489, 0, 0, 0, 52 [SEP] 19, Book, 1.815, 0.783, 0.787, 0, 0, 0, 33 [SEP] 20, AlarmClock, -2.045, 1.350, 0.448, 0, 0, 0, 52 [SEP] 21, BasketBall, 1.976, 0.120, 0.211, 0, 331.076, 0, [SEP] 22, Pen, -1.728, 1.355, 0.407, 0, 0, 0, 44 [SEP] 23, Laptop, 1.409, 0.781, 1.945, 0, 0, 0, 33 [SEP] 24, BaseballBat, 1.953, 0.659, -1.81, 346.388, 0, 0, [SEP] 25, Bowl, -0.827, 0.850, -1.641, 0, 0, 0, 42 [SEP] 26, Pillow, 1.118, 0.867, 2.464, 0, 0, 0, 33 [SEP] 27, KeyChain, -2.187, 0.039, 2.736, 0, 270, 0, 57 [SEP] 28, CreditCard, -1.179, 1.350, 0.366, 0, 0, 0, 49 [SEP] 29, CellPhone, -1.744, 0.879, 0.581, 0, 0, 0, 52 [SEP] 30, CD, -0.567, 0.857, -1.702, 0, 0, 0, 42 [SEP] 31, Pencil, -1.939, 1.353, 0.530, 0, 0, 0, 44 [SEP] 32, Mug, -1.834, 1.721, 0.366, 0, 0, 0, 46 [SEP] 33, Bed, 1.227, -0.002, 1.664, 0, 0, 0, [SEP] 34, LightSwitch, 2.151, 1.233, -0.518, 0, 270, 0, [SEP] 35, GarbageCan, -0.747, 0.014, -0.327, 0, 0, 0, [SEP] 36, Mirror, -1.358, 1.427, 2.855, 0, 0, 0, [SEP] 37, DeskLamp, -2.296, 0.858, 0.750, 0, 0, 0, [SEP] 38, Window, -0.421, 1.534, -1.947, 90, 0, 0, [SEP] 39, Window, 0.579, 1.534, -1.947, 90, 0, 0, [SEP] 40, Drawer, -0.491, 0.739, -0.855, 0, 90, 0, [SEP] 41, Drawer, -0.491, 0.204, -0.855, 0, 90, 0, [SEP] 42, Desk, -0.639, 0.009, -1.187, 0, 90, 0, [SEP] 43, Drawer, -0.491, 0.487, -0.855, 0, 90, 0, [SEP] 44, Shelf, -1.965, 1.514, 0.416, 0, 0, 0, [SEP] 45, Shelf, -1.965, 1.092, 0.416, 0, 0, 0, [SEP] 46, Shelf, -1.312, 1.888, 0.416, 0, 0, 0, [SEP] 47, Shelf, -1.965, 1.888, 0.416, 0, 0, 0, [SEP] 48, Shelf, -1.312, 1.092, 0.416, 0, 0, 0, [SEP] 49, Shelf, -1.312, 1.514, 0.416, 0, 0, 0, [SEP] 50, Blinds, 0.601, 2.161, -1.916, 0, 0, 0, [SEP] 51, Blinds, -0.402, 2.161, -1.916, 0, 0, 0, [SEP] 52, Desk, -1.726, 0.001, 0.575, 0, 0, 0, [SEP] 53, Drawer, -2.058, 0.733, 0.734, 0, 0, 0, [SEP] 54, Drawer, -2.058, 0.482, 0.734, 0, 0, 0, [SEP] 55, Drawer, -2.058, 0.198, 0.735, 0, 0, 0, [SEP] 56, Chair, -0.137, 0.000, -1.587, 0, 315, 0, [SEP] 57, Safe, -2.183, -7.748, 2.576, 0, 180, 0, [SEP] 58, Chair, -1.433, 0.009, 0.780, 357.672, 206.726, 0, [SEP] 59, LaundryHamper, 0.163, 0.003, 2.635, 0, 86.390, 0, [SEP] 60, NorthWall, , , , , , , [SEP] 61, EastWall, , , , , , , [SEP] 62, SouthWall, , , , , , , [SEP] 63, WestWall, , , , , , , ", "output": ["STEP 1: Turn right, walk forward to the garbage bin on the floor, then turn right and walk to the bed, then turn left and walk to the desk on the left. | STEP 2: Pick up the pencil from the desk which is under the cell phone. | STEP 3: Walk slightly to the right and turn left to face the lamp on the desk. | STEP 4: Turn on the lamp. | END"]} +{"id": "trial_T20190908_220604_010430-2", "input": "Look at a pencil in lamp light. 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, 180, 0, [SEP] 1, Bowl, -0.819, 0.861, -1.183, 0, 0, 0, 42 [SEP] 2, Mug, -0.651, 0.855, -1.356, 0, 0, 0, 42 [SEP] 3, Mug, -2.091, 0.876, 0.665, 0, 0, 0, 52 [SEP] 4, CD, -2.187, 0.039, 2.522, 0, 180, 0, 57 [SEP] 5, CellPhone, -0.549, 0.650, -0.692, 0, 0, 0, 40 [SEP] 6, CellPhone, -2.083, 0.040, 2.522, 0, 180, 0, 57 [SEP] 7, Pen, -0.473, 0.089, -0.852, 0, 0, 0, 41 [SEP] 8, Pen, -2.074, 0.110, 0.721, 0, 0, 0, 55 [SEP] 9, Pencil, -0.483, 0.861, -1.356, 0, 0, 0, 42 [SEP] 10, Pencil, -1.224, 0.882, 0.832, 0, 0, 0, 52 [SEP] 11, Pencil, -1.744, 0.882, 0.665, 0, 0, 0, 52 [SEP] 12, CreditCard, -0.549, 0.083, -0.612, 0, 0, 0, 41 [SEP] 13, KeyChain, -1.918, 0.879, 0.832, 0, 0, 0, 52 [SEP] 14, Book, -0.735, 0.857, -0.836, 0, 0, 0, 42 [SEP] 15, Book, -0.511, 0.648, -0.932, 0, 0, 0, 40 [SEP] 16, Laptop, 1.003, 0.781, 1.076, 0, 0, 0, 33 [SEP] 17, AlarmClock, -1.392, 1.724, 0.448, 0, 0, 0, 46 [SEP] 18, AlarmClock, -1.834, 0.883, 0.489, 0, 0, 0, 52 [SEP] 19, Book, 1.815, 0.783, 0.787, 0, 0, 0, 33 [SEP] 20, AlarmClock, -2.045, 1.350, 0.448, 0, 0, 0, 52 [SEP] 21, BasketBall, 1.976, 0.120, 0.211, 0, 331.076, 0, [SEP] 22, Pen, -1.728, 1.355, 0.407, 0, 0, 0, 44 [SEP] 23, Laptop, 1.409, 0.781, 1.945, 0, 0, 0, 33 [SEP] 24, BaseballBat, 1.953, 0.659, -1.81, 346.388, 0, 0, [SEP] 25, Bowl, -0.827, 0.850, -1.641, 0, 0, 0, 42 [SEP] 26, Pillow, 1.118, 0.867, 2.464, 0, 0, 0, 33 [SEP] 27, KeyChain, -2.187, 0.039, 2.736, 0, 270, 0, 57 [SEP] 28, CreditCard, -1.179, 1.350, 0.366, 0, 0, 0, 49 [SEP] 29, CellPhone, -1.744, 0.879, 0.581, 0, 0, 0, 52 [SEP] 30, CD, -0.567, 0.857, -1.702, 0, 0, 0, 42 [SEP] 31, Pencil, -1.939, 1.353, 0.530, 0, 0, 0, 44 [SEP] 32, Mug, -1.834, 1.721, 0.366, 0, 0, 0, 46 [SEP] 33, Bed, 1.227, -0.002, 1.664, 0, 0, 0, [SEP] 34, LightSwitch, 2.151, 1.233, -0.518, 0, 270, 0, [SEP] 35, GarbageCan, -0.747, 0.014, -0.327, 0, 0, 0, [SEP] 36, Mirror, -1.358, 1.427, 2.855, 0, 0, 0, [SEP] 37, DeskLamp, -2.296, 0.858, 0.750, 0, 0, 0, [SEP] 38, Window, -0.421, 1.534, -1.947, 90, 0, 0, [SEP] 39, Window, 0.579, 1.534, -1.947, 90, 0, 0, [SEP] 40, Drawer, -0.491, 0.739, -0.855, 0, 90, 0, [SEP] 41, Drawer, -0.491, 0.204, -0.855, 0, 90, 0, [SEP] 42, Desk, -0.639, 0.009, -1.187, 0, 90, 0, [SEP] 43, Drawer, -0.491, 0.487, -0.855, 0, 90, 0, [SEP] 44, Shelf, -1.965, 1.514, 0.416, 0, 0, 0, [SEP] 45, Shelf, -1.965, 1.092, 0.416, 0, 0, 0, [SEP] 46, Shelf, -1.312, 1.888, 0.416, 0, 0, 0, [SEP] 47, Shelf, -1.965, 1.888, 0.416, 0, 0, 0, [SEP] 48, Shelf, -1.312, 1.092, 0.416, 0, 0, 0, [SEP] 49, Shelf, -1.312, 1.514, 0.416, 0, 0, 0, [SEP] 50, Blinds, 0.601, 2.161, -1.916, 0, 0, 0, [SEP] 51, Blinds, -0.402, 2.161, -1.916, 0, 0, 0, [SEP] 52, Desk, -1.726, 0.001, 0.575, 0, 0, 0, [SEP] 53, Drawer, -2.058, 0.733, 0.734, 0, 0, 0, [SEP] 54, Drawer, -2.058, 0.482, 0.734, 0, 0, 0, [SEP] 55, Drawer, -2.058, 0.198, 0.735, 0, 0, 0, [SEP] 56, Chair, -0.137, 0.000, -1.587, 0, 315, 0, [SEP] 57, Safe, -2.183, -7.748, 2.576, 0, 180, 0, [SEP] 58, Chair, -1.433, 0.009, 0.780, 357.672, 206.726, 0, [SEP] 59, LaundryHamper, 0.163, 0.003, 2.635, 0, 86.390, 0, [SEP] 60, NorthWall, , , , , , , [SEP] 61, EastWall, , , , , , , [SEP] 62, SouthWall, , , , , , , [SEP] 63, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and go towards the waste basket, then turn right move forward, then turn left and go towards the wall, then turn left to face the desk. | STEP 2: Pick up the pencil next to the cell phone on the desk. | STEP 3: Move to the right, toward the lamp. | STEP 4: Turn on the lamp. | END"]} +{"id": "trial_T20190909_021100_341887-0", "input": "Place a heated mug 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, -0.25, 0.900, 2.25, 0, 270, 0, [SEP] 1, Pan, 0.905, 1.640, 1.444, 0, 0, 0, 84 [SEP] 2, Statue, -1.355, 0.936, -0.643, 0, 0, 0, 61 [SEP] 3, CreditCard, -1.571, 0.878, 2.746, 0, 0, 0, 88 [SEP] 4, CreditCard, 0.688, 0.908, -0.208, 0, 0, 0, 62 [SEP] 5, CellPhone, -1.467, 0.550, 2.770, 0, 0, 0, 87 [SEP] 6, ButterKnife, 1.114, 0.911, -0.729, 0, 0, 0, 62 [SEP] 7, ButterKnife, 0.944, 0.911, -0.729, 0, 0, 0, 62 [SEP] 8, Glassbottle, -0.477, 0.934, -1.386, 0, 0, 0, 61 [SEP] 9, Glassbottle, -1.104, 0.934, -0.643, 0, 0, 0, 61 [SEP] 10, Fork, 0.875, 0.495, -0.648, 0, 0, 0, 65 [SEP] 11, Fork, 0.875, 0.702, -0.607, 0, 0, 0, 59 [SEP] 12, Spatula, 0.944, 0.926, -0.555, 0, 0, 0, 62 [SEP] 13, Egg, -0.753, 0.814, -0.573, 0, 90, 0, 82 [SEP] 14, Egg, -0.960, 0.216, 0.576, 0, 180, 0, 81 [SEP] 15, Cup, -0.753, 0.773, -0.832, 0, 90, 0, 82 [SEP] 16, Cup, -0.587, 0.777, -0.659, 0, 90, 0, 82 [SEP] 17, Plate, 0.966, 0.866, 1.349, 0, 270, 0, 84 [SEP] 18, Plate, 1.169, 2.211, -1.517, 0, 270, 0, 68 [SEP] 19, Tomato, -1.054, 0.217, 0.543, 0, 180, 0, 81 [SEP] 20, Tomato, -0.865, 0.217, 0.575, 0, 180, 0, 81 [SEP] 21, SaltShaker, -0.477, 0.929, -1.231, 0, 0, 0, 61 [SEP] 22, PepperShaker, 1.148, 1.662, -0.465, 0, 270, 0, 70 [SEP] 23, PepperShaker, 0.913, 0.117, 0.398, 0, 270, 0, 62 [SEP] 24, Lettuce, 0.966, 0.940, 1.063, 0, 270, 0, 84 [SEP] 25, Mug, 0.960, 0.103, -1.892, 0, 0, 0, 66 [SEP] 26, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 80 [SEP] 27, Statue, -1.355, 0.936, -0.380, 0, 0, 0, 61 [SEP] 28, Glassbottle, 1.029, 0.912, -0.729, 0, 0, 0, 62 [SEP] 29, Bread, -0.779, 0.996, 0.21, 0, 258.641, 0, 61 [SEP] 30, CreditCard, -1.985, 0.551, 2.563, 0, 0, 0, 87 [SEP] 31, CellPhone, -0.846, 0.930, -1.308, 0, 0, 0, 61 [SEP] 32, Potato, 0.905, 1.165, 1.063, 0, 270, 0, 84 [SEP] 33, Knife, -0.550, 0.957, 0.009, 0, 0, 0, 61 [SEP] 34, Fork, -0.753, 0.781, -0.745, 0, 180, 0, 82 [SEP] 35, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 55 [SEP] 36, Lettuce, 0.773, 0.988, -0.381, 0, 0, 0, 62 [SEP] 37, Plate, 1.029, 0.914, -0.381, 0, 0, 0, 62 [SEP] 38, Apple, 1.087, 1.452, 1.540, 0, 270, 0, 84 [SEP] 39, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 57 [SEP] 40, Spatula, 1.029, 0.926, 0.139, 0, 270, 0, 62 [SEP] 41, PaperTowelRoll, -1.469, 0.986, 2.665, 0, 0, 0, 88 [SEP] 42, Tomato, 1.087, 1.683, 0.967, 0, 270, 0, 84 [SEP] 43, Egg, -0.698, 0.971, -1.618, 0, 0, 0, 61 [SEP] 44, SaltShaker, 1.009, 1.662, -2.234, 0, 270, 0, 60 [SEP] 45, PepperShaker, 0.811, 0.104, -2.052, 0, 0, 0, 66 [SEP] 46, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 87 [SEP] 47, ButterKnife, 0.833, 0.153, -0.650, 0, 270, 0, 64 [SEP] 48, SoapBottle, 1.212, 2.208, -1.082, 0, 270, 0, 68 [SEP] 49, Vase, 0.773, 0.912, -0.034, 0, 0, 0, 62 [SEP] 50, Bowl, 1.055, 1.669, 0.153, 0, 270, 0, 69 [SEP] 51, DishSponge, 1.039, 2.207, -1.191, 0, 270, 0, 68 [SEP] 52, Spoon, 0.834, 0.704, -0.690, 0, 270, 0, 59 [SEP] 53, Cup, 1.240, 1.663, -1.893, 0, 270, 0, 60 [SEP] 54, Mug, 1.148, 1.661, -2.234, 0, 270, 0, 60 [SEP] 55, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 56, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 57, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 58, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 59, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 60, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 61, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 62, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 63, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 64, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 65, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 66, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 67, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 68, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 69, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 70, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 71, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 72, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 73, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 74, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 75, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 76, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 77, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 78, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 79, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 80, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 81, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 82, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 83, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 84, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 85, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 86, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 87, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 88, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 89, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 90, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 91, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 92, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 93, NorthWall, , , , , , , [SEP] 94, EastWall, , , , , , , [SEP] 95, SouthWall, , , , , , , [SEP] 96, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and walk to the end of the counter on the left, then face the coffee maker. | STEP 2: Take the mug out of the counter above the coffee maker. | STEP 3: Take a step left. | STEP 4: Heat the mug in the microwave. | STEP 5: Take a step left. | STEP 6: Place the mug on the cabinet to the left of the microwave, to the right of the salt shaker. | END"]} +{"id": "trial_T20190909_021100_341887-1", "input": "Heat a cup 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, -0.25, 0.900, 2.25, 0, 270, 0, [SEP] 1, Pan, 0.905, 1.640, 1.444, 0, 0, 0, 84 [SEP] 2, Statue, -1.355, 0.936, -0.643, 0, 0, 0, 61 [SEP] 3, CreditCard, -1.571, 0.878, 2.746, 0, 0, 0, 88 [SEP] 4, CreditCard, 0.688, 0.908, -0.208, 0, 0, 0, 62 [SEP] 5, CellPhone, -1.467, 0.550, 2.770, 0, 0, 0, 87 [SEP] 6, ButterKnife, 1.114, 0.911, -0.729, 0, 0, 0, 62 [SEP] 7, ButterKnife, 0.944, 0.911, -0.729, 0, 0, 0, 62 [SEP] 8, Glassbottle, -0.477, 0.934, -1.386, 0, 0, 0, 61 [SEP] 9, Glassbottle, -1.104, 0.934, -0.643, 0, 0, 0, 61 [SEP] 10, Fork, 0.875, 0.495, -0.648, 0, 0, 0, 65 [SEP] 11, Fork, 0.875, 0.702, -0.607, 0, 0, 0, 59 [SEP] 12, Spatula, 0.944, 0.926, -0.555, 0, 0, 0, 62 [SEP] 13, Egg, -0.753, 0.814, -0.573, 0, 90, 0, 82 [SEP] 14, Egg, -0.960, 0.216, 0.576, 0, 180, 0, 81 [SEP] 15, Cup, -0.753, 0.773, -0.832, 0, 90, 0, 82 [SEP] 16, Cup, -0.587, 0.777, -0.659, 0, 90, 0, 82 [SEP] 17, Plate, 0.966, 0.866, 1.349, 0, 270, 0, 84 [SEP] 18, Plate, 1.169, 2.211, -1.517, 0, 270, 0, 68 [SEP] 19, Tomato, -1.054, 0.217, 0.543, 0, 180, 0, 81 [SEP] 20, Tomato, -0.865, 0.217, 0.575, 0, 180, 0, 81 [SEP] 21, SaltShaker, -0.477, 0.929, -1.231, 0, 0, 0, 61 [SEP] 22, PepperShaker, 1.148, 1.662, -0.465, 0, 270, 0, 70 [SEP] 23, PepperShaker, 0.913, 0.117, 0.398, 0, 270, 0, 62 [SEP] 24, Lettuce, 0.966, 0.940, 1.063, 0, 270, 0, 84 [SEP] 25, Mug, 0.960, 0.103, -1.892, 0, 0, 0, 66 [SEP] 26, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 80 [SEP] 27, Statue, -1.355, 0.936, -0.380, 0, 0, 0, 61 [SEP] 28, Glassbottle, 1.029, 0.912, -0.729, 0, 0, 0, 62 [SEP] 29, Bread, -0.779, 0.996, 0.21, 0, 258.641, 0, 61 [SEP] 30, CreditCard, -1.985, 0.551, 2.563, 0, 0, 0, 87 [SEP] 31, CellPhone, -0.846, 0.930, -1.308, 0, 0, 0, 61 [SEP] 32, Potato, 0.905, 1.165, 1.063, 0, 270, 0, 84 [SEP] 33, Knife, -0.550, 0.957, 0.009, 0, 0, 0, 61 [SEP] 34, Fork, -0.753, 0.781, -0.745, 0, 180, 0, 82 [SEP] 35, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 55 [SEP] 36, Lettuce, 0.773, 0.988, -0.381, 0, 0, 0, 62 [SEP] 37, Plate, 1.029, 0.914, -0.381, 0, 0, 0, 62 [SEP] 38, Apple, 1.087, 1.452, 1.540, 0, 270, 0, 84 [SEP] 39, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 57 [SEP] 40, Spatula, 1.029, 0.926, 0.139, 0, 270, 0, 62 [SEP] 41, PaperTowelRoll, -1.469, 0.986, 2.665, 0, 0, 0, 88 [SEP] 42, Tomato, 1.087, 1.683, 0.967, 0, 270, 0, 84 [SEP] 43, Egg, -0.698, 0.971, -1.618, 0, 0, 0, 61 [SEP] 44, SaltShaker, 1.009, 1.662, -2.234, 0, 270, 0, 60 [SEP] 45, PepperShaker, 0.811, 0.104, -2.052, 0, 0, 0, 66 [SEP] 46, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 87 [SEP] 47, ButterKnife, 0.833, 0.153, -0.650, 0, 270, 0, 64 [SEP] 48, SoapBottle, 1.212, 2.208, -1.082, 0, 270, 0, 68 [SEP] 49, Vase, 0.773, 0.912, -0.034, 0, 0, 0, 62 [SEP] 50, Bowl, 1.055, 1.669, 0.153, 0, 270, 0, 69 [SEP] 51, DishSponge, 1.039, 2.207, -1.191, 0, 270, 0, 68 [SEP] 52, Spoon, 0.834, 0.704, -0.690, 0, 270, 0, 59 [SEP] 53, Cup, 1.240, 1.663, -1.893, 0, 270, 0, 60 [SEP] 54, Mug, 1.148, 1.661, -2.234, 0, 270, 0, 60 [SEP] 55, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 56, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 57, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 58, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 59, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 60, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 61, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 62, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 63, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 64, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 65, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 66, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 67, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 68, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 69, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 70, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 71, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 72, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 73, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 74, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 75, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 76, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 77, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 78, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 79, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 80, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 81, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 82, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 83, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 84, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 85, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 86, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 87, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 88, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 89, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 90, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 91, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 92, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 93, NorthWall, , , , , , , [SEP] 94, EastWall, , , , , , , [SEP] 95, SouthWall, , , , , , , [SEP] 96, WestWall, , , , , , , ", "output": ["STEP 1: Turn to the left, and move through the kitchen. Face the coffee machine on the counter. | STEP 2: Open the top cabinet and take out the cup. Close the cabinet. | STEP 3: Hold the cup and take a step to the left, look up to the microwave. | STEP 4: Open the microwave and place the cup inside. Shut the door and then open it. Take out the cup. | STEP 5: Hold the cup and look down, then take a step to the left and look up to the cabinet. | STEP 6: Open the cabinet and place the cup inside. | END"]} +{"id": "trial_T20190909_021100_341887-2", "input": "place a microwaved coffee cup inside of 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, -0.25, 0.900, 2.25, 0, 270, 0, [SEP] 1, Pan, 0.905, 1.640, 1.444, 0, 0, 0, 84 [SEP] 2, Statue, -1.355, 0.936, -0.643, 0, 0, 0, 61 [SEP] 3, CreditCard, -1.571, 0.878, 2.746, 0, 0, 0, 88 [SEP] 4, CreditCard, 0.688, 0.908, -0.208, 0, 0, 0, 62 [SEP] 5, CellPhone, -1.467, 0.550, 2.770, 0, 0, 0, 87 [SEP] 6, ButterKnife, 1.114, 0.911, -0.729, 0, 0, 0, 62 [SEP] 7, ButterKnife, 0.944, 0.911, -0.729, 0, 0, 0, 62 [SEP] 8, Glassbottle, -0.477, 0.934, -1.386, 0, 0, 0, 61 [SEP] 9, Glassbottle, -1.104, 0.934, -0.643, 0, 0, 0, 61 [SEP] 10, Fork, 0.875, 0.495, -0.648, 0, 0, 0, 65 [SEP] 11, Fork, 0.875, 0.702, -0.607, 0, 0, 0, 59 [SEP] 12, Spatula, 0.944, 0.926, -0.555, 0, 0, 0, 62 [SEP] 13, Egg, -0.753, 0.814, -0.573, 0, 90, 0, 82 [SEP] 14, Egg, -0.960, 0.216, 0.576, 0, 180, 0, 81 [SEP] 15, Cup, -0.753, 0.773, -0.832, 0, 90, 0, 82 [SEP] 16, Cup, -0.587, 0.777, -0.659, 0, 90, 0, 82 [SEP] 17, Plate, 0.966, 0.866, 1.349, 0, 270, 0, 84 [SEP] 18, Plate, 1.169, 2.211, -1.517, 0, 270, 0, 68 [SEP] 19, Tomato, -1.054, 0.217, 0.543, 0, 180, 0, 81 [SEP] 20, Tomato, -0.865, 0.217, 0.575, 0, 180, 0, 81 [SEP] 21, SaltShaker, -0.477, 0.929, -1.231, 0, 0, 0, 61 [SEP] 22, PepperShaker, 1.148, 1.662, -0.465, 0, 270, 0, 70 [SEP] 23, PepperShaker, 0.913, 0.117, 0.398, 0, 270, 0, 62 [SEP] 24, Lettuce, 0.966, 0.940, 1.063, 0, 270, 0, 84 [SEP] 25, Mug, 0.960, 0.103, -1.892, 0, 0, 0, 66 [SEP] 26, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 80 [SEP] 27, Statue, -1.355, 0.936, -0.380, 0, 0, 0, 61 [SEP] 28, Glassbottle, 1.029, 0.912, -0.729, 0, 0, 0, 62 [SEP] 29, Bread, -0.779, 0.996, 0.21, 0, 258.641, 0, 61 [SEP] 30, CreditCard, -1.985, 0.551, 2.563, 0, 0, 0, 87 [SEP] 31, CellPhone, -0.846, 0.930, -1.308, 0, 0, 0, 61 [SEP] 32, Potato, 0.905, 1.165, 1.063, 0, 270, 0, 84 [SEP] 33, Knife, -0.550, 0.957, 0.009, 0, 0, 0, 61 [SEP] 34, Fork, -0.753, 0.781, -0.745, 0, 180, 0, 82 [SEP] 35, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 55 [SEP] 36, Lettuce, 0.773, 0.988, -0.381, 0, 0, 0, 62 [SEP] 37, Plate, 1.029, 0.914, -0.381, 0, 0, 0, 62 [SEP] 38, Apple, 1.087, 1.452, 1.540, 0, 270, 0, 84 [SEP] 39, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 57 [SEP] 40, Spatula, 1.029, 0.926, 0.139, 0, 270, 0, 62 [SEP] 41, PaperTowelRoll, -1.469, 0.986, 2.665, 0, 0, 0, 88 [SEP] 42, Tomato, 1.087, 1.683, 0.967, 0, 270, 0, 84 [SEP] 43, Egg, -0.698, 0.971, -1.618, 0, 0, 0, 61 [SEP] 44, SaltShaker, 1.009, 1.662, -2.234, 0, 270, 0, 60 [SEP] 45, PepperShaker, 0.811, 0.104, -2.052, 0, 0, 0, 66 [SEP] 46, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 87 [SEP] 47, ButterKnife, 0.833, 0.153, -0.650, 0, 270, 0, 64 [SEP] 48, SoapBottle, 1.212, 2.208, -1.082, 0, 270, 0, 68 [SEP] 49, Vase, 0.773, 0.912, -0.034, 0, 0, 0, 62 [SEP] 50, Bowl, 1.055, 1.669, 0.153, 0, 270, 0, 69 [SEP] 51, DishSponge, 1.039, 2.207, -1.191, 0, 270, 0, 68 [SEP] 52, Spoon, 0.834, 0.704, -0.690, 0, 270, 0, 59 [SEP] 53, Cup, 1.240, 1.663, -1.893, 0, 270, 0, 60 [SEP] 54, Mug, 1.148, 1.661, -2.234, 0, 270, 0, 60 [SEP] 55, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 56, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 57, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 58, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 59, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 60, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 61, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 62, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 63, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 64, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 65, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 66, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 67, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 68, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 69, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 70, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 71, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 72, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 73, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 74, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 75, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 76, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 77, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 78, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 79, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 80, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 81, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 82, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 83, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 84, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 85, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 86, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 87, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 88, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 89, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 90, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 91, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 92, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 93, NorthWall, , , , , , , [SEP] 94, EastWall, , , , , , , [SEP] 95, SouthWall, , , , , , , [SEP] 96, WestWall, , , , , , , ", "output": ["STEP 1: turn left and walk over to the end of the room where the coffee maker is on the left | STEP 2: grab a coffee mug out of the cabinet to the top right of the coffee maker | STEP 3: move to the left a bit to face the microwave above the stove | STEP 4: place the coffee much inside of the microwave, microwave it for a bit and then take it back out | STEP 5: turn left and walk over to the kitchen counter to the left of the stove on your right, then look up at the cabinets above the kitchen counter | STEP 6: place the coffee mug inside the cupboard cabinet above the kitchen counter top | END"]} +{"id": "trial_T20190908_020029_636862-0", "input": "Look at a book 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, 1.25, 0.900, -0.75, 0, 180, 0, [SEP] 1, Bowl, -1.744, 0.882, 0.581, 0, 0, 0, 48 [SEP] 2, Bowl, -1.834, 1.727, 0.448, 0, 0, 0, 48 [SEP] 3, Mug, -0.819, 0.855, -1.010, 0, 0, 0, 38 [SEP] 4, CD, -0.785, 0.202, -0.338, 0, 0, 0, 31 [SEP] 5, CD, -2.091, 0.878, 0.581, 0, 0, 0, 48 [SEP] 6, CellPhone, 0.598, 0.784, 1.655, 0, 0, 0, 29 [SEP] 7, CellPhone, -1.571, 0.879, 0.665, 0, 0, 0, 48 [SEP] 8, Pencil, -0.819, 0.861, -1.183, 0, 0, 0, 38 [SEP] 9, Pencil, -2.091, 0.882, 0.749, 0, 0, 0, 48 [SEP] 10, KeyChain, -2.187, 0.039, 2.469, 0, 180, 0, 53 [SEP] 11, Pillow, 1.612, 0.918, 1.366, 0, 0, 0, 29 [SEP] 12, Laptop, 1.612, 0.781, 2.234, 0, 0, 0, 29 [SEP] 13, AlarmClock, -1.339, 1.724, 0.489, 0, 0, 0, 42 [SEP] 14, AlarmClock, -0.483, 0.858, -1.183, 0, 0, 0, 38 [SEP] 15, Book, 1.409, 0.783, 1.076, 0, 0, 0, 29 [SEP] 16, AlarmClock, -2.265, 0.879, 0.581, 0, 0, 0, 48 [SEP] 17, BasketBall, 1.976, 0.120, 0.211, 0, 331.076, 0, [SEP] 18, Pen, -1.918, 0.884, 0.749, 0, 0, 0, 48 [SEP] 19, Laptop, 1.206, 0.781, 1.655, 0, 0, 0, 29 [SEP] 20, BaseballBat, 1.953, 0.659, -1.81, 346.388, 0, 0, [SEP] 21, Bowl, -0.827, 0.850, -1.641, 0, 0, 0, 38 [SEP] 22, Pillow, 1.118, 0.867, 2.464, 0, 0, 0, 29 [SEP] 23, KeyChain, -2.292, 0.039, 2.629, 0, 180, 0, 53 [SEP] 24, CreditCard, -2.045, 1.349, 0.489, 0, 0, 0, 40 [SEP] 25, CellPhone, -1.994, 0.387, 0.683, 0, 0, 0, 50 [SEP] 26, CD, -0.651, 0.857, -0.836, 0, 0, 0, 38 [SEP] 27, Pencil, -2.045, 1.353, 0.407, 0, 0, 0, 40 [SEP] 28, Mug, -1.406, 0.871, 0.684, 0, 156.757, 0, 48 [SEP] 29, Bed, 1.227, -0.002, 1.664, 0, 0, 0, [SEP] 30, LightSwitch, 2.151, 1.233, -0.518, 0, 270, 0, [SEP] 31, GarbageCan, -0.747, 0.014, -0.327, 0, 0, 0, [SEP] 32, Mirror, -1.358, 1.427, 2.855, 0, 0, 0, [SEP] 33, DeskLamp, -2.296, 0.858, 0.750, 0, 0, 0, [SEP] 34, Window, -0.421, 1.534, -1.947, 90, 0, 0, [SEP] 35, Window, 0.579, 1.534, -1.947, 90, 0, 0, [SEP] 36, Drawer, -0.491, 0.739, -0.855, 0, 90, 0, [SEP] 37, Drawer, -0.491, 0.204, -0.855, 0, 90, 0, [SEP] 38, Desk, -0.639, 0.009, -1.187, 0, 90, 0, [SEP] 39, Drawer, -0.491, 0.487, -0.855, 0, 90, 0, [SEP] 40, Shelf, -1.965, 1.514, 0.416, 0, 0, 0, [SEP] 41, Shelf, -1.965, 1.092, 0.416, 0, 0, 0, [SEP] 42, Shelf, -1.312, 1.888, 0.416, 0, 0, 0, [SEP] 43, Shelf, -1.965, 1.888, 0.416, 0, 0, 0, [SEP] 44, Shelf, -1.312, 1.092, 0.416, 0, 0, 0, [SEP] 45, Shelf, -1.312, 1.514, 0.416, 0, 0, 0, [SEP] 46, Blinds, 0.601, 2.161, -1.916, 0, 0, 0, [SEP] 47, Blinds, -0.402, 2.161, -1.916, 0, 0, 0, [SEP] 48, Desk, -1.726, 0.001, 0.575, 0, 0, 0, [SEP] 49, Drawer, -2.058, 0.733, 0.734, 0, 0, 0, [SEP] 50, Drawer, -2.058, 0.482, 0.734, 0, 0, 0, [SEP] 51, Drawer, -2.058, 0.198, 0.735, 0, 0, 0, [SEP] 52, Chair, -0.137, 0.000, -1.587, 0, 315, 0, [SEP] 53, Safe, -2.183, -7.748, 2.576, 0, 180, 0, [SEP] 54, Chair, -1.433, 0.009, 0.780, 357.672, 206.726, 0, [SEP] 55, LaundryHamper, 0.163, 0.003, 2.635, 0, 86.390, 0, [SEP] 56, NorthWall, , , , , , , [SEP] 57, EastWall, , , , , , , [SEP] 58, SouthWall, , , , , , , [SEP] 59, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and walk to the bed. | STEP 2: Pick up the \"What is math?\" book on the bed. | STEP 3: Walk around the left side of the bed and veer left to the desk. | STEP 4: Turn on the lamp on the desk. | END"]} +{"id": "trial_T20190908_020029_636862-1", "input": "Use the light from the lamp to look at the book. 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, Bowl, -1.744, 0.882, 0.581, 0, 0, 0, 48 [SEP] 2, Bowl, -1.834, 1.727, 0.448, 0, 0, 0, 48 [SEP] 3, Mug, -0.819, 0.855, -1.010, 0, 0, 0, 38 [SEP] 4, CD, -0.785, 0.202, -0.338, 0, 0, 0, 31 [SEP] 5, CD, -2.091, 0.878, 0.581, 0, 0, 0, 48 [SEP] 6, CellPhone, 0.598, 0.784, 1.655, 0, 0, 0, 29 [SEP] 7, CellPhone, -1.571, 0.879, 0.665, 0, 0, 0, 48 [SEP] 8, Pencil, -0.819, 0.861, -1.183, 0, 0, 0, 38 [SEP] 9, Pencil, -2.091, 0.882, 0.749, 0, 0, 0, 48 [SEP] 10, KeyChain, -2.187, 0.039, 2.469, 0, 180, 0, 53 [SEP] 11, Pillow, 1.612, 0.918, 1.366, 0, 0, 0, 29 [SEP] 12, Laptop, 1.612, 0.781, 2.234, 0, 0, 0, 29 [SEP] 13, AlarmClock, -1.339, 1.724, 0.489, 0, 0, 0, 42 [SEP] 14, AlarmClock, -0.483, 0.858, -1.183, 0, 0, 0, 38 [SEP] 15, Book, 1.409, 0.783, 1.076, 0, 0, 0, 29 [SEP] 16, AlarmClock, -2.265, 0.879, 0.581, 0, 0, 0, 48 [SEP] 17, BasketBall, 1.976, 0.120, 0.211, 0, 331.076, 0, [SEP] 18, Pen, -1.918, 0.884, 0.749, 0, 0, 0, 48 [SEP] 19, Laptop, 1.206, 0.781, 1.655, 0, 0, 0, 29 [SEP] 20, BaseballBat, 1.953, 0.659, -1.81, 346.388, 0, 0, [SEP] 21, Bowl, -0.827, 0.850, -1.641, 0, 0, 0, 38 [SEP] 22, Pillow, 1.118, 0.867, 2.464, 0, 0, 0, 29 [SEP] 23, KeyChain, -2.292, 0.039, 2.629, 0, 180, 0, 53 [SEP] 24, CreditCard, -2.045, 1.349, 0.489, 0, 0, 0, 40 [SEP] 25, CellPhone, -1.994, 0.387, 0.683, 0, 0, 0, 50 [SEP] 26, CD, -0.651, 0.857, -0.836, 0, 0, 0, 38 [SEP] 27, Pencil, -2.045, 1.353, 0.407, 0, 0, 0, 40 [SEP] 28, Mug, -1.406, 0.871, 0.684, 0, 156.757, 0, 48 [SEP] 29, Bed, 1.227, -0.002, 1.664, 0, 0, 0, [SEP] 30, LightSwitch, 2.151, 1.233, -0.518, 0, 270, 0, [SEP] 31, GarbageCan, -0.747, 0.014, -0.327, 0, 0, 0, [SEP] 32, Mirror, -1.358, 1.427, 2.855, 0, 0, 0, [SEP] 33, DeskLamp, -2.296, 0.858, 0.750, 0, 0, 0, [SEP] 34, Window, -0.421, 1.534, -1.947, 90, 0, 0, [SEP] 35, Window, 0.579, 1.534, -1.947, 90, 0, 0, [SEP] 36, Drawer, -0.491, 0.739, -0.855, 0, 90, 0, [SEP] 37, Drawer, -0.491, 0.204, -0.855, 0, 90, 0, [SEP] 38, Desk, -0.639, 0.009, -1.187, 0, 90, 0, [SEP] 39, Drawer, -0.491, 0.487, -0.855, 0, 90, 0, [SEP] 40, Shelf, -1.965, 1.514, 0.416, 0, 0, 0, [SEP] 41, Shelf, -1.965, 1.092, 0.416, 0, 0, 0, [SEP] 42, Shelf, -1.312, 1.888, 0.416, 0, 0, 0, [SEP] 43, Shelf, -1.965, 1.888, 0.416, 0, 0, 0, [SEP] 44, Shelf, -1.312, 1.092, 0.416, 0, 0, 0, [SEP] 45, Shelf, -1.312, 1.514, 0.416, 0, 0, 0, [SEP] 46, Blinds, 0.601, 2.161, -1.916, 0, 0, 0, [SEP] 47, Blinds, -0.402, 2.161, -1.916, 0, 0, 0, [SEP] 48, Desk, -1.726, 0.001, 0.575, 0, 0, 0, [SEP] 49, Drawer, -2.058, 0.733, 0.734, 0, 0, 0, [SEP] 50, Drawer, -2.058, 0.482, 0.734, 0, 0, 0, [SEP] 51, Drawer, -2.058, 0.198, 0.735, 0, 0, 0, [SEP] 52, Chair, -0.137, 0.000, -1.587, 0, 315, 0, [SEP] 53, Safe, -2.183, -7.748, 2.576, 0, 180, 0, [SEP] 54, Chair, -1.433, 0.009, 0.780, 357.672, 206.726, 0, [SEP] 55, LaundryHamper, 0.163, 0.003, 2.635, 0, 86.390, 0, [SEP] 56, NorthWall, , , , , , , [SEP] 57, EastWall, , , , , , , [SEP] 58, SouthWall, , , , , , , [SEP] 59, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and go to the foot of the bed. | STEP 2: Pick up the book from the bed. | STEP 3: Turn left and go to the desk in the far corner of the room. | STEP 4: Turn on the lamp. | END"]} +{"id": "trial_T20190908_020029_636862-2", "input": "Take the math book 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, -0.75, 0, 180, 0, [SEP] 1, Bowl, -1.744, 0.882, 0.581, 0, 0, 0, 48 [SEP] 2, Bowl, -1.834, 1.727, 0.448, 0, 0, 0, 48 [SEP] 3, Mug, -0.819, 0.855, -1.010, 0, 0, 0, 38 [SEP] 4, CD, -0.785, 0.202, -0.338, 0, 0, 0, 31 [SEP] 5, CD, -2.091, 0.878, 0.581, 0, 0, 0, 48 [SEP] 6, CellPhone, 0.598, 0.784, 1.655, 0, 0, 0, 29 [SEP] 7, CellPhone, -1.571, 0.879, 0.665, 0, 0, 0, 48 [SEP] 8, Pencil, -0.819, 0.861, -1.183, 0, 0, 0, 38 [SEP] 9, Pencil, -2.091, 0.882, 0.749, 0, 0, 0, 48 [SEP] 10, KeyChain, -2.187, 0.039, 2.469, 0, 180, 0, 53 [SEP] 11, Pillow, 1.612, 0.918, 1.366, 0, 0, 0, 29 [SEP] 12, Laptop, 1.612, 0.781, 2.234, 0, 0, 0, 29 [SEP] 13, AlarmClock, -1.339, 1.724, 0.489, 0, 0, 0, 42 [SEP] 14, AlarmClock, -0.483, 0.858, -1.183, 0, 0, 0, 38 [SEP] 15, Book, 1.409, 0.783, 1.076, 0, 0, 0, 29 [SEP] 16, AlarmClock, -2.265, 0.879, 0.581, 0, 0, 0, 48 [SEP] 17, BasketBall, 1.976, 0.120, 0.211, 0, 331.076, 0, [SEP] 18, Pen, -1.918, 0.884, 0.749, 0, 0, 0, 48 [SEP] 19, Laptop, 1.206, 0.781, 1.655, 0, 0, 0, 29 [SEP] 20, BaseballBat, 1.953, 0.659, -1.81, 346.388, 0, 0, [SEP] 21, Bowl, -0.827, 0.850, -1.641, 0, 0, 0, 38 [SEP] 22, Pillow, 1.118, 0.867, 2.464, 0, 0, 0, 29 [SEP] 23, KeyChain, -2.292, 0.039, 2.629, 0, 180, 0, 53 [SEP] 24, CreditCard, -2.045, 1.349, 0.489, 0, 0, 0, 40 [SEP] 25, CellPhone, -1.994, 0.387, 0.683, 0, 0, 0, 50 [SEP] 26, CD, -0.651, 0.857, -0.836, 0, 0, 0, 38 [SEP] 27, Pencil, -2.045, 1.353, 0.407, 0, 0, 0, 40 [SEP] 28, Mug, -1.406, 0.871, 0.684, 0, 156.757, 0, 48 [SEP] 29, Bed, 1.227, -0.002, 1.664, 0, 0, 0, [SEP] 30, LightSwitch, 2.151, 1.233, -0.518, 0, 270, 0, [SEP] 31, GarbageCan, -0.747, 0.014, -0.327, 0, 0, 0, [SEP] 32, Mirror, -1.358, 1.427, 2.855, 0, 0, 0, [SEP] 33, DeskLamp, -2.296, 0.858, 0.750, 0, 0, 0, [SEP] 34, Window, -0.421, 1.534, -1.947, 90, 0, 0, [SEP] 35, Window, 0.579, 1.534, -1.947, 90, 0, 0, [SEP] 36, Drawer, -0.491, 0.739, -0.855, 0, 90, 0, [SEP] 37, Drawer, -0.491, 0.204, -0.855, 0, 90, 0, [SEP] 38, Desk, -0.639, 0.009, -1.187, 0, 90, 0, [SEP] 39, Drawer, -0.491, 0.487, -0.855, 0, 90, 0, [SEP] 40, Shelf, -1.965, 1.514, 0.416, 0, 0, 0, [SEP] 41, Shelf, -1.965, 1.092, 0.416, 0, 0, 0, [SEP] 42, Shelf, -1.312, 1.888, 0.416, 0, 0, 0, [SEP] 43, Shelf, -1.965, 1.888, 0.416, 0, 0, 0, [SEP] 44, Shelf, -1.312, 1.092, 0.416, 0, 0, 0, [SEP] 45, Shelf, -1.312, 1.514, 0.416, 0, 0, 0, [SEP] 46, Blinds, 0.601, 2.161, -1.916, 0, 0, 0, [SEP] 47, Blinds, -0.402, 2.161, -1.916, 0, 0, 0, [SEP] 48, Desk, -1.726, 0.001, 0.575, 0, 0, 0, [SEP] 49, Drawer, -2.058, 0.733, 0.734, 0, 0, 0, [SEP] 50, Drawer, -2.058, 0.482, 0.734, 0, 0, 0, [SEP] 51, Drawer, -2.058, 0.198, 0.735, 0, 0, 0, [SEP] 52, Chair, -0.137, 0.000, -1.587, 0, 315, 0, [SEP] 53, Safe, -2.183, -7.748, 2.576, 0, 180, 0, [SEP] 54, Chair, -1.433, 0.009, 0.780, 357.672, 206.726, 0, [SEP] 55, LaundryHamper, 0.163, 0.003, 2.635, 0, 86.390, 0, [SEP] 56, NorthWall, , , , , , , [SEP] 57, EastWall, , , , , , , [SEP] 58, SouthWall, , , , , , , [SEP] 59, WestWall, , , , , , , ", "output": ["STEP 1: Turn and walk to the bed | STEP 2: Grab the book that is on the bed | STEP 3: carry the book over to the night stand | STEP 4: Hold the book in front of the night stand | END"]} +{"id": "trial_T20190906_191429_743650-0", "input": "Place the salt shaker in the cabinet 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, -3.5, 0.900, 1.75, 0, 90, 0, [SEP] 1, Pan, 1.026, 0.860, 1.158, 0, 90, 0, 79 [SEP] 2, CreditCard, 0.773, 0.908, -0.729, 0, 0, 0, 57 [SEP] 3, CreditCard, 0.773, 0.908, -0.381, 0, 0, 0, 57 [SEP] 4, Glassbottle, 1.082, 2.208, -1.408, 0, 270, 0, 63 [SEP] 5, Glassbottle, -1.363, 0.554, 2.615, 0, 0, 0, 82 [SEP] 6, Fork, 0.944, 0.911, -0.208, 0, 0, 0, 57 [SEP] 7, Spoon, 0.875, 0.496, -0.690, 0, 270, 0, 60 [SEP] 8, Spoon, -1.355, 0.934, -0.380, 0, 0, 0, 56 [SEP] 9, Spatula, 0.754, 0.717, -0.690, 0, 180, 0, 54 [SEP] 10, Spatula, -0.642, 0.791, -0.745, 0, 0, 0, 77 [SEP] 11, Knife, 0.773, 0.934, -0.034, 0, 90, 0, 57 [SEP] 12, Egg, -1.101, 0.214, 0.576, 0, 180, 0, 76 [SEP] 13, Plate, -0.846, 0.936, -0.067, 0, 0, 0, 56 [SEP] 14, Plate, 1.194, 1.669, -0.593, 0, 270, 0, 65 [SEP] 15, Tomato, 0.844, 1.442, 1.063, 0, 270, 0, 79 [SEP] 16, SoapBottle, -0.912, 0.179, 0.543, 0, 180, 0, 76 [SEP] 17, SoapBottle, 1.147, 1.666, 0.089, 0, 270, 0, 64 [SEP] 18, Bowl, 0.844, 1.646, 1.349, 0, 270, 0, 79 [SEP] 19, Bread, 1.114, 0.992, 0.139, 0, 0, 0, 57 [SEP] 20, Apple, 0.905, 1.693, 1.540, 0, 270, 0, 79 [SEP] 21, Apple, -0.846, 0.983, -1.386, 0, 0, 0, 56 [SEP] 22, Statue, -0.550, 0.936, 0.239, 0, 0, 0, 56 [SEP] 23, Glassbottle, 1.239, 1.667, -0.038, 0, 270, 0, 64 [SEP] 24, Bread, 0.773, 0.992, -0.381, 0, 0, 0, 57 [SEP] 25, CreditCard, 0.915, 0.699, -0.690, 0, 270, 0, 54 [SEP] 26, CellPhone, -1.167, 0.930, -0.905, 0, 0, 0, 56 [SEP] 27, Potato, -0.808, 0.811, -0.400, 0, 90, 0, 77 [SEP] 28, Knife, -0.624, 0.957, -1.463, 0, 0, 0, 56 [SEP] 29, Fork, -0.642, 0.781, -0.918, 0, 0, 0, 77 [SEP] 30, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 50 [SEP] 31, Lettuce, 1.029, 0.988, -0.208, 0, 0, 0, 57 [SEP] 32, Plate, 0.811, 0.111, -2.132, 0, 0, 0, 61 [SEP] 33, Apple, 0.688, 0.961, 0.139, 0, 0, 0, 57 [SEP] 34, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 52 [SEP] 35, Spatula, -0.753, 0.795, -0.573, 0, 180, 0, 77 [SEP] 36, PaperTowelRoll, -0.818, 0.281, 0.575, 0, 270, 0, 76 [SEP] 37, Tomato, 0.844, 1.442, 1.349, 0, 270, 0, 79 [SEP] 38, Egg, -1.007, 0.216, 0.576, 0, 180, 0, 76 [SEP] 39, SaltShaker, -1.467, 0.550, 2.718, 0, 0, 0, 82 [SEP] 40, PepperShaker, 0.794, 0.490, -0.731, 0, 270, 0, 60 [SEP] 41, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 82 [SEP] 42, ButterKnife, -1.292, 0.933, 0.144, 0, 0, 0, 56 [SEP] 43, SoapBottle, 0.688, 0.911, -2.308, 0, 0, 0, 62 [SEP] 44, Vase, -1.104, 0.934, -0.380, 0, 0, 0, 56 [SEP] 45, Bowl, 0.688, 0.914, -0.729, 0, 0, 0, 57 [SEP] 46, DishSponge, 0.914, 0.153, -0.611, 0, 270, 0, 59 [SEP] 47, Spoon, -0.772, 0.934, 0.315, 0, 0, 0, 56 [SEP] 48, Cup, 1.009, 1.663, -1.961, 0, 270, 0, 55 [SEP] 49, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 75 [SEP] 50, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 51, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 52, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 53, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 54, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 55, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 56, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 57, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 58, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 59, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 60, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 61, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 62, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 63, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 64, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 65, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 66, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 67, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 68, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 69, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 70, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 71, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 72, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 73, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 74, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 75, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 76, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 77, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 78, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 79, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 80, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 81, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 82, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 83, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 84, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 85, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 86, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 87, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 88, NorthWall, , , , , , , [SEP] 89, EastWall, , , , , , , [SEP] 90, SouthWall, , , , , , , [SEP] 91, WestWall, , , , , , , ", "output": ["STEP 1: Walk towards the wooden shelf on your left side. | STEP 2: Pick up the salt shaker on the middle shelf. | STEP 3: Turn around, head towards the trophy on the counter, and turn left to face the lower cabinet on the right of the fridge. | STEP 4: Open the cabinet, place the shaker in it, and close the door. | END"]} +{"id": "trial_T20190906_191429_743650-1", "input": "place a salt shaker in the kitchen cabinet next to the fridge 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, 90, 0, [SEP] 1, Pan, 1.026, 0.860, 1.158, 0, 90, 0, 79 [SEP] 2, CreditCard, 0.773, 0.908, -0.729, 0, 0, 0, 57 [SEP] 3, CreditCard, 0.773, 0.908, -0.381, 0, 0, 0, 57 [SEP] 4, Glassbottle, 1.082, 2.208, -1.408, 0, 270, 0, 63 [SEP] 5, Glassbottle, -1.363, 0.554, 2.615, 0, 0, 0, 82 [SEP] 6, Fork, 0.944, 0.911, -0.208, 0, 0, 0, 57 [SEP] 7, Spoon, 0.875, 0.496, -0.690, 0, 270, 0, 60 [SEP] 8, Spoon, -1.355, 0.934, -0.380, 0, 0, 0, 56 [SEP] 9, Spatula, 0.754, 0.717, -0.690, 0, 180, 0, 54 [SEP] 10, Spatula, -0.642, 0.791, -0.745, 0, 0, 0, 77 [SEP] 11, Knife, 0.773, 0.934, -0.034, 0, 90, 0, 57 [SEP] 12, Egg, -1.101, 0.214, 0.576, 0, 180, 0, 76 [SEP] 13, Plate, -0.846, 0.936, -0.067, 0, 0, 0, 56 [SEP] 14, Plate, 1.194, 1.669, -0.593, 0, 270, 0, 65 [SEP] 15, Tomato, 0.844, 1.442, 1.063, 0, 270, 0, 79 [SEP] 16, SoapBottle, -0.912, 0.179, 0.543, 0, 180, 0, 76 [SEP] 17, SoapBottle, 1.147, 1.666, 0.089, 0, 270, 0, 64 [SEP] 18, Bowl, 0.844, 1.646, 1.349, 0, 270, 0, 79 [SEP] 19, Bread, 1.114, 0.992, 0.139, 0, 0, 0, 57 [SEP] 20, Apple, 0.905, 1.693, 1.540, 0, 270, 0, 79 [SEP] 21, Apple, -0.846, 0.983, -1.386, 0, 0, 0, 56 [SEP] 22, Statue, -0.550, 0.936, 0.239, 0, 0, 0, 56 [SEP] 23, Glassbottle, 1.239, 1.667, -0.038, 0, 270, 0, 64 [SEP] 24, Bread, 0.773, 0.992, -0.381, 0, 0, 0, 57 [SEP] 25, CreditCard, 0.915, 0.699, -0.690, 0, 270, 0, 54 [SEP] 26, CellPhone, -1.167, 0.930, -0.905, 0, 0, 0, 56 [SEP] 27, Potato, -0.808, 0.811, -0.400, 0, 90, 0, 77 [SEP] 28, Knife, -0.624, 0.957, -1.463, 0, 0, 0, 56 [SEP] 29, Fork, -0.642, 0.781, -0.918, 0, 0, 0, 77 [SEP] 30, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 50 [SEP] 31, Lettuce, 1.029, 0.988, -0.208, 0, 0, 0, 57 [SEP] 32, Plate, 0.811, 0.111, -2.132, 0, 0, 0, 61 [SEP] 33, Apple, 0.688, 0.961, 0.139, 0, 0, 0, 57 [SEP] 34, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 52 [SEP] 35, Spatula, -0.753, 0.795, -0.573, 0, 180, 0, 77 [SEP] 36, PaperTowelRoll, -0.818, 0.281, 0.575, 0, 270, 0, 76 [SEP] 37, Tomato, 0.844, 1.442, 1.349, 0, 270, 0, 79 [SEP] 38, Egg, -1.007, 0.216, 0.576, 0, 180, 0, 76 [SEP] 39, SaltShaker, -1.467, 0.550, 2.718, 0, 0, 0, 82 [SEP] 40, PepperShaker, 0.794, 0.490, -0.731, 0, 270, 0, 60 [SEP] 41, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 82 [SEP] 42, ButterKnife, -1.292, 0.933, 0.144, 0, 0, 0, 56 [SEP] 43, SoapBottle, 0.688, 0.911, -2.308, 0, 0, 0, 62 [SEP] 44, Vase, -1.104, 0.934, -0.380, 0, 0, 0, 56 [SEP] 45, Bowl, 0.688, 0.914, -0.729, 0, 0, 0, 57 [SEP] 46, DishSponge, 0.914, 0.153, -0.611, 0, 270, 0, 59 [SEP] 47, Spoon, -0.772, 0.934, 0.315, 0, 0, 0, 56 [SEP] 48, Cup, 1.009, 1.663, -1.961, 0, 270, 0, 55 [SEP] 49, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 75 [SEP] 50, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 51, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 52, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 53, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 54, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 55, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 56, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 57, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 58, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 59, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 60, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 61, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 62, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 63, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 64, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 65, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 66, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 67, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 68, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 69, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 70, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 71, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 72, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 73, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 74, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 75, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 76, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 77, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 78, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 79, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 80, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 81, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 82, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 83, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 84, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 85, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 86, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 87, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 88, NorthWall, , , , , , , [SEP] 89, EastWall, , , , , , , [SEP] 90, SouthWall, , , , , , , [SEP] 91, WestWall, , , , , , , ", "output": ["STEP 1: head over to the three brown shelves | STEP 2: grab the salt shaker off of the brown shelf | STEP 3: walk over to the fridge | STEP 4: place the salt shaker in the cabinet to the bottom right of the fridge | END"]} +{"id": "trial_T20190906_191429_743650-2", "input": "Put salt in the cabinet next to the fridge. 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, 90, 0, [SEP] 1, Pan, 1.026, 0.860, 1.158, 0, 90, 0, 79 [SEP] 2, CreditCard, 0.773, 0.908, -0.729, 0, 0, 0, 57 [SEP] 3, CreditCard, 0.773, 0.908, -0.381, 0, 0, 0, 57 [SEP] 4, Glassbottle, 1.082, 2.208, -1.408, 0, 270, 0, 63 [SEP] 5, Glassbottle, -1.363, 0.554, 2.615, 0, 0, 0, 82 [SEP] 6, Fork, 0.944, 0.911, -0.208, 0, 0, 0, 57 [SEP] 7, Spoon, 0.875, 0.496, -0.690, 0, 270, 0, 60 [SEP] 8, Spoon, -1.355, 0.934, -0.380, 0, 0, 0, 56 [SEP] 9, Spatula, 0.754, 0.717, -0.690, 0, 180, 0, 54 [SEP] 10, Spatula, -0.642, 0.791, -0.745, 0, 0, 0, 77 [SEP] 11, Knife, 0.773, 0.934, -0.034, 0, 90, 0, 57 [SEP] 12, Egg, -1.101, 0.214, 0.576, 0, 180, 0, 76 [SEP] 13, Plate, -0.846, 0.936, -0.067, 0, 0, 0, 56 [SEP] 14, Plate, 1.194, 1.669, -0.593, 0, 270, 0, 65 [SEP] 15, Tomato, 0.844, 1.442, 1.063, 0, 270, 0, 79 [SEP] 16, SoapBottle, -0.912, 0.179, 0.543, 0, 180, 0, 76 [SEP] 17, SoapBottle, 1.147, 1.666, 0.089, 0, 270, 0, 64 [SEP] 18, Bowl, 0.844, 1.646, 1.349, 0, 270, 0, 79 [SEP] 19, Bread, 1.114, 0.992, 0.139, 0, 0, 0, 57 [SEP] 20, Apple, 0.905, 1.693, 1.540, 0, 270, 0, 79 [SEP] 21, Apple, -0.846, 0.983, -1.386, 0, 0, 0, 56 [SEP] 22, Statue, -0.550, 0.936, 0.239, 0, 0, 0, 56 [SEP] 23, Glassbottle, 1.239, 1.667, -0.038, 0, 270, 0, 64 [SEP] 24, Bread, 0.773, 0.992, -0.381, 0, 0, 0, 57 [SEP] 25, CreditCard, 0.915, 0.699, -0.690, 0, 270, 0, 54 [SEP] 26, CellPhone, -1.167, 0.930, -0.905, 0, 0, 0, 56 [SEP] 27, Potato, -0.808, 0.811, -0.400, 0, 90, 0, 77 [SEP] 28, Knife, -0.624, 0.957, -1.463, 0, 0, 0, 56 [SEP] 29, Fork, -0.642, 0.781, -0.918, 0, 0, 0, 77 [SEP] 30, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 50 [SEP] 31, Lettuce, 1.029, 0.988, -0.208, 0, 0, 0, 57 [SEP] 32, Plate, 0.811, 0.111, -2.132, 0, 0, 0, 61 [SEP] 33, Apple, 0.688, 0.961, 0.139, 0, 0, 0, 57 [SEP] 34, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 52 [SEP] 35, Spatula, -0.753, 0.795, -0.573, 0, 180, 0, 77 [SEP] 36, PaperTowelRoll, -0.818, 0.281, 0.575, 0, 270, 0, 76 [SEP] 37, Tomato, 0.844, 1.442, 1.349, 0, 270, 0, 79 [SEP] 38, Egg, -1.007, 0.216, 0.576, 0, 180, 0, 76 [SEP] 39, SaltShaker, -1.467, 0.550, 2.718, 0, 0, 0, 82 [SEP] 40, PepperShaker, 0.794, 0.490, -0.731, 0, 270, 0, 60 [SEP] 41, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 82 [SEP] 42, ButterKnife, -1.292, 0.933, 0.144, 0, 0, 0, 56 [SEP] 43, SoapBottle, 0.688, 0.911, -2.308, 0, 0, 0, 62 [SEP] 44, Vase, -1.104, 0.934, -0.380, 0, 0, 0, 56 [SEP] 45, Bowl, 0.688, 0.914, -0.729, 0, 0, 0, 57 [SEP] 46, DishSponge, 0.914, 0.153, -0.611, 0, 270, 0, 59 [SEP] 47, Spoon, -0.772, 0.934, 0.315, 0, 0, 0, 56 [SEP] 48, Cup, 1.009, 1.663, -1.961, 0, 270, 0, 55 [SEP] 49, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 75 [SEP] 50, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 51, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 52, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 53, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 54, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 55, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 56, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 57, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 58, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 59, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 60, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 61, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 62, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 63, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 64, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 65, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 66, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 67, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 68, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 69, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 70, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 71, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 72, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 73, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 74, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 75, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 76, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 77, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 78, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 79, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 80, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 81, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 82, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 83, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 84, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 85, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 86, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 87, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 88, NorthWall, , , , , , , [SEP] 89, EastWall, , , , , , , [SEP] 90, SouthWall, , , , , , , [SEP] 91, WestWall, , , , , , , ", "output": ["STEP 1: Move to the wooden rack. | STEP 2: Pick up the salt from the rack. | STEP 3: Bring the salt to the cabinet right of the fridge. | STEP 4: Put the salt in that cabinet. | END"]} +{"id": "trial_T20190907_050942_897916-0", "input": "Secure two discs in a bedroom safe. 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, Bowl, -0.483, 0.861, -1.183, 0, 0, 0, 38 [SEP] 2, Mug, -1.571, 0.876, 0.832, 0, 0, 0, 48 [SEP] 3, CD, -0.473, 0.364, -0.772, 0, 0, 0, 37 [SEP] 4, CD, -0.735, 0.857, -0.663, 0, 0, 0, 38 [SEP] 5, CellPhone, -1.914, 0.105, 0.721, 0, 0, 0, 51 [SEP] 6, CellPhone, 0.598, 0.784, 1.655, 0, 0, 0, 29 [SEP] 7, Pen, -0.549, 0.370, -0.852, 0, 0, 0, 39 [SEP] 8, Pencil, -2.235, 0.108, 0.683, 0, 0, 0, 51 [SEP] 9, Pencil, -0.819, 0.861, -0.836, 0, 0, 0, 38 [SEP] 10, CreditCard, -1.833, 0.386, 0.683, 0, 0, 0, 50 [SEP] 11, CreditCard, -0.903, 0.857, -0.836, 0, 0, 0, 38 [SEP] 12, Book, -0.511, 0.083, -0.852, 0, 0, 0, 37 [SEP] 13, Book, 1.206, 0.783, 2.234, 0, 0, 0, 29 [SEP] 14, Laptop, 1.612, 0.781, 1.076, 0, 0, 0, 29 [SEP] 15, Book, 1.409, 0.783, 0.787, 0, 0, 0, 29 [SEP] 16, AlarmClock, -1.834, 1.724, 0.407, 0, 0, 0, 42 [SEP] 17, BasketBall, 1.976, 0.120, 0.211, 0, 331.076, 0, [SEP] 18, Pen, -1.744, 0.884, 0.581, 0, 0, 0, 48 [SEP] 19, Laptop, 1.206, 0.781, 1.076, 0, 0, 0, 29 [SEP] 20, BaseballBat, 1.953, 0.659, -1.81, 346.388, 0, 0, [SEP] 21, Bowl, -2.091, 0.882, 0.581, 0, 0, 0, 48 [SEP] 22, Pillow, 1.118, 0.867, 2.464, 0, 0, 0, 29 [SEP] 23, KeyChain, -1.445, 1.350, 0.325, 0, 90, 0, 45 [SEP] 24, CreditCard, -2.075, 0.668, 0.758, 0, 0, 0, 49 [SEP] 25, CellPhone, -2.187, 0.040, 2.629, 0, 180, 0, 53 [SEP] 26, CD, -0.483, 0.857, -1.702, 0, 0, 0, 38 [SEP] 27, Pencil, -0.651, 0.861, -1.356, 0, 0, 0, 38 [SEP] 28, Mug, -0.399, 0.855, -0.836, 0, 0, 0, 38 [SEP] 29, Bed, 1.227, -0.002, 1.664, 0, 0, 0, [SEP] 30, LightSwitch, 2.151, 1.233, -0.518, 0, 270, 0, [SEP] 31, GarbageCan, -0.747, 0.014, -0.327, 0, 0, 0, [SEP] 32, Mirror, -1.358, 1.427, 2.855, 0, 0, 0, [SEP] 33, DeskLamp, -2.296, 0.858, 0.750, 0, 0, 0, [SEP] 34, Window, -0.421, 1.534, -1.947, 90, 0, 0, [SEP] 35, Window, 0.579, 1.534, -1.947, 90, 0, 0, [SEP] 36, Drawer, -0.491, 0.739, -0.855, 0, 90, 0, [SEP] 37, Drawer, -0.491, 0.204, -0.855, 0, 90, 0, [SEP] 38, Desk, -0.639, 0.009, -1.187, 0, 90, 0, [SEP] 39, Drawer, -0.491, 0.487, -0.855, 0, 90, 0, [SEP] 40, Shelf, -1.965, 1.514, 0.416, 0, 0, 0, [SEP] 41, Shelf, -1.965, 1.092, 0.416, 0, 0, 0, [SEP] 42, Shelf, -1.312, 1.888, 0.416, 0, 0, 0, [SEP] 43, Shelf, -1.965, 1.888, 0.416, 0, 0, 0, [SEP] 44, Shelf, -1.312, 1.092, 0.416, 0, 0, 0, [SEP] 45, Shelf, -1.312, 1.514, 0.416, 0, 0, 0, [SEP] 46, Blinds, 0.601, 2.161, -1.916, 0, 0, 0, [SEP] 47, Blinds, -0.402, 2.161, -1.916, 0, 0, 0, [SEP] 48, Desk, -1.726, 0.001, 0.575, 0, 0, 0, [SEP] 49, Drawer, -2.058, 0.733, 0.734, 0, 0, 0, [SEP] 50, Drawer, -2.058, 0.482, 0.734, 0, 0, 0, [SEP] 51, Drawer, -2.058, 0.198, 0.735, 0, 0, 0, [SEP] 52, Chair, -0.137, 0.000, -1.587, 0, 315, 0, [SEP] 53, Safe, -2.183, -7.748, 2.576, 0, 180, 0, [SEP] 54, Chair, -1.433, 0.009, 0.780, 357.672, 206.726, 0, [SEP] 55, LaundryHamper, 0.163, 0.003, 2.635, 0, 86.390, 0, [SEP] 56, NorthWall, , , , , , , [SEP] 57, EastWall, , , , , , , [SEP] 58, SouthWall, , , , , , , [SEP] 59, WestWall, , , , , , , ", "output": ["STEP 1: Go to the desk directly behind you. | STEP 2: Pick up the disc from the left front corner of the desk. | STEP 3: Turn right and carry the disc to the white safe in the corner to your left. | STEP 4: Put the disc in the safe. | STEP 5: Return to the desk. | STEP 6: Get the disc from the far right side of the desk. | STEP 7: Carry the disc to the corner safe. | STEP 8: Put the disc into the safe and close the safe. | END"]} +{"id": "trial_T20190907_050942_897916-1", "input": "Transfer the two CDs from the desk into the vault. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.75, 0.900, -0.5, 0, 90, 0, [SEP] 1, Bowl, -0.483, 0.861, -1.183, 0, 0, 0, 38 [SEP] 2, Mug, -1.571, 0.876, 0.832, 0, 0, 0, 48 [SEP] 3, CD, -0.473, 0.364, -0.772, 0, 0, 0, 37 [SEP] 4, CD, -0.735, 0.857, -0.663, 0, 0, 0, 38 [SEP] 5, CellPhone, -1.914, 0.105, 0.721, 0, 0, 0, 51 [SEP] 6, CellPhone, 0.598, 0.784, 1.655, 0, 0, 0, 29 [SEP] 7, Pen, -0.549, 0.370, -0.852, 0, 0, 0, 39 [SEP] 8, Pencil, -2.235, 0.108, 0.683, 0, 0, 0, 51 [SEP] 9, Pencil, -0.819, 0.861, -0.836, 0, 0, 0, 38 [SEP] 10, CreditCard, -1.833, 0.386, 0.683, 0, 0, 0, 50 [SEP] 11, CreditCard, -0.903, 0.857, -0.836, 0, 0, 0, 38 [SEP] 12, Book, -0.511, 0.083, -0.852, 0, 0, 0, 37 [SEP] 13, Book, 1.206, 0.783, 2.234, 0, 0, 0, 29 [SEP] 14, Laptop, 1.612, 0.781, 1.076, 0, 0, 0, 29 [SEP] 15, Book, 1.409, 0.783, 0.787, 0, 0, 0, 29 [SEP] 16, AlarmClock, -1.834, 1.724, 0.407, 0, 0, 0, 42 [SEP] 17, BasketBall, 1.976, 0.120, 0.211, 0, 331.076, 0, [SEP] 18, Pen, -1.744, 0.884, 0.581, 0, 0, 0, 48 [SEP] 19, Laptop, 1.206, 0.781, 1.076, 0, 0, 0, 29 [SEP] 20, BaseballBat, 1.953, 0.659, -1.81, 346.388, 0, 0, [SEP] 21, Bowl, -2.091, 0.882, 0.581, 0, 0, 0, 48 [SEP] 22, Pillow, 1.118, 0.867, 2.464, 0, 0, 0, 29 [SEP] 23, KeyChain, -1.445, 1.350, 0.325, 0, 90, 0, 45 [SEP] 24, CreditCard, -2.075, 0.668, 0.758, 0, 0, 0, 49 [SEP] 25, CellPhone, -2.187, 0.040, 2.629, 0, 180, 0, 53 [SEP] 26, CD, -0.483, 0.857, -1.702, 0, 0, 0, 38 [SEP] 27, Pencil, -0.651, 0.861, -1.356, 0, 0, 0, 38 [SEP] 28, Mug, -0.399, 0.855, -0.836, 0, 0, 0, 38 [SEP] 29, Bed, 1.227, -0.002, 1.664, 0, 0, 0, [SEP] 30, LightSwitch, 2.151, 1.233, -0.518, 0, 270, 0, [SEP] 31, GarbageCan, -0.747, 0.014, -0.327, 0, 0, 0, [SEP] 32, Mirror, -1.358, 1.427, 2.855, 0, 0, 0, [SEP] 33, DeskLamp, -2.296, 0.858, 0.750, 0, 0, 0, [SEP] 34, Window, -0.421, 1.534, -1.947, 90, 0, 0, [SEP] 35, Window, 0.579, 1.534, -1.947, 90, 0, 0, [SEP] 36, Drawer, -0.491, 0.739, -0.855, 0, 90, 0, [SEP] 37, Drawer, -0.491, 0.204, -0.855, 0, 90, 0, [SEP] 38, Desk, -0.639, 0.009, -1.187, 0, 90, 0, [SEP] 39, Drawer, -0.491, 0.487, -0.855, 0, 90, 0, [SEP] 40, Shelf, -1.965, 1.514, 0.416, 0, 0, 0, [SEP] 41, Shelf, -1.965, 1.092, 0.416, 0, 0, 0, [SEP] 42, Shelf, -1.312, 1.888, 0.416, 0, 0, 0, [SEP] 43, Shelf, -1.965, 1.888, 0.416, 0, 0, 0, [SEP] 44, Shelf, -1.312, 1.092, 0.416, 0, 0, 0, [SEP] 45, Shelf, -1.312, 1.514, 0.416, 0, 0, 0, [SEP] 46, Blinds, 0.601, 2.161, -1.916, 0, 0, 0, [SEP] 47, Blinds, -0.402, 2.161, -1.916, 0, 0, 0, [SEP] 48, Desk, -1.726, 0.001, 0.575, 0, 0, 0, [SEP] 49, Drawer, -2.058, 0.733, 0.734, 0, 0, 0, [SEP] 50, Drawer, -2.058, 0.482, 0.734, 0, 0, 0, [SEP] 51, Drawer, -2.058, 0.198, 0.735, 0, 0, 0, [SEP] 52, Chair, -0.137, 0.000, -1.587, 0, 315, 0, [SEP] 53, Safe, -2.183, -7.748, 2.576, 0, 180, 0, [SEP] 54, Chair, -1.433, 0.009, 0.780, 357.672, 206.726, 0, [SEP] 55, LaundryHamper, 0.163, 0.003, 2.635, 0, 86.390, 0, [SEP] 56, NorthWall, , , , , , , [SEP] 57, EastWall, , , , , , , [SEP] 58, SouthWall, , , , , , , [SEP] 59, WestWall, , , , , , , ", "output": ["STEP 1: Turn right towards the window and turn right towards the desk. | STEP 2: Pick up the CD from the desk. | STEP 3: Turn right towards the bed, turn left towards the bin, turn right towards the vault on your left. | STEP 4: Place the CD in the vault. | STEP 5: Turn left towards the bed and then turn right towards the desk. | STEP 6: Pick up the CD from the desk. | STEP 7: Turn right towards the bed, turn left towards the bin, turn right towards the vault on your left. | STEP 8: Place the CD in the vault and close. | END"]} +{"id": "trial_T20190907_050942_897916-2", "input": "Put the two CDs on the desk closest to the window in the safe. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.75, 0.900, -0.5, 0, 90, 0, [SEP] 1, Bowl, -0.483, 0.861, -1.183, 0, 0, 0, 38 [SEP] 2, Mug, -1.571, 0.876, 0.832, 0, 0, 0, 48 [SEP] 3, CD, -0.473, 0.364, -0.772, 0, 0, 0, 37 [SEP] 4, CD, -0.735, 0.857, -0.663, 0, 0, 0, 38 [SEP] 5, CellPhone, -1.914, 0.105, 0.721, 0, 0, 0, 51 [SEP] 6, CellPhone, 0.598, 0.784, 1.655, 0, 0, 0, 29 [SEP] 7, Pen, -0.549, 0.370, -0.852, 0, 0, 0, 39 [SEP] 8, Pencil, -2.235, 0.108, 0.683, 0, 0, 0, 51 [SEP] 9, Pencil, -0.819, 0.861, -0.836, 0, 0, 0, 38 [SEP] 10, CreditCard, -1.833, 0.386, 0.683, 0, 0, 0, 50 [SEP] 11, CreditCard, -0.903, 0.857, -0.836, 0, 0, 0, 38 [SEP] 12, Book, -0.511, 0.083, -0.852, 0, 0, 0, 37 [SEP] 13, Book, 1.206, 0.783, 2.234, 0, 0, 0, 29 [SEP] 14, Laptop, 1.612, 0.781, 1.076, 0, 0, 0, 29 [SEP] 15, Book, 1.409, 0.783, 0.787, 0, 0, 0, 29 [SEP] 16, AlarmClock, -1.834, 1.724, 0.407, 0, 0, 0, 42 [SEP] 17, BasketBall, 1.976, 0.120, 0.211, 0, 331.076, 0, [SEP] 18, Pen, -1.744, 0.884, 0.581, 0, 0, 0, 48 [SEP] 19, Laptop, 1.206, 0.781, 1.076, 0, 0, 0, 29 [SEP] 20, BaseballBat, 1.953, 0.659, -1.81, 346.388, 0, 0, [SEP] 21, Bowl, -2.091, 0.882, 0.581, 0, 0, 0, 48 [SEP] 22, Pillow, 1.118, 0.867, 2.464, 0, 0, 0, 29 [SEP] 23, KeyChain, -1.445, 1.350, 0.325, 0, 90, 0, 45 [SEP] 24, CreditCard, -2.075, 0.668, 0.758, 0, 0, 0, 49 [SEP] 25, CellPhone, -2.187, 0.040, 2.629, 0, 180, 0, 53 [SEP] 26, CD, -0.483, 0.857, -1.702, 0, 0, 0, 38 [SEP] 27, Pencil, -0.651, 0.861, -1.356, 0, 0, 0, 38 [SEP] 28, Mug, -0.399, 0.855, -0.836, 0, 0, 0, 38 [SEP] 29, Bed, 1.227, -0.002, 1.664, 0, 0, 0, [SEP] 30, LightSwitch, 2.151, 1.233, -0.518, 0, 270, 0, [SEP] 31, GarbageCan, -0.747, 0.014, -0.327, 0, 0, 0, [SEP] 32, Mirror, -1.358, 1.427, 2.855, 0, 0, 0, [SEP] 33, DeskLamp, -2.296, 0.858, 0.750, 0, 0, 0, [SEP] 34, Window, -0.421, 1.534, -1.947, 90, 0, 0, [SEP] 35, Window, 0.579, 1.534, -1.947, 90, 0, 0, [SEP] 36, Drawer, -0.491, 0.739, -0.855, 0, 90, 0, [SEP] 37, Drawer, -0.491, 0.204, -0.855, 0, 90, 0, [SEP] 38, Desk, -0.639, 0.009, -1.187, 0, 90, 0, [SEP] 39, Drawer, -0.491, 0.487, -0.855, 0, 90, 0, [SEP] 40, Shelf, -1.965, 1.514, 0.416, 0, 0, 0, [SEP] 41, Shelf, -1.965, 1.092, 0.416, 0, 0, 0, [SEP] 42, Shelf, -1.312, 1.888, 0.416, 0, 0, 0, [SEP] 43, Shelf, -1.965, 1.888, 0.416, 0, 0, 0, [SEP] 44, Shelf, -1.312, 1.092, 0.416, 0, 0, 0, [SEP] 45, Shelf, -1.312, 1.514, 0.416, 0, 0, 0, [SEP] 46, Blinds, 0.601, 2.161, -1.916, 0, 0, 0, [SEP] 47, Blinds, -0.402, 2.161, -1.916, 0, 0, 0, [SEP] 48, Desk, -1.726, 0.001, 0.575, 0, 0, 0, [SEP] 49, Drawer, -2.058, 0.733, 0.734, 0, 0, 0, [SEP] 50, Drawer, -2.058, 0.482, 0.734, 0, 0, 0, [SEP] 51, Drawer, -2.058, 0.198, 0.735, 0, 0, 0, [SEP] 52, Chair, -0.137, 0.000, -1.587, 0, 315, 0, [SEP] 53, Safe, -2.183, -7.748, 2.576, 0, 180, 0, [SEP] 54, Chair, -1.433, 0.009, 0.780, 357.672, 206.726, 0, [SEP] 55, LaundryHamper, 0.163, 0.003, 2.635, 0, 86.390, 0, [SEP] 56, NorthWall, , , , , , , [SEP] 57, EastWall, , , , , , , [SEP] 58, SouthWall, , , , , , , [SEP] 59, WestWall, , , , , , , ", "output": ["STEP 1: Move to the desk closest to the widow. | STEP 2: Pick up the CD from the desk. | STEP 3: Move to the safe to the right of you to the left of the mirror. | STEP 4: Place the CD inside and close the door. | STEP 5: Move to the desk closest to the widow. | STEP 6: Pick up the CD from the desk. | STEP 7: Move to the safe to the right of you to the left of the mirror. | STEP 8: Place the CD inside and close the door. | END"]} +{"id": "trial_T20190907_050942_897916-3", "input": "Put two CDs in the safe. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.75, 0.900, -0.5, 0, 90, 0, [SEP] 1, Bowl, -0.483, 0.861, -1.183, 0, 0, 0, 38 [SEP] 2, Mug, -1.571, 0.876, 0.832, 0, 0, 0, 48 [SEP] 3, CD, -0.473, 0.364, -0.772, 0, 0, 0, 37 [SEP] 4, CD, -0.735, 0.857, -0.663, 0, 0, 0, 38 [SEP] 5, CellPhone, -1.914, 0.105, 0.721, 0, 0, 0, 51 [SEP] 6, CellPhone, 0.598, 0.784, 1.655, 0, 0, 0, 29 [SEP] 7, Pen, -0.549, 0.370, -0.852, 0, 0, 0, 39 [SEP] 8, Pencil, -2.235, 0.108, 0.683, 0, 0, 0, 51 [SEP] 9, Pencil, -0.819, 0.861, -0.836, 0, 0, 0, 38 [SEP] 10, CreditCard, -1.833, 0.386, 0.683, 0, 0, 0, 50 [SEP] 11, CreditCard, -0.903, 0.857, -0.836, 0, 0, 0, 38 [SEP] 12, Book, -0.511, 0.083, -0.852, 0, 0, 0, 37 [SEP] 13, Book, 1.206, 0.783, 2.234, 0, 0, 0, 29 [SEP] 14, Laptop, 1.612, 0.781, 1.076, 0, 0, 0, 29 [SEP] 15, Book, 1.409, 0.783, 0.787, 0, 0, 0, 29 [SEP] 16, AlarmClock, -1.834, 1.724, 0.407, 0, 0, 0, 42 [SEP] 17, BasketBall, 1.976, 0.120, 0.211, 0, 331.076, 0, [SEP] 18, Pen, -1.744, 0.884, 0.581, 0, 0, 0, 48 [SEP] 19, Laptop, 1.206, 0.781, 1.076, 0, 0, 0, 29 [SEP] 20, BaseballBat, 1.953, 0.659, -1.81, 346.388, 0, 0, [SEP] 21, Bowl, -2.091, 0.882, 0.581, 0, 0, 0, 48 [SEP] 22, Pillow, 1.118, 0.867, 2.464, 0, 0, 0, 29 [SEP] 23, KeyChain, -1.445, 1.350, 0.325, 0, 90, 0, 45 [SEP] 24, CreditCard, -2.075, 0.668, 0.758, 0, 0, 0, 49 [SEP] 25, CellPhone, -2.187, 0.040, 2.629, 0, 180, 0, 53 [SEP] 26, CD, -0.483, 0.857, -1.702, 0, 0, 0, 38 [SEP] 27, Pencil, -0.651, 0.861, -1.356, 0, 0, 0, 38 [SEP] 28, Mug, -0.399, 0.855, -0.836, 0, 0, 0, 38 [SEP] 29, Bed, 1.227, -0.002, 1.664, 0, 0, 0, [SEP] 30, LightSwitch, 2.151, 1.233, -0.518, 0, 270, 0, [SEP] 31, GarbageCan, -0.747, 0.014, -0.327, 0, 0, 0, [SEP] 32, Mirror, -1.358, 1.427, 2.855, 0, 0, 0, [SEP] 33, DeskLamp, -2.296, 0.858, 0.750, 0, 0, 0, [SEP] 34, Window, -0.421, 1.534, -1.947, 90, 0, 0, [SEP] 35, Window, 0.579, 1.534, -1.947, 90, 0, 0, [SEP] 36, Drawer, -0.491, 0.739, -0.855, 0, 90, 0, [SEP] 37, Drawer, -0.491, 0.204, -0.855, 0, 90, 0, [SEP] 38, Desk, -0.639, 0.009, -1.187, 0, 90, 0, [SEP] 39, Drawer, -0.491, 0.487, -0.855, 0, 90, 0, [SEP] 40, Shelf, -1.965, 1.514, 0.416, 0, 0, 0, [SEP] 41, Shelf, -1.965, 1.092, 0.416, 0, 0, 0, [SEP] 42, Shelf, -1.312, 1.888, 0.416, 0, 0, 0, [SEP] 43, Shelf, -1.965, 1.888, 0.416, 0, 0, 0, [SEP] 44, Shelf, -1.312, 1.092, 0.416, 0, 0, 0, [SEP] 45, Shelf, -1.312, 1.514, 0.416, 0, 0, 0, [SEP] 46, Blinds, 0.601, 2.161, -1.916, 0, 0, 0, [SEP] 47, Blinds, -0.402, 2.161, -1.916, 0, 0, 0, [SEP] 48, Desk, -1.726, 0.001, 0.575, 0, 0, 0, [SEP] 49, Drawer, -2.058, 0.733, 0.734, 0, 0, 0, [SEP] 50, Drawer, -2.058, 0.482, 0.734, 0, 0, 0, [SEP] 51, Drawer, -2.058, 0.198, 0.735, 0, 0, 0, [SEP] 52, Chair, -0.137, 0.000, -1.587, 0, 315, 0, [SEP] 53, Safe, -2.183, -7.748, 2.576, 0, 180, 0, [SEP] 54, Chair, -1.433, 0.009, 0.780, 357.672, 206.726, 0, [SEP] 55, LaundryHamper, 0.163, 0.003, 2.635, 0, 86.390, 0, [SEP] 56, NorthWall, , , , , , , [SEP] 57, EastWall, , , , , , , [SEP] 58, SouthWall, , , , , , , [SEP] 59, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and head to the desk. | STEP 2: Pick up the CD on the left. | STEP 3: Turn right and cross the room to the trashcan, and turn left and head to the safe. | STEP 4: Put the CD in the safe. | STEP 5: Turn around and head to the trashcan, then turn right and cross the room to the chair. | STEP 6: Face the desk and pick up the CD. | STEP 7: Turn right and cross the room to the trashcan, then turn left and head to the safe. | STEP 8: Put the CD in the safe. | END"]} +{"id": "trial_T20190907_050942_897916-4", "input": "Put two CD's in the safe SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, 0.75, 0.900, -0.5, 0, 90, 0, [SEP] 1, Bowl, -0.483, 0.861, -1.183, 0, 0, 0, 38 [SEP] 2, Mug, -1.571, 0.876, 0.832, 0, 0, 0, 48 [SEP] 3, CD, -0.473, 0.364, -0.772, 0, 0, 0, 37 [SEP] 4, CD, -0.735, 0.857, -0.663, 0, 0, 0, 38 [SEP] 5, CellPhone, -1.914, 0.105, 0.721, 0, 0, 0, 51 [SEP] 6, CellPhone, 0.598, 0.784, 1.655, 0, 0, 0, 29 [SEP] 7, Pen, -0.549, 0.370, -0.852, 0, 0, 0, 39 [SEP] 8, Pencil, -2.235, 0.108, 0.683, 0, 0, 0, 51 [SEP] 9, Pencil, -0.819, 0.861, -0.836, 0, 0, 0, 38 [SEP] 10, CreditCard, -1.833, 0.386, 0.683, 0, 0, 0, 50 [SEP] 11, CreditCard, -0.903, 0.857, -0.836, 0, 0, 0, 38 [SEP] 12, Book, -0.511, 0.083, -0.852, 0, 0, 0, 37 [SEP] 13, Book, 1.206, 0.783, 2.234, 0, 0, 0, 29 [SEP] 14, Laptop, 1.612, 0.781, 1.076, 0, 0, 0, 29 [SEP] 15, Book, 1.409, 0.783, 0.787, 0, 0, 0, 29 [SEP] 16, AlarmClock, -1.834, 1.724, 0.407, 0, 0, 0, 42 [SEP] 17, BasketBall, 1.976, 0.120, 0.211, 0, 331.076, 0, [SEP] 18, Pen, -1.744, 0.884, 0.581, 0, 0, 0, 48 [SEP] 19, Laptop, 1.206, 0.781, 1.076, 0, 0, 0, 29 [SEP] 20, BaseballBat, 1.953, 0.659, -1.81, 346.388, 0, 0, [SEP] 21, Bowl, -2.091, 0.882, 0.581, 0, 0, 0, 48 [SEP] 22, Pillow, 1.118, 0.867, 2.464, 0, 0, 0, 29 [SEP] 23, KeyChain, -1.445, 1.350, 0.325, 0, 90, 0, 45 [SEP] 24, CreditCard, -2.075, 0.668, 0.758, 0, 0, 0, 49 [SEP] 25, CellPhone, -2.187, 0.040, 2.629, 0, 180, 0, 53 [SEP] 26, CD, -0.483, 0.857, -1.702, 0, 0, 0, 38 [SEP] 27, Pencil, -0.651, 0.861, -1.356, 0, 0, 0, 38 [SEP] 28, Mug, -0.399, 0.855, -0.836, 0, 0, 0, 38 [SEP] 29, Bed, 1.227, -0.002, 1.664, 0, 0, 0, [SEP] 30, LightSwitch, 2.151, 1.233, -0.518, 0, 270, 0, [SEP] 31, GarbageCan, -0.747, 0.014, -0.327, 0, 0, 0, [SEP] 32, Mirror, -1.358, 1.427, 2.855, 0, 0, 0, [SEP] 33, DeskLamp, -2.296, 0.858, 0.750, 0, 0, 0, [SEP] 34, Window, -0.421, 1.534, -1.947, 90, 0, 0, [SEP] 35, Window, 0.579, 1.534, -1.947, 90, 0, 0, [SEP] 36, Drawer, -0.491, 0.739, -0.855, 0, 90, 0, [SEP] 37, Drawer, -0.491, 0.204, -0.855, 0, 90, 0, [SEP] 38, Desk, -0.639, 0.009, -1.187, 0, 90, 0, [SEP] 39, Drawer, -0.491, 0.487, -0.855, 0, 90, 0, [SEP] 40, Shelf, -1.965, 1.514, 0.416, 0, 0, 0, [SEP] 41, Shelf, -1.965, 1.092, 0.416, 0, 0, 0, [SEP] 42, Shelf, -1.312, 1.888, 0.416, 0, 0, 0, [SEP] 43, Shelf, -1.965, 1.888, 0.416, 0, 0, 0, [SEP] 44, Shelf, -1.312, 1.092, 0.416, 0, 0, 0, [SEP] 45, Shelf, -1.312, 1.514, 0.416, 0, 0, 0, [SEP] 46, Blinds, 0.601, 2.161, -1.916, 0, 0, 0, [SEP] 47, Blinds, -0.402, 2.161, -1.916, 0, 0, 0, [SEP] 48, Desk, -1.726, 0.001, 0.575, 0, 0, 0, [SEP] 49, Drawer, -2.058, 0.733, 0.734, 0, 0, 0, [SEP] 50, Drawer, -2.058, 0.482, 0.734, 0, 0, 0, [SEP] 51, Drawer, -2.058, 0.198, 0.735, 0, 0, 0, [SEP] 52, Chair, -0.137, 0.000, -1.587, 0, 315, 0, [SEP] 53, Safe, -2.183, -7.748, 2.576, 0, 180, 0, [SEP] 54, Chair, -1.433, 0.009, 0.780, 357.672, 206.726, 0, [SEP] 55, LaundryHamper, 0.163, 0.003, 2.635, 0, 86.390, 0, [SEP] 56, NorthWall, , , , , , , [SEP] 57, EastWall, , , , , , , [SEP] 58, SouthWall, , , , , , , [SEP] 59, WestWall, , , , , , , ", "output": ["STEP 1: Turn around so you are next to the wall and facing the blue chair | STEP 2: Pick up the CD off of the desk | STEP 3: Maneuver your way to the left of the bed so you are facing the wall to the left of the floor safe | STEP 4: Open the safe and put the CD inside it, before closing it again | STEP 5: Turn back towards the desk, but this time stand to the right of where you stood last time | STEP 6: Pick up another CD off of the desk | STEP 7: Head back to the safe | STEP 8: Open the safe and put the other CD inside it, before closing it again | END"]} +{"id": "trial_T20190909_025413_784807-0", "input": "Put a cup with a butter 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, -0.5, 0.900, 1.75, 0, 90, 0, [SEP] 1, Pan, 1.077, 0.950, -1.098, 0, 0, 0, 62 [SEP] 2, Statue, 0.859, 0.914, -0.381, 0, 0, 0, 61 [SEP] 3, Potato, 1.060, 1.825, -1.132, 0, 270, 0, 82 [SEP] 4, CellPhone, 0.875, 0.699, -0.607, 0, 270, 0, 58 [SEP] 5, DishSponge, -0.920, 0.933, -1.463, 0, 0, 0, 60 [SEP] 6, DishSponge, -1.571, 0.881, 2.692, 0, 0, 0, 86 [SEP] 7, Glassbottle, -0.865, 0.177, 0.543, 0, 180, 0, 80 [SEP] 8, Spoon, -1.292, 0.934, -1.167, 0, 0, 0, 60 [SEP] 9, Spoon, 0.773, 0.912, -0.729, 0, 0, 0, 61 [SEP] 10, Spatula, -0.642, 0.795, -0.659, 0, 0, 0, 81 [SEP] 11, Spatula, -0.642, 0.795, -0.918, 0, 0, 0, 81 [SEP] 12, Knife, 0.859, 0.934, -0.555, 0, 0, 0, 61 [SEP] 13, Cup, 1.101, 1.663, -2.097, 0, 270, 0, 59 [SEP] 14, Bowl, -1.229, 0.936, -0.905, 0, 0, 0, 60 [SEP] 15, Bowl, 0.905, 1.138, 1.349, 0, 270, 0, 83 [SEP] 16, SaltShaker, 0.713, 0.698, -0.607, 0, 270, 0, 58 [SEP] 17, SaltShaker, 1.194, 1.662, -0.401, 0, 270, 0, 69 [SEP] 18, PepperShaker, -1.467, 0.550, 2.667, 0, 0, 0, 86 [SEP] 19, Lettuce, 1.026, 0.940, 1.063, 0, 270, 0, 83 [SEP] 20, Bread, -1.355, 1.014, -0.118, 0, 0, 0, 60 [SEP] 21, Bread, 0.859, 0.992, 0.139, 0, 0, 0, 61 [SEP] 22, Mug, 0.960, 0.103, -1.892, 0, 0, 0, 65 [SEP] 23, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 79 [SEP] 24, Apple, 0.905, 1.185, 1.540, 0, 270, 0, 83 [SEP] 25, Apple, -0.697, 0.826, -0.745, 0, 90, 0, 81 [SEP] 26, Statue, 1.114, 0.914, -0.729, 0, 0, 0, 61 [SEP] 27, Glassbottle, 1.193, 1.667, 0.280, 0, 270, 0, 68 [SEP] 28, Bread, 1.114, 0.992, -0.034, 0, 0, 0, 61 [SEP] 29, CreditCard, -0.772, 0.930, -1.231, 0, 0, 0, 60 [SEP] 30, CellPhone, 0.688, 0.908, -2.051, 0, 0, 0, 66 [SEP] 31, Potato, 0.966, 1.165, 1.158, 0, 270, 0, 83 [SEP] 32, Knife, -0.772, 0.957, 0.162, 0, 0, 0, 60 [SEP] 33, Fork, -0.753, 0.781, -0.832, 0, 180, 0, 81 [SEP] 34, Pan, 0.965, 0.860, 1.444, 0, 0, 0, 83 [SEP] 35, Lettuce, 0.688, 0.988, -1.879, 0, 0, 0, 66 [SEP] 36, Plate, 0.905, 1.405, 1.254, 0, 270, 0, 83 [SEP] 37, Apple, 0.688, 0.961, -2.308, 0, 0, 0, 66 [SEP] 38, Pot, -1.221, 0.92, -0.49, 0, 0, 0, 60 [SEP] 39, Spatula, -0.753, 0.795, -0.573, 0, 180, 0, 81 [SEP] 40, PaperTowelRoll, 1.029, 1.015, -0.555, 0, 0, 0, 61 [SEP] 41, Tomato, 1.026, 1.683, 1.158, 0, 270, 0, 83 [SEP] 42, Egg, -1.007, 0.216, 0.576, 0, 180, 0, 80 [SEP] 43, SaltShaker, 0.954, 0.150, -0.690, 0, 270, 0, 63 [SEP] 44, PepperShaker, 0.688, 0.907, -0.555, 0, 0, 0, 61 [SEP] 45, Vase, 1.199, 0.911, -1.879, 0, 0, 0, 66 [SEP] 46, ButterKnife, -0.698, 0.776, -0.573, 0, 90, 0, 81 [SEP] 47, SoapBottle, 0.811, 0.108, -1.892, 0, 0, 0, 65 [SEP] 48, Vase, -1.881, 0.555, 2.822, 0, 0, 0, 86 [SEP] 49, Bowl, 1.055, 1.669, 0.153, 0, 270, 0, 68 [SEP] 50, DishSponge, 0.944, 0.910, -1.879, 0, 0, 0, 66 [SEP] 51, Spoon, 0.793, 0.154, -0.611, 0, 270, 0, 63 [SEP] 52, Cup, 1.148, 1.663, -1.961, 0, 270, 0, 59 [SEP] 53, Mug, 0.913, 0.115, 0.374, 0, 270, 0, 55 [SEP] 54, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 55, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 56, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 57, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 58, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 59, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 60, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 61, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 62, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 63, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 64, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 65, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 66, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 67, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 68, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 69, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 70, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 71, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 72, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 73, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 74, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 75, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 76, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 77, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 78, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 79, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 80, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 81, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 82, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 83, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 84, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 85, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 86, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 87, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 88, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 89, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 90, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 91, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 92, NorthWall, , , , , , , [SEP] 93, EastWall, , , , , , , [SEP] 94, SouthWall, , , , , , , [SEP] 95, WestWall, , , , , , , ", "output": ["STEP 1: Go toward the fridge, turn right and move forward, then turn left to face the sink. | STEP 2: Pick up the butter knife in the sink. | STEP 3: Turn left and go to the wall, then turn left and look up to the cabinet. | STEP 4: Open the cabinet and put the butter knife in the rightmost cup. | STEP 5: Take the rightmost cup from the cabinet. | STEP 6: Turn left and move forward, then turn left to face the sink. | STEP 7: Put the cup in the sink. | END"]} +{"id": "trial_T20190909_025413_784807-1", "input": "To put a knife in the glass and put the glass 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, 1.75, 0, 90, 0, [SEP] 1, Pan, 1.077, 0.950, -1.098, 0, 0, 0, 62 [SEP] 2, Statue, 0.859, 0.914, -0.381, 0, 0, 0, 61 [SEP] 3, Potato, 1.060, 1.825, -1.132, 0, 270, 0, 82 [SEP] 4, CellPhone, 0.875, 0.699, -0.607, 0, 270, 0, 58 [SEP] 5, DishSponge, -0.920, 0.933, -1.463, 0, 0, 0, 60 [SEP] 6, DishSponge, -1.571, 0.881, 2.692, 0, 0, 0, 86 [SEP] 7, Glassbottle, -0.865, 0.177, 0.543, 0, 180, 0, 80 [SEP] 8, Spoon, -1.292, 0.934, -1.167, 0, 0, 0, 60 [SEP] 9, Spoon, 0.773, 0.912, -0.729, 0, 0, 0, 61 [SEP] 10, Spatula, -0.642, 0.795, -0.659, 0, 0, 0, 81 [SEP] 11, Spatula, -0.642, 0.795, -0.918, 0, 0, 0, 81 [SEP] 12, Knife, 0.859, 0.934, -0.555, 0, 0, 0, 61 [SEP] 13, Cup, 1.101, 1.663, -2.097, 0, 270, 0, 59 [SEP] 14, Bowl, -1.229, 0.936, -0.905, 0, 0, 0, 60 [SEP] 15, Bowl, 0.905, 1.138, 1.349, 0, 270, 0, 83 [SEP] 16, SaltShaker, 0.713, 0.698, -0.607, 0, 270, 0, 58 [SEP] 17, SaltShaker, 1.194, 1.662, -0.401, 0, 270, 0, 69 [SEP] 18, PepperShaker, -1.467, 0.550, 2.667, 0, 0, 0, 86 [SEP] 19, Lettuce, 1.026, 0.940, 1.063, 0, 270, 0, 83 [SEP] 20, Bread, -1.355, 1.014, -0.118, 0, 0, 0, 60 [SEP] 21, Bread, 0.859, 0.992, 0.139, 0, 0, 0, 61 [SEP] 22, Mug, 0.960, 0.103, -1.892, 0, 0, 0, 65 [SEP] 23, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 79 [SEP] 24, Apple, 0.905, 1.185, 1.540, 0, 270, 0, 83 [SEP] 25, Apple, -0.697, 0.826, -0.745, 0, 90, 0, 81 [SEP] 26, Statue, 1.114, 0.914, -0.729, 0, 0, 0, 61 [SEP] 27, Glassbottle, 1.193, 1.667, 0.280, 0, 270, 0, 68 [SEP] 28, Bread, 1.114, 0.992, -0.034, 0, 0, 0, 61 [SEP] 29, CreditCard, -0.772, 0.930, -1.231, 0, 0, 0, 60 [SEP] 30, CellPhone, 0.688, 0.908, -2.051, 0, 0, 0, 66 [SEP] 31, Potato, 0.966, 1.165, 1.158, 0, 270, 0, 83 [SEP] 32, Knife, -0.772, 0.957, 0.162, 0, 0, 0, 60 [SEP] 33, Fork, -0.753, 0.781, -0.832, 0, 180, 0, 81 [SEP] 34, Pan, 0.965, 0.860, 1.444, 0, 0, 0, 83 [SEP] 35, Lettuce, 0.688, 0.988, -1.879, 0, 0, 0, 66 [SEP] 36, Plate, 0.905, 1.405, 1.254, 0, 270, 0, 83 [SEP] 37, Apple, 0.688, 0.961, -2.308, 0, 0, 0, 66 [SEP] 38, Pot, -1.221, 0.92, -0.49, 0, 0, 0, 60 [SEP] 39, Spatula, -0.753, 0.795, -0.573, 0, 180, 0, 81 [SEP] 40, PaperTowelRoll, 1.029, 1.015, -0.555, 0, 0, 0, 61 [SEP] 41, Tomato, 1.026, 1.683, 1.158, 0, 270, 0, 83 [SEP] 42, Egg, -1.007, 0.216, 0.576, 0, 180, 0, 80 [SEP] 43, SaltShaker, 0.954, 0.150, -0.690, 0, 270, 0, 63 [SEP] 44, PepperShaker, 0.688, 0.907, -0.555, 0, 0, 0, 61 [SEP] 45, Vase, 1.199, 0.911, -1.879, 0, 0, 0, 66 [SEP] 46, ButterKnife, -0.698, 0.776, -0.573, 0, 90, 0, 81 [SEP] 47, SoapBottle, 0.811, 0.108, -1.892, 0, 0, 0, 65 [SEP] 48, Vase, -1.881, 0.555, 2.822, 0, 0, 0, 86 [SEP] 49, Bowl, 1.055, 1.669, 0.153, 0, 270, 0, 68 [SEP] 50, DishSponge, 0.944, 0.910, -1.879, 0, 0, 0, 66 [SEP] 51, Spoon, 0.793, 0.154, -0.611, 0, 270, 0, 63 [SEP] 52, Cup, 1.148, 1.663, -1.961, 0, 270, 0, 59 [SEP] 53, Mug, 0.913, 0.115, 0.374, 0, 270, 0, 55 [SEP] 54, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 55, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 56, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 57, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 58, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 59, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 60, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 61, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 62, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 63, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 64, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 65, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 66, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 67, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 68, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 69, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 70, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 71, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 72, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 73, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 74, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 75, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 76, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 77, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 78, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 79, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 80, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 81, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 82, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 83, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 84, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 85, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 86, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 87, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 88, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 89, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 90, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 91, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 92, NorthWall, , , , , , , [SEP] 93, EastWall, , , , , , , [SEP] 94, SouthWall, , , , , , , [SEP] 95, WestWall, , , , , , , ", "output": ["STEP 1: Turn and walk to the sink on the right. | STEP 2: Pick up the butter knife from the sink. | STEP 3: Turn left, turn left at the window, and face the counter with the coffee maker on it, look above the counter at the cabinet. | STEP 4: Open both cabinet doors. put the knife down in the glass on the right. | STEP 5: Pick up the glass from the cabinet and close the door. | STEP 6: Turn left and walk to the sink on the left. | STEP 7: Put the glass inside of the sink. | END"]} +{"id": "trial_T20190909_025413_784807-2", "input": "Move a knife in a cup 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, 1.75, 0, 90, 0, [SEP] 1, Pan, 1.077, 0.950, -1.098, 0, 0, 0, 62 [SEP] 2, Statue, 0.859, 0.914, -0.381, 0, 0, 0, 61 [SEP] 3, Potato, 1.060, 1.825, -1.132, 0, 270, 0, 82 [SEP] 4, CellPhone, 0.875, 0.699, -0.607, 0, 270, 0, 58 [SEP] 5, DishSponge, -0.920, 0.933, -1.463, 0, 0, 0, 60 [SEP] 6, DishSponge, -1.571, 0.881, 2.692, 0, 0, 0, 86 [SEP] 7, Glassbottle, -0.865, 0.177, 0.543, 0, 180, 0, 80 [SEP] 8, Spoon, -1.292, 0.934, -1.167, 0, 0, 0, 60 [SEP] 9, Spoon, 0.773, 0.912, -0.729, 0, 0, 0, 61 [SEP] 10, Spatula, -0.642, 0.795, -0.659, 0, 0, 0, 81 [SEP] 11, Spatula, -0.642, 0.795, -0.918, 0, 0, 0, 81 [SEP] 12, Knife, 0.859, 0.934, -0.555, 0, 0, 0, 61 [SEP] 13, Cup, 1.101, 1.663, -2.097, 0, 270, 0, 59 [SEP] 14, Bowl, -1.229, 0.936, -0.905, 0, 0, 0, 60 [SEP] 15, Bowl, 0.905, 1.138, 1.349, 0, 270, 0, 83 [SEP] 16, SaltShaker, 0.713, 0.698, -0.607, 0, 270, 0, 58 [SEP] 17, SaltShaker, 1.194, 1.662, -0.401, 0, 270, 0, 69 [SEP] 18, PepperShaker, -1.467, 0.550, 2.667, 0, 0, 0, 86 [SEP] 19, Lettuce, 1.026, 0.940, 1.063, 0, 270, 0, 83 [SEP] 20, Bread, -1.355, 1.014, -0.118, 0, 0, 0, 60 [SEP] 21, Bread, 0.859, 0.992, 0.139, 0, 0, 0, 61 [SEP] 22, Mug, 0.960, 0.103, -1.892, 0, 0, 0, 65 [SEP] 23, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 79 [SEP] 24, Apple, 0.905, 1.185, 1.540, 0, 270, 0, 83 [SEP] 25, Apple, -0.697, 0.826, -0.745, 0, 90, 0, 81 [SEP] 26, Statue, 1.114, 0.914, -0.729, 0, 0, 0, 61 [SEP] 27, Glassbottle, 1.193, 1.667, 0.280, 0, 270, 0, 68 [SEP] 28, Bread, 1.114, 0.992, -0.034, 0, 0, 0, 61 [SEP] 29, CreditCard, -0.772, 0.930, -1.231, 0, 0, 0, 60 [SEP] 30, CellPhone, 0.688, 0.908, -2.051, 0, 0, 0, 66 [SEP] 31, Potato, 0.966, 1.165, 1.158, 0, 270, 0, 83 [SEP] 32, Knife, -0.772, 0.957, 0.162, 0, 0, 0, 60 [SEP] 33, Fork, -0.753, 0.781, -0.832, 0, 180, 0, 81 [SEP] 34, Pan, 0.965, 0.860, 1.444, 0, 0, 0, 83 [SEP] 35, Lettuce, 0.688, 0.988, -1.879, 0, 0, 0, 66 [SEP] 36, Plate, 0.905, 1.405, 1.254, 0, 270, 0, 83 [SEP] 37, Apple, 0.688, 0.961, -2.308, 0, 0, 0, 66 [SEP] 38, Pot, -1.221, 0.92, -0.49, 0, 0, 0, 60 [SEP] 39, Spatula, -0.753, 0.795, -0.573, 0, 180, 0, 81 [SEP] 40, PaperTowelRoll, 1.029, 1.015, -0.555, 0, 0, 0, 61 [SEP] 41, Tomato, 1.026, 1.683, 1.158, 0, 270, 0, 83 [SEP] 42, Egg, -1.007, 0.216, 0.576, 0, 180, 0, 80 [SEP] 43, SaltShaker, 0.954, 0.150, -0.690, 0, 270, 0, 63 [SEP] 44, PepperShaker, 0.688, 0.907, -0.555, 0, 0, 0, 61 [SEP] 45, Vase, 1.199, 0.911, -1.879, 0, 0, 0, 66 [SEP] 46, ButterKnife, -0.698, 0.776, -0.573, 0, 90, 0, 81 [SEP] 47, SoapBottle, 0.811, 0.108, -1.892, 0, 0, 0, 65 [SEP] 48, Vase, -1.881, 0.555, 2.822, 0, 0, 0, 86 [SEP] 49, Bowl, 1.055, 1.669, 0.153, 0, 270, 0, 68 [SEP] 50, DishSponge, 0.944, 0.910, -1.879, 0, 0, 0, 66 [SEP] 51, Spoon, 0.793, 0.154, -0.611, 0, 270, 0, 63 [SEP] 52, Cup, 1.148, 1.663, -1.961, 0, 270, 0, 59 [SEP] 53, Mug, 0.913, 0.115, 0.374, 0, 270, 0, 55 [SEP] 54, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 55, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 56, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 57, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 58, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 59, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 60, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 61, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 62, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 63, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 64, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 65, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 66, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 67, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 68, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 69, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 70, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 71, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 72, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 73, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 74, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 75, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 76, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 77, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 78, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 79, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 80, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 81, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 82, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 83, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 84, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 85, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 86, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 87, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 88, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 89, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 90, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 91, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 92, NorthWall, , , , , , , [SEP] 93, EastWall, , , , , , , [SEP] 94, SouthWall, , , , , , , [SEP] 95, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and move to stand in front of the sink. | STEP 2: Pick up the butter knife from inside the sink. | STEP 3: Turn left and move to stand in front of the coffee maker right after the stove. | STEP 4: Open the cupboard above the coffee maker and place the knife in the green cup on the right.. | STEP 5: Pick up the cup with the knife inside from the cupboard. | STEP 6: Turn left and carry the cup and knife to the sink. | STEP 7: Place the cup with the knife inside in the sink. | END"]} +{"id": "trial_T20190908_235816_620828-0", "input": "put a cup and knife on 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, -0.25, 0, 0, 0, [SEP] 1, Pan, -0.550, 0.931, -1.231, 0, 90, 0, 54 [SEP] 2, Statue, -0.846, 0.936, -0.067, 0, 0, 0, 54 [SEP] 3, ButterKnife, 0.773, 0.911, -1.879, 0, 0, 0, 60 [SEP] 4, ButterKnife, -0.624, 0.933, -1.386, 0, 0, 0, 54 [SEP] 5, ButterKnife, 1.029, 0.911, -0.381, 0, 0, 0, 55 [SEP] 6, Fork, 0.833, 0.154, -0.611, 0, 270, 0, 57 [SEP] 7, Spoon, 0.944, 0.912, -0.034, 0, 0, 0, 55 [SEP] 8, Spoon, 0.773, 0.912, -1.965, 0, 0, 0, 60 [SEP] 9, Cup, -0.587, 0.777, -0.832, 0, 90, 0, 75 [SEP] 10, Plate, 1.101, 1.669, -1.961, 0, 270, 0, 53 [SEP] 11, Tomato, 0.944, 0.952, -0.729, 0, 0, 0, 55 [SEP] 12, Tomato, 0.905, 0.903, 1.063, 0, 270, 0, 77 [SEP] 13, SoapBottle, 0.944, 0.911, -1.793, 0, 0, 0, 60 [SEP] 14, SaltShaker, -1.363, 0.550, 2.718, 0, 0, 0, 80 [SEP] 15, PepperShaker, 0.811, 0.117, 0.325, 0, 270, 0, 55 [SEP] 16, Mug, 0.960, 0.103, -2.212, 0, 0, 0, 59 [SEP] 17, Mug, 0.905, 0.858, 1.254, 0, 270, 0, 77 [SEP] 18, Apple, 1.029, 0.961, -0.208, 0, 0, 0, 55 [SEP] 19, Apple, -1.041, 0.983, -0.643, 0, 0, 0, 54 [SEP] 20, Statue, -0.772, 0.936, -1.540, 0, 0, 0, 54 [SEP] 21, Glassbottle, 0.913, 0.121, 0.374, 0, 270, 0, 49 [SEP] 22, Bread, -1.355, 1.014, -0.118, 0, 0, 0, 54 [SEP] 23, CreditCard, -0.920, 0.930, -1.618, 0, 0, 0, 54 [SEP] 24, CellPhone, -1.570, 0.550, 2.615, 0, 0, 0, 80 [SEP] 25, Potato, -0.808, 0.811, -0.573, 0, 90, 0, 75 [SEP] 26, Knife, 0.688, 0.934, -0.555, 0, 90, 0, 55 [SEP] 27, Fork, -1.104, 0.934, -0.905, 0, 0, 0, 54 [SEP] 28, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 48 [SEP] 29, Lettuce, 0.867, 1.688, 1.209, 9.748, 11.057, 358.799, 77 [SEP] 30, Plate, 1.114, 0.914, -0.034, 0, 0, 0, 55 [SEP] 31, Apple, -0.477, 0.983, 0.315, 0, 0, 0, 54 [SEP] 32, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 50 [SEP] 33, Spatula, 0.773, 0.926, -0.381, 0, 90, 0, 55 [SEP] 34, PaperTowelRoll, -0.818, 0.283, 0.641, 0, 270, 0, 74 [SEP] 35, Tomato, -1.007, 0.219, 0.576, 0, 180, 0, 74 [SEP] 36, Egg, 0.783, 0.900, 0.967, 0, 270, 0, 77 [SEP] 37, SaltShaker, 0.794, 0.699, -0.524, 0, 270, 0, 52 [SEP] 38, PepperShaker, 0.833, 0.150, -0.729, 0, 270, 0, 57 [SEP] 39, Vase, 1.199, 0.911, -0.729, 0, 0, 0, 55 [SEP] 40, ButterKnife, 0.773, 0.911, -0.729, 0, 0, 0, 55 [SEP] 41, SoapBottle, 1.114, 0.911, 0.139, 0, 0, 0, 55 [SEP] 42, Vase, 1.193, 1.667, 0.089, 0, 270, 0, 62 [SEP] 43, Bowl, 1.026, 1.138, 1.254, 0, 270, 0, 77 [SEP] 44, DishSponge, -0.587, 0.780, -0.659, 0, 90, 0, 75 [SEP] 45, Spoon, 1.029, 0.912, -0.381, 0, 0, 0, 55 [SEP] 46, Cup, -1.571, 0.879, 2.773, 0, 0, 0, 81 [SEP] 47, Mug, 0.861, 0.103, -1.892, 0, 0, 0, 59 [SEP] 48, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 49, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 50, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 51, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 52, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 53, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 54, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 55, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 56, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 57, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 58, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 59, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 60, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 61, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 62, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 63, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 64, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 65, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 66, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 67, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 68, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 69, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 70, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 71, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 72, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 73, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 74, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 75, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 76, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 77, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 78, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 79, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 80, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 81, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 82, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 83, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 84, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 85, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 86, NorthWall, , , , , , , [SEP] 87, EastWall, , , , , , , [SEP] 88, SouthWall, , , , , , , [SEP] 89, WestWall, , , , , , , ", "output": ["STEP 1: walk to face counter to left of stove | STEP 2: pick up butter knife from counter | STEP 3: turn around to face sink | STEP 4: put knife into green cup inside sink | STEP 5: pick up green cup from sink basin | STEP 6: turn around to face counter top | STEP 7: put cup on counter top | END"]} +{"id": "trial_T20190908_235816_620828-1", "input": "Put a cup with knife in 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, 0, 0, [SEP] 1, Pan, -0.550, 0.931, -1.231, 0, 90, 0, 54 [SEP] 2, Statue, -0.846, 0.936, -0.067, 0, 0, 0, 54 [SEP] 3, ButterKnife, 0.773, 0.911, -1.879, 0, 0, 0, 60 [SEP] 4, ButterKnife, -0.624, 0.933, -1.386, 0, 0, 0, 54 [SEP] 5, ButterKnife, 1.029, 0.911, -0.381, 0, 0, 0, 55 [SEP] 6, Fork, 0.833, 0.154, -0.611, 0, 270, 0, 57 [SEP] 7, Spoon, 0.944, 0.912, -0.034, 0, 0, 0, 55 [SEP] 8, Spoon, 0.773, 0.912, -1.965, 0, 0, 0, 60 [SEP] 9, Cup, -0.587, 0.777, -0.832, 0, 90, 0, 75 [SEP] 10, Plate, 1.101, 1.669, -1.961, 0, 270, 0, 53 [SEP] 11, Tomato, 0.944, 0.952, -0.729, 0, 0, 0, 55 [SEP] 12, Tomato, 0.905, 0.903, 1.063, 0, 270, 0, 77 [SEP] 13, SoapBottle, 0.944, 0.911, -1.793, 0, 0, 0, 60 [SEP] 14, SaltShaker, -1.363, 0.550, 2.718, 0, 0, 0, 80 [SEP] 15, PepperShaker, 0.811, 0.117, 0.325, 0, 270, 0, 55 [SEP] 16, Mug, 0.960, 0.103, -2.212, 0, 0, 0, 59 [SEP] 17, Mug, 0.905, 0.858, 1.254, 0, 270, 0, 77 [SEP] 18, Apple, 1.029, 0.961, -0.208, 0, 0, 0, 55 [SEP] 19, Apple, -1.041, 0.983, -0.643, 0, 0, 0, 54 [SEP] 20, Statue, -0.772, 0.936, -1.540, 0, 0, 0, 54 [SEP] 21, Glassbottle, 0.913, 0.121, 0.374, 0, 270, 0, 49 [SEP] 22, Bread, -1.355, 1.014, -0.118, 0, 0, 0, 54 [SEP] 23, CreditCard, -0.920, 0.930, -1.618, 0, 0, 0, 54 [SEP] 24, CellPhone, -1.570, 0.550, 2.615, 0, 0, 0, 80 [SEP] 25, Potato, -0.808, 0.811, -0.573, 0, 90, 0, 75 [SEP] 26, Knife, 0.688, 0.934, -0.555, 0, 90, 0, 55 [SEP] 27, Fork, -1.104, 0.934, -0.905, 0, 0, 0, 54 [SEP] 28, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 48 [SEP] 29, Lettuce, 0.867, 1.688, 1.209, 9.748, 11.057, 358.799, 77 [SEP] 30, Plate, 1.114, 0.914, -0.034, 0, 0, 0, 55 [SEP] 31, Apple, -0.477, 0.983, 0.315, 0, 0, 0, 54 [SEP] 32, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 50 [SEP] 33, Spatula, 0.773, 0.926, -0.381, 0, 90, 0, 55 [SEP] 34, PaperTowelRoll, -0.818, 0.283, 0.641, 0, 270, 0, 74 [SEP] 35, Tomato, -1.007, 0.219, 0.576, 0, 180, 0, 74 [SEP] 36, Egg, 0.783, 0.900, 0.967, 0, 270, 0, 77 [SEP] 37, SaltShaker, 0.794, 0.699, -0.524, 0, 270, 0, 52 [SEP] 38, PepperShaker, 0.833, 0.150, -0.729, 0, 270, 0, 57 [SEP] 39, Vase, 1.199, 0.911, -0.729, 0, 0, 0, 55 [SEP] 40, ButterKnife, 0.773, 0.911, -0.729, 0, 0, 0, 55 [SEP] 41, SoapBottle, 1.114, 0.911, 0.139, 0, 0, 0, 55 [SEP] 42, Vase, 1.193, 1.667, 0.089, 0, 270, 0, 62 [SEP] 43, Bowl, 1.026, 1.138, 1.254, 0, 270, 0, 77 [SEP] 44, DishSponge, -0.587, 0.780, -0.659, 0, 90, 0, 75 [SEP] 45, Spoon, 1.029, 0.912, -0.381, 0, 0, 0, 55 [SEP] 46, Cup, -1.571, 0.879, 2.773, 0, 0, 0, 81 [SEP] 47, Mug, 0.861, 0.103, -1.892, 0, 0, 0, 59 [SEP] 48, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 49, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 50, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 51, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 52, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 53, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 54, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 55, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 56, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 57, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 58, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 59, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 60, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 61, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 62, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 63, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 64, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 65, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 66, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 67, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 68, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 69, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 70, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 71, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 72, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 73, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 74, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 75, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 76, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 77, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 78, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 79, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 80, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 81, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 82, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 83, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 84, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 85, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 86, NorthWall, , , , , , , [SEP] 87, EastWall, , , , , , , [SEP] 88, SouthWall, , , , , , , [SEP] 89, WestWall, , , , , , , ", "output": ["STEP 1: Turn right, move to face the tomato on the counter, left of the stove. | STEP 2: Pick up the smaller silver knife on the counter. | STEP 3: Turn around, bring the knife to the sink. | STEP 4: Put the knife in the green cup in the sink. | STEP 5: Pick up the cup with knife in the sink. | STEP 6: Turn around, bring the cup to the counter. | STEP 7: Put the cup with knife on the counter, in front of the spoon and plate. | END"]} +{"id": "trial_T20190908_235816_620828-2", "input": "Put the butter knife into a green cup and place the cup 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, 0.25, 0.900, -0.25, 0, 0, 0, [SEP] 1, Pan, -0.550, 0.931, -1.231, 0, 90, 0, 54 [SEP] 2, Statue, -0.846, 0.936, -0.067, 0, 0, 0, 54 [SEP] 3, ButterKnife, 0.773, 0.911, -1.879, 0, 0, 0, 60 [SEP] 4, ButterKnife, -0.624, 0.933, -1.386, 0, 0, 0, 54 [SEP] 5, ButterKnife, 1.029, 0.911, -0.381, 0, 0, 0, 55 [SEP] 6, Fork, 0.833, 0.154, -0.611, 0, 270, 0, 57 [SEP] 7, Spoon, 0.944, 0.912, -0.034, 0, 0, 0, 55 [SEP] 8, Spoon, 0.773, 0.912, -1.965, 0, 0, 0, 60 [SEP] 9, Cup, -0.587, 0.777, -0.832, 0, 90, 0, 75 [SEP] 10, Plate, 1.101, 1.669, -1.961, 0, 270, 0, 53 [SEP] 11, Tomato, 0.944, 0.952, -0.729, 0, 0, 0, 55 [SEP] 12, Tomato, 0.905, 0.903, 1.063, 0, 270, 0, 77 [SEP] 13, SoapBottle, 0.944, 0.911, -1.793, 0, 0, 0, 60 [SEP] 14, SaltShaker, -1.363, 0.550, 2.718, 0, 0, 0, 80 [SEP] 15, PepperShaker, 0.811, 0.117, 0.325, 0, 270, 0, 55 [SEP] 16, Mug, 0.960, 0.103, -2.212, 0, 0, 0, 59 [SEP] 17, Mug, 0.905, 0.858, 1.254, 0, 270, 0, 77 [SEP] 18, Apple, 1.029, 0.961, -0.208, 0, 0, 0, 55 [SEP] 19, Apple, -1.041, 0.983, -0.643, 0, 0, 0, 54 [SEP] 20, Statue, -0.772, 0.936, -1.540, 0, 0, 0, 54 [SEP] 21, Glassbottle, 0.913, 0.121, 0.374, 0, 270, 0, 49 [SEP] 22, Bread, -1.355, 1.014, -0.118, 0, 0, 0, 54 [SEP] 23, CreditCard, -0.920, 0.930, -1.618, 0, 0, 0, 54 [SEP] 24, CellPhone, -1.570, 0.550, 2.615, 0, 0, 0, 80 [SEP] 25, Potato, -0.808, 0.811, -0.573, 0, 90, 0, 75 [SEP] 26, Knife, 0.688, 0.934, -0.555, 0, 90, 0, 55 [SEP] 27, Fork, -1.104, 0.934, -0.905, 0, 0, 0, 54 [SEP] 28, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 48 [SEP] 29, Lettuce, 0.867, 1.688, 1.209, 9.748, 11.057, 358.799, 77 [SEP] 30, Plate, 1.114, 0.914, -0.034, 0, 0, 0, 55 [SEP] 31, Apple, -0.477, 0.983, 0.315, 0, 0, 0, 54 [SEP] 32, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 50 [SEP] 33, Spatula, 0.773, 0.926, -0.381, 0, 90, 0, 55 [SEP] 34, PaperTowelRoll, -0.818, 0.283, 0.641, 0, 270, 0, 74 [SEP] 35, Tomato, -1.007, 0.219, 0.576, 0, 180, 0, 74 [SEP] 36, Egg, 0.783, 0.900, 0.967, 0, 270, 0, 77 [SEP] 37, SaltShaker, 0.794, 0.699, -0.524, 0, 270, 0, 52 [SEP] 38, PepperShaker, 0.833, 0.150, -0.729, 0, 270, 0, 57 [SEP] 39, Vase, 1.199, 0.911, -0.729, 0, 0, 0, 55 [SEP] 40, ButterKnife, 0.773, 0.911, -0.729, 0, 0, 0, 55 [SEP] 41, SoapBottle, 1.114, 0.911, 0.139, 0, 0, 0, 55 [SEP] 42, Vase, 1.193, 1.667, 0.089, 0, 270, 0, 62 [SEP] 43, Bowl, 1.026, 1.138, 1.254, 0, 270, 0, 77 [SEP] 44, DishSponge, -0.587, 0.780, -0.659, 0, 90, 0, 75 [SEP] 45, Spoon, 1.029, 0.912, -0.381, 0, 0, 0, 55 [SEP] 46, Cup, -1.571, 0.879, 2.773, 0, 0, 0, 81 [SEP] 47, Mug, 0.861, 0.103, -1.892, 0, 0, 0, 59 [SEP] 48, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 49, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 50, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 51, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 52, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 53, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 54, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 55, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 56, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 57, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 58, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 59, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 60, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 61, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 62, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 63, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 64, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 65, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 66, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 67, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 68, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 69, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 70, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 71, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 72, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 73, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 74, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 75, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 76, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 77, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 78, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 79, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 80, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 81, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 82, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 83, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 84, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 85, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 86, NorthWall, , , , , , , [SEP] 87, EastWall, , , , , , , [SEP] 88, SouthWall, , , , , , , [SEP] 89, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and walk to the counter on the left of the room, on the left side of the stove. | STEP 2: Pick up the butter knife beside the tomato on the counter. | STEP 3: Turn around and move to the sink directly in front of you. | STEP 4: Put the butter knife into the green cup in the sink. | STEP 5: Pick up the green cup with the butter knife in it. | STEP 6: Turn around and move to the counter above the dishwasher. | STEP 7: Put the cup with the butter knife down onto the counter above the dishwasher. | END"]} +{"id": "trial_T20190909_203041_433487-0", "input": "take the mug from the desk shelf to put it 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, 90, 0, [SEP] 1, CellPhone, -2.187, 0.040, 2.629, 0, 180, 0, 49 [SEP] 2, CellPhone, -2.031, 0.040, 2.575, 0, 180, 0, 49 [SEP] 3, Pen, -0.511, 0.370, -0.852, 0, 0, 0, 35 [SEP] 4, Pen, -0.710, 0.209, -0.338, 0, 0, 0, 27 [SEP] 5, Pencil, -1.744, 0.882, 0.498, 0, 0, 0, 37 [SEP] 6, KeyChain, -1.744, 0.879, 0.330, 0, 0, 0, 37 [SEP] 7, KeyChain, -0.511, 0.365, -1.093, 0, 0, 0, 35 [SEP] 8, Book, 1.206, 0.783, 1.366, 0, 0, 0, 25 [SEP] 9, Book, 0.800, 0.783, 1.076, 0, 0, 0, 25 [SEP] 10, Laptop, 1.206, 0.781, 1.945, 0, 0, 0, 25 [SEP] 11, Book, 1.003, 0.783, 2.234, 0, 0, 0, 25 [SEP] 12, AlarmClock, -0.514, 0.851, -0.619, 0, 56.206, 0, 34 [SEP] 13, BasketBall, 1.976, 0.120, 0.211, 0, 331.076, 0, [SEP] 14, Pen, -0.473, 0.370, -1.013, 0, 0, 0, 35 [SEP] 15, Laptop, 1.612, 0.781, 1.655, 0, 0, 0, 25 [SEP] 16, BaseballBat, 1.953, 0.659, -1.81, 346.388, 0, 0, [SEP] 17, Bowl, -0.827, 0.850, -1.641, 0, 0, 0, 34 [SEP] 18, Pillow, 1.612, 0.918, 2.234, 0, 0, 0, 25 [SEP] 19, KeyChain, -1.834, 0.668, 0.645, 0, 90, 0, 45 [SEP] 20, CreditCard, -1.995, 0.668, 0.758, 0, 0, 0, 45 [SEP] 21, CellPhone, 1.612, 0.784, 2.524, 0, 0, 0, 25 [SEP] 22, CD, -0.903, 0.857, -0.663, 0, 0, 0, 34 [SEP] 23, Pencil, -0.735, 0.861, -1.010, 0, 0, 0, 34 [SEP] 24, Mug, -1.834, 1.721, 0.407, 0, 0, 0, 38 [SEP] 25, Bed, 1.227, -0.002, 1.664, 0, 0, 0, [SEP] 26, LightSwitch, 2.151, 1.233, -0.518, 0, 270, 0, [SEP] 27, GarbageCan, -0.747, 0.014, -0.327, 0, 0, 0, [SEP] 28, Mirror, -1.358, 1.427, 2.855, 0, 0, 0, [SEP] 29, DeskLamp, -2.296, 0.858, 0.750, 0, 0, 0, [SEP] 30, Window, -0.421, 1.534, -1.947, 90, 0, 0, [SEP] 31, Window, 0.579, 1.534, -1.947, 90, 0, 0, [SEP] 32, Drawer, -0.491, 0.739, -0.855, 0, 90, 0, [SEP] 33, Drawer, -0.491, 0.204, -0.855, 0, 90, 0, [SEP] 34, Desk, -0.639, 0.009, -1.187, 0, 90, 0, [SEP] 35, Drawer, -0.491, 0.487, -0.855, 0, 90, 0, [SEP] 36, Shelf, -1.965, 1.514, 0.416, 0, 0, 0, [SEP] 37, Shelf, -1.965, 1.092, 0.416, 0, 0, 0, [SEP] 38, Shelf, -1.312, 1.888, 0.416, 0, 0, 0, [SEP] 39, Shelf, -1.965, 1.888, 0.416, 0, 0, 0, [SEP] 40, Shelf, -1.312, 1.092, 0.416, 0, 0, 0, [SEP] 41, Shelf, -1.312, 1.514, 0.416, 0, 0, 0, [SEP] 42, Blinds, 0.601, 2.161, -1.916, 0, 0, 0, [SEP] 43, Blinds, -0.402, 2.161, -1.916, 0, 0, 0, [SEP] 44, Desk, -1.726, 0.001, 0.575, 0, 0, 0, [SEP] 45, Drawer, -2.058, 0.733, 0.734, 0, 0, 0, [SEP] 46, Drawer, -2.058, 0.482, 0.734, 0, 0, 0, [SEP] 47, Drawer, -2.058, 0.198, 0.735, 0, 0, 0, [SEP] 48, Chair, -0.137, 0.000, -1.587, 0, 315, 0, [SEP] 49, Safe, -2.183, -7.748, 2.576, 0, 180, 0, [SEP] 50, Chair, -1.433, 0.009, 0.780, 357.672, 206.726, 0, [SEP] 51, LaundryHamper, 0.163, 0.003, 2.635, 0, 86.390, 0, [SEP] 52, NorthWall, , , , , , , [SEP] 53, EastWall, , , , , , , [SEP] 54, SouthWall, , , , , , , [SEP] 55, WestWall, , , , , , , ", "output": ["STEP 1: walk around to the desk and face the middle row of books | STEP 2: Pick up the white mug from the top shelf | STEP 3: walk the mug around to the side of the desk | STEP 4: set the mug on the desk | END"]} +{"id": "trial_T20190909_203041_433487-1", "input": "Move a mug from the shelf 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, 0.5, 0.900, -1.0, 0, 90, 0, [SEP] 1, CellPhone, -2.187, 0.040, 2.629, 0, 180, 0, 49 [SEP] 2, CellPhone, -2.031, 0.040, 2.575, 0, 180, 0, 49 [SEP] 3, Pen, -0.511, 0.370, -0.852, 0, 0, 0, 35 [SEP] 4, Pen, -0.710, 0.209, -0.338, 0, 0, 0, 27 [SEP] 5, Pencil, -1.744, 0.882, 0.498, 0, 0, 0, 37 [SEP] 6, KeyChain, -1.744, 0.879, 0.330, 0, 0, 0, 37 [SEP] 7, KeyChain, -0.511, 0.365, -1.093, 0, 0, 0, 35 [SEP] 8, Book, 1.206, 0.783, 1.366, 0, 0, 0, 25 [SEP] 9, Book, 0.800, 0.783, 1.076, 0, 0, 0, 25 [SEP] 10, Laptop, 1.206, 0.781, 1.945, 0, 0, 0, 25 [SEP] 11, Book, 1.003, 0.783, 2.234, 0, 0, 0, 25 [SEP] 12, AlarmClock, -0.514, 0.851, -0.619, 0, 56.206, 0, 34 [SEP] 13, BasketBall, 1.976, 0.120, 0.211, 0, 331.076, 0, [SEP] 14, Pen, -0.473, 0.370, -1.013, 0, 0, 0, 35 [SEP] 15, Laptop, 1.612, 0.781, 1.655, 0, 0, 0, 25 [SEP] 16, BaseballBat, 1.953, 0.659, -1.81, 346.388, 0, 0, [SEP] 17, Bowl, -0.827, 0.850, -1.641, 0, 0, 0, 34 [SEP] 18, Pillow, 1.612, 0.918, 2.234, 0, 0, 0, 25 [SEP] 19, KeyChain, -1.834, 0.668, 0.645, 0, 90, 0, 45 [SEP] 20, CreditCard, -1.995, 0.668, 0.758, 0, 0, 0, 45 [SEP] 21, CellPhone, 1.612, 0.784, 2.524, 0, 0, 0, 25 [SEP] 22, CD, -0.903, 0.857, -0.663, 0, 0, 0, 34 [SEP] 23, Pencil, -0.735, 0.861, -1.010, 0, 0, 0, 34 [SEP] 24, Mug, -1.834, 1.721, 0.407, 0, 0, 0, 38 [SEP] 25, Bed, 1.227, -0.002, 1.664, 0, 0, 0, [SEP] 26, LightSwitch, 2.151, 1.233, -0.518, 0, 270, 0, [SEP] 27, GarbageCan, -0.747, 0.014, -0.327, 0, 0, 0, [SEP] 28, Mirror, -1.358, 1.427, 2.855, 0, 0, 0, [SEP] 29, DeskLamp, -2.296, 0.858, 0.750, 0, 0, 0, [SEP] 30, Window, -0.421, 1.534, -1.947, 90, 0, 0, [SEP] 31, Window, 0.579, 1.534, -1.947, 90, 0, 0, [SEP] 32, Drawer, -0.491, 0.739, -0.855, 0, 90, 0, [SEP] 33, Drawer, -0.491, 0.204, -0.855, 0, 90, 0, [SEP] 34, Desk, -0.639, 0.009, -1.187, 0, 90, 0, [SEP] 35, Drawer, -0.491, 0.487, -0.855, 0, 90, 0, [SEP] 36, Shelf, -1.965, 1.514, 0.416, 0, 0, 0, [SEP] 37, Shelf, -1.965, 1.092, 0.416, 0, 0, 0, [SEP] 38, Shelf, -1.312, 1.888, 0.416, 0, 0, 0, [SEP] 39, Shelf, -1.965, 1.888, 0.416, 0, 0, 0, [SEP] 40, Shelf, -1.312, 1.092, 0.416, 0, 0, 0, [SEP] 41, Shelf, -1.312, 1.514, 0.416, 0, 0, 0, [SEP] 42, Blinds, 0.601, 2.161, -1.916, 0, 0, 0, [SEP] 43, Blinds, -0.402, 2.161, -1.916, 0, 0, 0, [SEP] 44, Desk, -1.726, 0.001, 0.575, 0, 0, 0, [SEP] 45, Drawer, -2.058, 0.733, 0.734, 0, 0, 0, [SEP] 46, Drawer, -2.058, 0.482, 0.734, 0, 0, 0, [SEP] 47, Drawer, -2.058, 0.198, 0.735, 0, 0, 0, [SEP] 48, Chair, -0.137, 0.000, -1.587, 0, 315, 0, [SEP] 49, Safe, -2.183, -7.748, 2.576, 0, 180, 0, [SEP] 50, Chair, -1.433, 0.009, 0.780, 357.672, 206.726, 0, [SEP] 51, LaundryHamper, 0.163, 0.003, 2.635, 0, 86.390, 0, [SEP] 52, NorthWall, , , , , , , [SEP] 53, EastWall, , , , , , , [SEP] 54, SouthWall, , , , , , , [SEP] 55, WestWall, , , , , , , ", "output": ["STEP 1: Turn left, move to the bed, go to the desk left of the bed, face the books on the shelf above the desk. | STEP 2: Pick up the mug on the shelf. | STEP 3: Turn around, move to the side of the desk closer to the bed, face the side of the desk. | STEP 4: Put the mug on the desk. | END"]} +{"id": "trial_T20190909_203041_433487-2", "input": "Move a cup from the top shelf to the edge 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, 90, 0, [SEP] 1, CellPhone, -2.187, 0.040, 2.629, 0, 180, 0, 49 [SEP] 2, CellPhone, -2.031, 0.040, 2.575, 0, 180, 0, 49 [SEP] 3, Pen, -0.511, 0.370, -0.852, 0, 0, 0, 35 [SEP] 4, Pen, -0.710, 0.209, -0.338, 0, 0, 0, 27 [SEP] 5, Pencil, -1.744, 0.882, 0.498, 0, 0, 0, 37 [SEP] 6, KeyChain, -1.744, 0.879, 0.330, 0, 0, 0, 37 [SEP] 7, KeyChain, -0.511, 0.365, -1.093, 0, 0, 0, 35 [SEP] 8, Book, 1.206, 0.783, 1.366, 0, 0, 0, 25 [SEP] 9, Book, 0.800, 0.783, 1.076, 0, 0, 0, 25 [SEP] 10, Laptop, 1.206, 0.781, 1.945, 0, 0, 0, 25 [SEP] 11, Book, 1.003, 0.783, 2.234, 0, 0, 0, 25 [SEP] 12, AlarmClock, -0.514, 0.851, -0.619, 0, 56.206, 0, 34 [SEP] 13, BasketBall, 1.976, 0.120, 0.211, 0, 331.076, 0, [SEP] 14, Pen, -0.473, 0.370, -1.013, 0, 0, 0, 35 [SEP] 15, Laptop, 1.612, 0.781, 1.655, 0, 0, 0, 25 [SEP] 16, BaseballBat, 1.953, 0.659, -1.81, 346.388, 0, 0, [SEP] 17, Bowl, -0.827, 0.850, -1.641, 0, 0, 0, 34 [SEP] 18, Pillow, 1.612, 0.918, 2.234, 0, 0, 0, 25 [SEP] 19, KeyChain, -1.834, 0.668, 0.645, 0, 90, 0, 45 [SEP] 20, CreditCard, -1.995, 0.668, 0.758, 0, 0, 0, 45 [SEP] 21, CellPhone, 1.612, 0.784, 2.524, 0, 0, 0, 25 [SEP] 22, CD, -0.903, 0.857, -0.663, 0, 0, 0, 34 [SEP] 23, Pencil, -0.735, 0.861, -1.010, 0, 0, 0, 34 [SEP] 24, Mug, -1.834, 1.721, 0.407, 0, 0, 0, 38 [SEP] 25, Bed, 1.227, -0.002, 1.664, 0, 0, 0, [SEP] 26, LightSwitch, 2.151, 1.233, -0.518, 0, 270, 0, [SEP] 27, GarbageCan, -0.747, 0.014, -0.327, 0, 0, 0, [SEP] 28, Mirror, -1.358, 1.427, 2.855, 0, 0, 0, [SEP] 29, DeskLamp, -2.296, 0.858, 0.750, 0, 0, 0, [SEP] 30, Window, -0.421, 1.534, -1.947, 90, 0, 0, [SEP] 31, Window, 0.579, 1.534, -1.947, 90, 0, 0, [SEP] 32, Drawer, -0.491, 0.739, -0.855, 0, 90, 0, [SEP] 33, Drawer, -0.491, 0.204, -0.855, 0, 90, 0, [SEP] 34, Desk, -0.639, 0.009, -1.187, 0, 90, 0, [SEP] 35, Drawer, -0.491, 0.487, -0.855, 0, 90, 0, [SEP] 36, Shelf, -1.965, 1.514, 0.416, 0, 0, 0, [SEP] 37, Shelf, -1.965, 1.092, 0.416, 0, 0, 0, [SEP] 38, Shelf, -1.312, 1.888, 0.416, 0, 0, 0, [SEP] 39, Shelf, -1.965, 1.888, 0.416, 0, 0, 0, [SEP] 40, Shelf, -1.312, 1.092, 0.416, 0, 0, 0, [SEP] 41, Shelf, -1.312, 1.514, 0.416, 0, 0, 0, [SEP] 42, Blinds, 0.601, 2.161, -1.916, 0, 0, 0, [SEP] 43, Blinds, -0.402, 2.161, -1.916, 0, 0, 0, [SEP] 44, Desk, -1.726, 0.001, 0.575, 0, 0, 0, [SEP] 45, Drawer, -2.058, 0.733, 0.734, 0, 0, 0, [SEP] 46, Drawer, -2.058, 0.482, 0.734, 0, 0, 0, [SEP] 47, Drawer, -2.058, 0.198, 0.735, 0, 0, 0, [SEP] 48, Chair, -0.137, 0.000, -1.587, 0, 315, 0, [SEP] 49, Safe, -2.183, -7.748, 2.576, 0, 180, 0, [SEP] 50, Chair, -1.433, 0.009, 0.780, 357.672, 206.726, 0, [SEP] 51, LaundryHamper, 0.163, 0.003, 2.635, 0, 86.390, 0, [SEP] 52, NorthWall, , , , , , , [SEP] 53, EastWall, , , , , , , [SEP] 54, SouthWall, , , , , , , [SEP] 55, WestWall, , , , , , , ", "output": ["STEP 1: Walk around the bed to the front of the computer desk on your left. | STEP 2: Pick up the coffee cup from the top shelf of the desk. | STEP 3: Walk to the side of the computer desk. | STEP 4: Place the cup on the edge of the desk. | END"]} +{"id": "trial_T20190909_102608_318800-0", "input": "Put a cooled tomato 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, -3.5, 0.900, 1.25, 0, 180, 0, [SEP] 1, Statue, 0.859, 0.914, -0.381, 0, 0, 0, 57 [SEP] 2, Vase, 1.193, 1.667, 0.216, 0, 270, 0, 64 [SEP] 3, Potato, 0.966, 0.893, 1.158, 0, 270, 0, 79 [SEP] 4, CreditCard, -1.418, 0.930, -0.905, 0, 0, 0, 56 [SEP] 5, CellPhone, 1.029, 0.908, -0.381, 0, 0, 0, 57 [SEP] 6, DishSponge, -1.571, 0.881, 2.692, 0, 0, 0, 82 [SEP] 7, ButterKnife, -0.772, 0.933, -1.618, 0, 0, 0, 56 [SEP] 8, ButterKnife, 1.029, 0.911, -0.555, 0, 0, 0, 57 [SEP] 9, Glassbottle, 0.944, 0.912, -0.555, 0, 0, 0, 57 [SEP] 10, Spoon, 0.875, 0.496, -0.565, 0, 0, 0, 60 [SEP] 11, Spoon, -0.642, 0.781, -0.745, 0, 90, 0, 77 [SEP] 12, Spatula, -0.753, 0.791, -0.659, 0, 180, 0, 77 [SEP] 13, Knife, -0.698, 0.957, -1.231, 0, 0, 0, 56 [SEP] 14, Knife, -1.041, 0.957, -0.380, 0, 90, 0, 56 [SEP] 15, Bowl, 0.844, 0.866, 0.967, 0, 270, 0, 79 [SEP] 16, SaltShaker, 0.874, 0.150, -0.650, 0, 270, 0, 59 [SEP] 17, SaltShaker, 1.199, 0.907, -1.965, 0, 0, 0, 62 [SEP] 18, PepperShaker, 0.688, 0.907, -0.381, 0, 0, 0, 57 [SEP] 19, Lettuce, 0.966, 0.940, 1.349, 0, 270, 0, 79 [SEP] 20, Lettuce, 0.688, 0.988, 0.139, 0, 0, 0, 57 [SEP] 21, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 75 [SEP] 22, Statue, 0.859, 0.914, -0.729, 0, 0, 0, 57 [SEP] 23, Glassbottle, -0.753, 0.777, -0.832, 0, 90, 0, 77 [SEP] 24, Bread, -1.355, 1.014, -0.380, 0, 0, 0, 56 [SEP] 25, CreditCard, -1.469, 0.878, 2.692, 0, 0, 0, 83 [SEP] 26, CellPhone, 0.794, 0.699, -0.690, 0, 270, 0, 54 [SEP] 27, Potato, 0.905, 1.432, 1.158, 0, 270, 0, 79 [SEP] 28, Knife, 1.114, 0.934, -0.034, 0, 0, 0, 57 [SEP] 29, Fork, -0.753, 0.781, -0.918, 0, 180, 0, 77 [SEP] 30, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 50 [SEP] 31, Lettuce, 1.026, 1.479, 1.444, 0, 270, 0, 79 [SEP] 32, Plate, 0.910, 0.111, -2.212, 0, 0, 0, 61 [SEP] 33, Apple, -1.007, 0.227, 0.608, 0, 180, 0, 76 [SEP] 34, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 52 [SEP] 35, Spatula, -0.698, 0.948, -0.067, 0, 0, 0, 56 [SEP] 36, PaperTowelRoll, -1.674, 0.658, 2.822, 0, 0, 0, 82 [SEP] 37, Tomato, -0.865, 0.217, 0.608, 0, 180, 0, 76 [SEP] 38, Egg, 0.783, 1.172, 1.063, 0, 270, 0, 79 [SEP] 39, SaltShaker, 0.915, 0.490, -0.772, 0, 270, 0, 60 [SEP] 40, PepperShaker, -0.698, 0.929, -1.463, 0, 0, 0, 56 [SEP] 41, Vase, 1.199, 0.911, 0.139, 0, 0, 0, 57 [SEP] 42, ButterKnife, 0.859, 0.911, -0.555, 0, 0, 0, 57 [SEP] 43, SoapBottle, 0.811, 0.108, -1.812, 0, 0, 0, 61 [SEP] 44, Vase, -1.985, 0.555, 2.718, 0, 0, 0, 82 [SEP] 45, Bowl, 0.966, 1.646, 1.349, 0, 270, 0, 79 [SEP] 46, DishSponge, 1.082, 2.207, -1.299, 0, 270, 0, 63 [SEP] 47, Spoon, 0.834, 0.495, -0.690, 0, 270, 0, 60 [SEP] 48, Cup, 1.147, 1.663, 0.025, 0, 270, 0, 64 [SEP] 49, Mug, -0.698, 0.928, -1.618, 0, 0, 0, 56 [SEP] 50, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 51, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 52, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 53, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 54, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 55, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 56, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 57, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 58, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 59, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 60, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 61, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 62, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 63, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 64, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 65, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 66, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 67, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 68, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 69, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 70, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 71, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 72, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 73, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 74, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 75, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 76, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 77, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 78, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 79, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 80, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 81, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 82, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 83, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 84, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 85, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 86, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 87, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 88, NorthWall, , , , , , , [SEP] 89, EastWall, , , , , , , [SEP] 90, SouthWall, , , , , , , [SEP] 91, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and go to the black trash can | STEP 2: Pick up the tomato from the trash can | STEP 3: Turn around and go to the refrigerator | STEP 4: Place the tomato in the refrigerator between the lettuce and tomato and close the door. Open the door and take out the tomato | STEP 5: Turn right and go to the microwave above the sink on the left | STEP 6: Open the door, put the tomato in the microwave and close the door | END"]} +{"id": "trial_T20190909_102608_318800-1", "input": "Place a chilled tomato 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, -3.5, 0.900, 1.25, 0, 180, 0, [SEP] 1, Statue, 0.859, 0.914, -0.381, 0, 0, 0, 57 [SEP] 2, Vase, 1.193, 1.667, 0.216, 0, 270, 0, 64 [SEP] 3, Potato, 0.966, 0.893, 1.158, 0, 270, 0, 79 [SEP] 4, CreditCard, -1.418, 0.930, -0.905, 0, 0, 0, 56 [SEP] 5, CellPhone, 1.029, 0.908, -0.381, 0, 0, 0, 57 [SEP] 6, DishSponge, -1.571, 0.881, 2.692, 0, 0, 0, 82 [SEP] 7, ButterKnife, -0.772, 0.933, -1.618, 0, 0, 0, 56 [SEP] 8, ButterKnife, 1.029, 0.911, -0.555, 0, 0, 0, 57 [SEP] 9, Glassbottle, 0.944, 0.912, -0.555, 0, 0, 0, 57 [SEP] 10, Spoon, 0.875, 0.496, -0.565, 0, 0, 0, 60 [SEP] 11, Spoon, -0.642, 0.781, -0.745, 0, 90, 0, 77 [SEP] 12, Spatula, -0.753, 0.791, -0.659, 0, 180, 0, 77 [SEP] 13, Knife, -0.698, 0.957, -1.231, 0, 0, 0, 56 [SEP] 14, Knife, -1.041, 0.957, -0.380, 0, 90, 0, 56 [SEP] 15, Bowl, 0.844, 0.866, 0.967, 0, 270, 0, 79 [SEP] 16, SaltShaker, 0.874, 0.150, -0.650, 0, 270, 0, 59 [SEP] 17, SaltShaker, 1.199, 0.907, -1.965, 0, 0, 0, 62 [SEP] 18, PepperShaker, 0.688, 0.907, -0.381, 0, 0, 0, 57 [SEP] 19, Lettuce, 0.966, 0.940, 1.349, 0, 270, 0, 79 [SEP] 20, Lettuce, 0.688, 0.988, 0.139, 0, 0, 0, 57 [SEP] 21, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 75 [SEP] 22, Statue, 0.859, 0.914, -0.729, 0, 0, 0, 57 [SEP] 23, Glassbottle, -0.753, 0.777, -0.832, 0, 90, 0, 77 [SEP] 24, Bread, -1.355, 1.014, -0.380, 0, 0, 0, 56 [SEP] 25, CreditCard, -1.469, 0.878, 2.692, 0, 0, 0, 83 [SEP] 26, CellPhone, 0.794, 0.699, -0.690, 0, 270, 0, 54 [SEP] 27, Potato, 0.905, 1.432, 1.158, 0, 270, 0, 79 [SEP] 28, Knife, 1.114, 0.934, -0.034, 0, 0, 0, 57 [SEP] 29, Fork, -0.753, 0.781, -0.918, 0, 180, 0, 77 [SEP] 30, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 50 [SEP] 31, Lettuce, 1.026, 1.479, 1.444, 0, 270, 0, 79 [SEP] 32, Plate, 0.910, 0.111, -2.212, 0, 0, 0, 61 [SEP] 33, Apple, -1.007, 0.227, 0.608, 0, 180, 0, 76 [SEP] 34, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 52 [SEP] 35, Spatula, -0.698, 0.948, -0.067, 0, 0, 0, 56 [SEP] 36, PaperTowelRoll, -1.674, 0.658, 2.822, 0, 0, 0, 82 [SEP] 37, Tomato, -0.865, 0.217, 0.608, 0, 180, 0, 76 [SEP] 38, Egg, 0.783, 1.172, 1.063, 0, 270, 0, 79 [SEP] 39, SaltShaker, 0.915, 0.490, -0.772, 0, 270, 0, 60 [SEP] 40, PepperShaker, -0.698, 0.929, -1.463, 0, 0, 0, 56 [SEP] 41, Vase, 1.199, 0.911, 0.139, 0, 0, 0, 57 [SEP] 42, ButterKnife, 0.859, 0.911, -0.555, 0, 0, 0, 57 [SEP] 43, SoapBottle, 0.811, 0.108, -1.812, 0, 0, 0, 61 [SEP] 44, Vase, -1.985, 0.555, 2.718, 0, 0, 0, 82 [SEP] 45, Bowl, 0.966, 1.646, 1.349, 0, 270, 0, 79 [SEP] 46, DishSponge, 1.082, 2.207, -1.299, 0, 270, 0, 63 [SEP] 47, Spoon, 0.834, 0.495, -0.690, 0, 270, 0, 60 [SEP] 48, Cup, 1.147, 1.663, 0.025, 0, 270, 0, 64 [SEP] 49, Mug, -0.698, 0.928, -1.618, 0, 0, 0, 56 [SEP] 50, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 51, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 52, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 53, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 54, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 55, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 56, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 57, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 58, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 59, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 60, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 61, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 62, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 63, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 64, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 65, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 66, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 67, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 68, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 69, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 70, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 71, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 72, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 73, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 74, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 75, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 76, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 77, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 78, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 79, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 80, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 81, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 82, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 83, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 84, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 85, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 86, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 87, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 88, NorthWall, , , , , , , [SEP] 89, EastWall, , , , , , , [SEP] 90, SouthWall, , , , , , , [SEP] 91, WestWall, , , , , , , ", "output": ["STEP 1: Turn left, walk forward to the refrigerator, then turn around and face the garbage can on the floor. | STEP 2: Pick up the tomato from the garbage can. | STEP 3: Turn around towards the refrigerator. | STEP 4: Cool the tomato in the refrigerator, then take it out and close the refrigerator. | STEP 5: Turn right and walk forward to the sink, then turn left towards the microwave above the stove top. | STEP 6: Put the tomato in the microwave and close the microwave. | END"]} +{"id": "trial_T20190909_102608_318800-2", "input": "Put a cold tomato 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, -3.5, 0.900, 1.25, 0, 180, 0, [SEP] 1, Statue, 0.859, 0.914, -0.381, 0, 0, 0, 57 [SEP] 2, Vase, 1.193, 1.667, 0.216, 0, 270, 0, 64 [SEP] 3, Potato, 0.966, 0.893, 1.158, 0, 270, 0, 79 [SEP] 4, CreditCard, -1.418, 0.930, -0.905, 0, 0, 0, 56 [SEP] 5, CellPhone, 1.029, 0.908, -0.381, 0, 0, 0, 57 [SEP] 6, DishSponge, -1.571, 0.881, 2.692, 0, 0, 0, 82 [SEP] 7, ButterKnife, -0.772, 0.933, -1.618, 0, 0, 0, 56 [SEP] 8, ButterKnife, 1.029, 0.911, -0.555, 0, 0, 0, 57 [SEP] 9, Glassbottle, 0.944, 0.912, -0.555, 0, 0, 0, 57 [SEP] 10, Spoon, 0.875, 0.496, -0.565, 0, 0, 0, 60 [SEP] 11, Spoon, -0.642, 0.781, -0.745, 0, 90, 0, 77 [SEP] 12, Spatula, -0.753, 0.791, -0.659, 0, 180, 0, 77 [SEP] 13, Knife, -0.698, 0.957, -1.231, 0, 0, 0, 56 [SEP] 14, Knife, -1.041, 0.957, -0.380, 0, 90, 0, 56 [SEP] 15, Bowl, 0.844, 0.866, 0.967, 0, 270, 0, 79 [SEP] 16, SaltShaker, 0.874, 0.150, -0.650, 0, 270, 0, 59 [SEP] 17, SaltShaker, 1.199, 0.907, -1.965, 0, 0, 0, 62 [SEP] 18, PepperShaker, 0.688, 0.907, -0.381, 0, 0, 0, 57 [SEP] 19, Lettuce, 0.966, 0.940, 1.349, 0, 270, 0, 79 [SEP] 20, Lettuce, 0.688, 0.988, 0.139, 0, 0, 0, 57 [SEP] 21, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 75 [SEP] 22, Statue, 0.859, 0.914, -0.729, 0, 0, 0, 57 [SEP] 23, Glassbottle, -0.753, 0.777, -0.832, 0, 90, 0, 77 [SEP] 24, Bread, -1.355, 1.014, -0.380, 0, 0, 0, 56 [SEP] 25, CreditCard, -1.469, 0.878, 2.692, 0, 0, 0, 83 [SEP] 26, CellPhone, 0.794, 0.699, -0.690, 0, 270, 0, 54 [SEP] 27, Potato, 0.905, 1.432, 1.158, 0, 270, 0, 79 [SEP] 28, Knife, 1.114, 0.934, -0.034, 0, 0, 0, 57 [SEP] 29, Fork, -0.753, 0.781, -0.918, 0, 180, 0, 77 [SEP] 30, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 50 [SEP] 31, Lettuce, 1.026, 1.479, 1.444, 0, 270, 0, 79 [SEP] 32, Plate, 0.910, 0.111, -2.212, 0, 0, 0, 61 [SEP] 33, Apple, -1.007, 0.227, 0.608, 0, 180, 0, 76 [SEP] 34, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 52 [SEP] 35, Spatula, -0.698, 0.948, -0.067, 0, 0, 0, 56 [SEP] 36, PaperTowelRoll, -1.674, 0.658, 2.822, 0, 0, 0, 82 [SEP] 37, Tomato, -0.865, 0.217, 0.608, 0, 180, 0, 76 [SEP] 38, Egg, 0.783, 1.172, 1.063, 0, 270, 0, 79 [SEP] 39, SaltShaker, 0.915, 0.490, -0.772, 0, 270, 0, 60 [SEP] 40, PepperShaker, -0.698, 0.929, -1.463, 0, 0, 0, 56 [SEP] 41, Vase, 1.199, 0.911, 0.139, 0, 0, 0, 57 [SEP] 42, ButterKnife, 0.859, 0.911, -0.555, 0, 0, 0, 57 [SEP] 43, SoapBottle, 0.811, 0.108, -1.812, 0, 0, 0, 61 [SEP] 44, Vase, -1.985, 0.555, 2.718, 0, 0, 0, 82 [SEP] 45, Bowl, 0.966, 1.646, 1.349, 0, 270, 0, 79 [SEP] 46, DishSponge, 1.082, 2.207, -1.299, 0, 270, 0, 63 [SEP] 47, Spoon, 0.834, 0.495, -0.690, 0, 270, 0, 60 [SEP] 48, Cup, 1.147, 1.663, 0.025, 0, 270, 0, 64 [SEP] 49, Mug, -0.698, 0.928, -1.618, 0, 0, 0, 56 [SEP] 50, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 51, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 52, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 53, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 54, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 55, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 56, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 57, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 58, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 59, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 60, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 61, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 62, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 63, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 64, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 65, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 66, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 67, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 68, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 69, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 70, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 71, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 72, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 73, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 74, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 75, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 76, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 77, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 78, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 79, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 80, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 81, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 82, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 83, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 84, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 85, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 86, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 87, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 88, NorthWall, , , , , , , [SEP] 89, EastWall, , , , , , , [SEP] 90, SouthWall, , , , , , , [SEP] 91, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and walk to the black garbage that's in front of you and turn right to face it. | STEP 2: Pick up the tomato that's in front of you in the garbage. | STEP 3: Turn right and take a step then turn right to face the fridge. | STEP 4: Chill the tomato in the fridge then take it back out and close the door. | STEP 5: Turn right and walk to the stove that's on your left then turn left to face it. | STEP 6: Put the tomato in the microwave. | END"]} +{"id": "trial_T20190908_111818_332166-0", "input": "place a cup with a fork in it on top of 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, -2.75, 0.900, 0.75, 0, 180, 0, [SEP] 1, Statue, -0.698, 0.936, -1.231, 0, 0, 0, 59 [SEP] 2, Vase, 1.194, 1.667, -2.166, 0, 270, 0, 58 [SEP] 3, Potato, 0.995, 1.825, -1.132, 0, 270, 0, 81 [SEP] 4, CreditCard, 0.773, 0.908, -2.308, 0, 0, 0, 65 [SEP] 5, ButterKnife, -1.167, 0.933, -0.118, 0, 0, 0, 59 [SEP] 6, ButterKnife, -0.846, 0.933, 0.162, 0, 90, 0, 59 [SEP] 7, Glassbottle, 1.193, 1.667, 0.280, 0, 270, 0, 67 [SEP] 8, Glassbottle, 1.039, 2.208, -1.517, 0, 270, 0, 66 [SEP] 9, Spoon, 0.859, 0.912, -0.729, 0, 0, 0, 60 [SEP] 10, Spoon, -0.697, 0.781, -0.573, 0, 90, 0, 80 [SEP] 11, Spatula, 0.773, 0.926, -1.793, 0, 270, 0, 65 [SEP] 12, Spatula, -1.104, 0.948, -1.430, 0, 90, 0, 59 [SEP] 13, Knife, -0.550, 0.957, -1.618, 0, 0, 0, 59 [SEP] 14, Egg, -1.101, 0.214, 0.543, 0, 180, 0, 79 [SEP] 15, Plate, 0.905, 1.405, 1.444, 0, 270, 0, 82 [SEP] 16, Tomato, -1.292, 0.974, -0.905, 0, 0, 0, 59 [SEP] 17, SoapBottle, -0.772, 0.933, 0.239, 0, 0, 0, 59 [SEP] 18, SoapBottle, -0.865, 0.179, 0.543, 0, 180, 0, 79 [SEP] 19, Bowl, 1.147, 1.669, 0.089, 0, 270, 0, 67 [SEP] 20, SaltShaker, -1.292, 0.929, -0.118, 0, 0, 0, 59 [SEP] 21, SaltShaker, -1.985, 0.550, 2.874, 0, 0, 0, 85 [SEP] 22, Bread, 0.944, 0.992, -0.381, 0, 0, 0, 60 [SEP] 23, Mug, 0.905, 1.129, 1.444, 0, 270, 0, 82 [SEP] 24, Mug, 0.966, 0.858, 1.158, 0, 270, 0, 82 [SEP] 25, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 59 [SEP] 26, Glassbottle, -1.007, 0.177, 0.543, 0, 180, 0, 79 [SEP] 27, Bread, 1.029, 0.992, -0.034, 0, 0, 0, 60 [SEP] 28, CreditCard, -1.469, 0.878, 2.773, 0, 0, 0, 86 [SEP] 29, CellPhone, 0.688, 0.908, 0.313, 0, 0, 0, 60 [SEP] 30, Potato, -0.808, 0.811, -0.400, 0, 90, 0, 80 [SEP] 31, Knife, 0.859, 0.934, -0.207, 0, 0, 0, 60 [SEP] 32, Fork, -0.624, 0.934, -0.067, 0, 0, 0, 59 [SEP] 33, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 53 [SEP] 34, Lettuce, 1.026, 1.479, 1.063, 0, 270, 0, 82 [SEP] 35, Plate, -0.697, 0.779, -0.832, 0, 90, 0, 80 [SEP] 36, Apple, -0.772, 0.983, 0.086, 0, 0, 0, 59 [SEP] 37, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 55 [SEP] 38, Spatula, -0.642, 0.795, -0.659, 0, 0, 0, 80 [SEP] 39, PaperTowelRoll, -1.101, 0.281, 0.641, 0, 180, 0, 79 [SEP] 40, Tomato, 0.966, 1.683, 0.967, 0, 270, 0, 82 [SEP] 41, Egg, 0.844, 0.900, 1.254, 0, 270, 0, 82 [SEP] 42, SaltShaker, 0.875, 0.699, -0.731, 0, 270, 0, 57 [SEP] 43, PepperShaker, 0.794, 0.699, -0.690, 0, 270, 0, 57 [SEP] 44, Vase, 0.688, 0.911, -0.034, 0, 0, 0, 60 [SEP] 45, ButterKnife, -0.698, 0.776, -0.573, 0, 90, 0, 80 [SEP] 46, SoapBottle, 1.199, 0.911, -1.793, 0, 0, 0, 65 [SEP] 47, Vase, 0.811, 0.109, -1.892, 0, 0, 0, 64 [SEP] 48, Bowl, 0.905, 0.866, 0.967, 0, 270, 0, 82 [SEP] 49, DishSponge, 0.964, 0.120, 0.374, 0, 270, 0, 54 [SEP] 50, Spoon, 0.834, 0.496, -0.690, 0, 270, 0, 63 [SEP] 51, Cup, 0.966, 0.860, 1.254, 0, 270, 0, 82 [SEP] 52, Mug, 1.060, 1.790, -1.339, 0, 270, 0, 81 [SEP] 53, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 54, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 55, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 56, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 57, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 58, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 59, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 60, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 61, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 62, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 63, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 64, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 65, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 66, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 67, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 68, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 69, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 70, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 71, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 72, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 73, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 74, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 75, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 76, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 77, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 78, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 79, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 80, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 81, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 82, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 83, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 84, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 85, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 86, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 87, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 88, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 89, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 90, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 91, NorthWall, , , , , , , [SEP] 92, EastWall, , , , , , , [SEP] 93, SouthWall, , , , , , , [SEP] 94, WestWall, , , , , , , ", "output": ["STEP 1: turn around and walk to the fridge at the end of the right side of the room, then turn around and walk to the kitchen counter on your left | STEP 2: grab a fork off of the kitchen counter there | STEP 3: turn around and walk over to the fridge on the left | STEP 4: place the fork inside of the fridge inside a green cup | STEP 5: grab the cup up out of the fridge | STEP 6: turn right and walk forwards a bit to the first kitchen counter on the left | STEP 7: place the cup down on the kitchen counter | END"]} +{"id": "trial_T20190908_111818_332166-1", "input": "Put the chilled green cup and fork on the counter in front of the bread. 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, 0.75, 0, 180, 0, [SEP] 1, Statue, -0.698, 0.936, -1.231, 0, 0, 0, 59 [SEP] 2, Vase, 1.194, 1.667, -2.166, 0, 270, 0, 58 [SEP] 3, Potato, 0.995, 1.825, -1.132, 0, 270, 0, 81 [SEP] 4, CreditCard, 0.773, 0.908, -2.308, 0, 0, 0, 65 [SEP] 5, ButterKnife, -1.167, 0.933, -0.118, 0, 0, 0, 59 [SEP] 6, ButterKnife, -0.846, 0.933, 0.162, 0, 90, 0, 59 [SEP] 7, Glassbottle, 1.193, 1.667, 0.280, 0, 270, 0, 67 [SEP] 8, Glassbottle, 1.039, 2.208, -1.517, 0, 270, 0, 66 [SEP] 9, Spoon, 0.859, 0.912, -0.729, 0, 0, 0, 60 [SEP] 10, Spoon, -0.697, 0.781, -0.573, 0, 90, 0, 80 [SEP] 11, Spatula, 0.773, 0.926, -1.793, 0, 270, 0, 65 [SEP] 12, Spatula, -1.104, 0.948, -1.430, 0, 90, 0, 59 [SEP] 13, Knife, -0.550, 0.957, -1.618, 0, 0, 0, 59 [SEP] 14, Egg, -1.101, 0.214, 0.543, 0, 180, 0, 79 [SEP] 15, Plate, 0.905, 1.405, 1.444, 0, 270, 0, 82 [SEP] 16, Tomato, -1.292, 0.974, -0.905, 0, 0, 0, 59 [SEP] 17, SoapBottle, -0.772, 0.933, 0.239, 0, 0, 0, 59 [SEP] 18, SoapBottle, -0.865, 0.179, 0.543, 0, 180, 0, 79 [SEP] 19, Bowl, 1.147, 1.669, 0.089, 0, 270, 0, 67 [SEP] 20, SaltShaker, -1.292, 0.929, -0.118, 0, 0, 0, 59 [SEP] 21, SaltShaker, -1.985, 0.550, 2.874, 0, 0, 0, 85 [SEP] 22, Bread, 0.944, 0.992, -0.381, 0, 0, 0, 60 [SEP] 23, Mug, 0.905, 1.129, 1.444, 0, 270, 0, 82 [SEP] 24, Mug, 0.966, 0.858, 1.158, 0, 270, 0, 82 [SEP] 25, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 59 [SEP] 26, Glassbottle, -1.007, 0.177, 0.543, 0, 180, 0, 79 [SEP] 27, Bread, 1.029, 0.992, -0.034, 0, 0, 0, 60 [SEP] 28, CreditCard, -1.469, 0.878, 2.773, 0, 0, 0, 86 [SEP] 29, CellPhone, 0.688, 0.908, 0.313, 0, 0, 0, 60 [SEP] 30, Potato, -0.808, 0.811, -0.400, 0, 90, 0, 80 [SEP] 31, Knife, 0.859, 0.934, -0.207, 0, 0, 0, 60 [SEP] 32, Fork, -0.624, 0.934, -0.067, 0, 0, 0, 59 [SEP] 33, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 53 [SEP] 34, Lettuce, 1.026, 1.479, 1.063, 0, 270, 0, 82 [SEP] 35, Plate, -0.697, 0.779, -0.832, 0, 90, 0, 80 [SEP] 36, Apple, -0.772, 0.983, 0.086, 0, 0, 0, 59 [SEP] 37, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 55 [SEP] 38, Spatula, -0.642, 0.795, -0.659, 0, 0, 0, 80 [SEP] 39, PaperTowelRoll, -1.101, 0.281, 0.641, 0, 180, 0, 79 [SEP] 40, Tomato, 0.966, 1.683, 0.967, 0, 270, 0, 82 [SEP] 41, Egg, 0.844, 0.900, 1.254, 0, 270, 0, 82 [SEP] 42, SaltShaker, 0.875, 0.699, -0.731, 0, 270, 0, 57 [SEP] 43, PepperShaker, 0.794, 0.699, -0.690, 0, 270, 0, 57 [SEP] 44, Vase, 0.688, 0.911, -0.034, 0, 0, 0, 60 [SEP] 45, ButterKnife, -0.698, 0.776, -0.573, 0, 90, 0, 80 [SEP] 46, SoapBottle, 1.199, 0.911, -1.793, 0, 0, 0, 65 [SEP] 47, Vase, 0.811, 0.109, -1.892, 0, 0, 0, 64 [SEP] 48, Bowl, 0.905, 0.866, 0.967, 0, 270, 0, 82 [SEP] 49, DishSponge, 0.964, 0.120, 0.374, 0, 270, 0, 54 [SEP] 50, Spoon, 0.834, 0.496, -0.690, 0, 270, 0, 63 [SEP] 51, Cup, 0.966, 0.860, 1.254, 0, 270, 0, 82 [SEP] 52, Mug, 1.060, 1.790, -1.339, 0, 270, 0, 81 [SEP] 53, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 54, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 55, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 56, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 57, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 58, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 59, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 60, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 61, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 62, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 63, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 64, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 65, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 66, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 67, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 68, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 69, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 70, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 71, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 72, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 73, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 74, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 75, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 76, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 77, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 78, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 79, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 80, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 81, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 82, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 83, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 84, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 85, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 86, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 87, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 88, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 89, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 90, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 91, NorthWall, , , , , , , [SEP] 92, EastWall, , , , , , , [SEP] 93, SouthWall, , , , , , , [SEP] 94, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and move around to the other side of the island. | STEP 2: Pick up the fork that's on the right of the sink. | STEP 3: Turn around and move to the fridge. | STEP 4: Put the fork into the green cup on the second shelf in the fridge. | STEP 5: Take the cup with fork out of the fridge. | STEP 6: Move a couple feet to your right. | STEP 7: Put the cup and fork on the counter in front of the bread to the right of the knife. | END"]} +{"id": "trial_T20190908_111818_332166-2", "input": "Put a cup with a fork in 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, -2.75, 0.900, 0.75, 0, 180, 0, [SEP] 1, Statue, -0.698, 0.936, -1.231, 0, 0, 0, 59 [SEP] 2, Vase, 1.194, 1.667, -2.166, 0, 270, 0, 58 [SEP] 3, Potato, 0.995, 1.825, -1.132, 0, 270, 0, 81 [SEP] 4, CreditCard, 0.773, 0.908, -2.308, 0, 0, 0, 65 [SEP] 5, ButterKnife, -1.167, 0.933, -0.118, 0, 0, 0, 59 [SEP] 6, ButterKnife, -0.846, 0.933, 0.162, 0, 90, 0, 59 [SEP] 7, Glassbottle, 1.193, 1.667, 0.280, 0, 270, 0, 67 [SEP] 8, Glassbottle, 1.039, 2.208, -1.517, 0, 270, 0, 66 [SEP] 9, Spoon, 0.859, 0.912, -0.729, 0, 0, 0, 60 [SEP] 10, Spoon, -0.697, 0.781, -0.573, 0, 90, 0, 80 [SEP] 11, Spatula, 0.773, 0.926, -1.793, 0, 270, 0, 65 [SEP] 12, Spatula, -1.104, 0.948, -1.430, 0, 90, 0, 59 [SEP] 13, Knife, -0.550, 0.957, -1.618, 0, 0, 0, 59 [SEP] 14, Egg, -1.101, 0.214, 0.543, 0, 180, 0, 79 [SEP] 15, Plate, 0.905, 1.405, 1.444, 0, 270, 0, 82 [SEP] 16, Tomato, -1.292, 0.974, -0.905, 0, 0, 0, 59 [SEP] 17, SoapBottle, -0.772, 0.933, 0.239, 0, 0, 0, 59 [SEP] 18, SoapBottle, -0.865, 0.179, 0.543, 0, 180, 0, 79 [SEP] 19, Bowl, 1.147, 1.669, 0.089, 0, 270, 0, 67 [SEP] 20, SaltShaker, -1.292, 0.929, -0.118, 0, 0, 0, 59 [SEP] 21, SaltShaker, -1.985, 0.550, 2.874, 0, 0, 0, 85 [SEP] 22, Bread, 0.944, 0.992, -0.381, 0, 0, 0, 60 [SEP] 23, Mug, 0.905, 1.129, 1.444, 0, 270, 0, 82 [SEP] 24, Mug, 0.966, 0.858, 1.158, 0, 270, 0, 82 [SEP] 25, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 59 [SEP] 26, Glassbottle, -1.007, 0.177, 0.543, 0, 180, 0, 79 [SEP] 27, Bread, 1.029, 0.992, -0.034, 0, 0, 0, 60 [SEP] 28, CreditCard, -1.469, 0.878, 2.773, 0, 0, 0, 86 [SEP] 29, CellPhone, 0.688, 0.908, 0.313, 0, 0, 0, 60 [SEP] 30, Potato, -0.808, 0.811, -0.400, 0, 90, 0, 80 [SEP] 31, Knife, 0.859, 0.934, -0.207, 0, 0, 0, 60 [SEP] 32, Fork, -0.624, 0.934, -0.067, 0, 0, 0, 59 [SEP] 33, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 53 [SEP] 34, Lettuce, 1.026, 1.479, 1.063, 0, 270, 0, 82 [SEP] 35, Plate, -0.697, 0.779, -0.832, 0, 90, 0, 80 [SEP] 36, Apple, -0.772, 0.983, 0.086, 0, 0, 0, 59 [SEP] 37, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 55 [SEP] 38, Spatula, -0.642, 0.795, -0.659, 0, 0, 0, 80 [SEP] 39, PaperTowelRoll, -1.101, 0.281, 0.641, 0, 180, 0, 79 [SEP] 40, Tomato, 0.966, 1.683, 0.967, 0, 270, 0, 82 [SEP] 41, Egg, 0.844, 0.900, 1.254, 0, 270, 0, 82 [SEP] 42, SaltShaker, 0.875, 0.699, -0.731, 0, 270, 0, 57 [SEP] 43, PepperShaker, 0.794, 0.699, -0.690, 0, 270, 0, 57 [SEP] 44, Vase, 0.688, 0.911, -0.034, 0, 0, 0, 60 [SEP] 45, ButterKnife, -0.698, 0.776, -0.573, 0, 90, 0, 80 [SEP] 46, SoapBottle, 1.199, 0.911, -1.793, 0, 0, 0, 65 [SEP] 47, Vase, 0.811, 0.109, -1.892, 0, 0, 0, 64 [SEP] 48, Bowl, 0.905, 0.866, 0.967, 0, 270, 0, 82 [SEP] 49, DishSponge, 0.964, 0.120, 0.374, 0, 270, 0, 54 [SEP] 50, Spoon, 0.834, 0.496, -0.690, 0, 270, 0, 63 [SEP] 51, Cup, 0.966, 0.860, 1.254, 0, 270, 0, 82 [SEP] 52, Mug, 1.060, 1.790, -1.339, 0, 270, 0, 81 [SEP] 53, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 54, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 55, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 56, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 57, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 58, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 59, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 60, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 61, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 62, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 63, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 64, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 65, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 66, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 67, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 68, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 69, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 70, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 71, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 72, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 73, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 74, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 75, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 76, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 77, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 78, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 79, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 80, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 81, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 82, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 83, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 84, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 85, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 86, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 87, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 88, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 89, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 90, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 91, NorthWall, , , , , , , [SEP] 92, EastWall, , , , , , , [SEP] 93, SouthWall, , , , , , , [SEP] 94, WestWall, , , , , , , ", "output": ["STEP 1: Go to the fridge up ahead, turn right and move forward until you reach the counter adjacent to the sink, then turn right. | STEP 2: Pick up the fork on the counter. | STEP 3: Go to the fridge behind you. | STEP 4: Open the fridge and put the fork in the green cup inside of the fridge. | STEP 5: Pick up the green cup from the fridge. | STEP 6: Turn right and go forward until you reach the dishwasher, then turn left. | STEP 7: Put the green cup on the counter. | END"]} +{"id": "trial_T20190907_040327_147149-0", "input": "Place a cool 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, -3.5, 0.900, -0.25, 0, 270, 0, [SEP] 1, Potato, 0.688, 0.941, -2.051, 0, 0, 0, 63 [SEP] 2, Potato, 0.995, 1.825, -1.339, 0, 270, 0, 79 [SEP] 3, CellPhone, -0.698, 0.930, -0.143, 0, 90, 0, 57 [SEP] 4, CellPhone, 0.773, 0.908, -0.034, 0, 0, 0, 58 [SEP] 5, DishSponge, -0.477, 0.933, 0.315, 0, 0, 0, 57 [SEP] 6, Glassbottle, -0.753, 0.781, -0.745, 0, 90, 0, 78 [SEP] 7, Glassbottle, 0.761, 0.109, -1.812, 0, 0, 0, 62 [SEP] 8, Fork, 0.794, 0.703, -0.565, 0, 180, 0, 55 [SEP] 9, Knife, -0.772, 0.957, -1.308, 0, 0, 0, 57 [SEP] 10, Egg, 0.944, 0.949, -0.034, 0, 0, 0, 58 [SEP] 11, Egg, -0.642, 0.818, -0.659, 0, 90, 0, 78 [SEP] 12, Cup, 0.688, 0.908, -2.136, 0, 0, 0, 63 [SEP] 13, Plate, 0.811, 0.111, -2.212, 0, 0, 0, 62 [SEP] 14, Plate, -0.624, 0.936, -1.231, 0, 0, 0, 57 [SEP] 15, Tomato, 0.844, 1.683, 1.254, 0, 270, 0, 80 [SEP] 16, SoapBottle, 0.688, 0.911, -0.381, 0, 0, 0, 58 [SEP] 17, Bowl, 1.026, 1.138, 1.063, 0, 270, 0, 80 [SEP] 18, SaltShaker, -1.363, 0.550, 2.563, 0, 0, 0, 83 [SEP] 19, SaltShaker, 1.199, 0.907, -1.965, 0, 0, 0, 63 [SEP] 20, Lettuce, 1.029, 0.988, -0.381, 0, 0, 0, 58 [SEP] 21, Mug, 1.026, 0.858, 1.444, 0, 270, 0, 80 [SEP] 22, Apple, 0.965, 1.185, 1.444, 0, 270, 0, 80 [SEP] 23, Statue, -0.624, 0.936, 0.009, 0, 180, 0, 57 [SEP] 24, Glassbottle, 1.055, 1.667, -1.961, 0, 270, 0, 56 [SEP] 25, Bread, 0.905, 1.482, 1.063, 0, 270, 0, 80 [SEP] 26, CreditCard, 0.688, 0.908, -2.222, 0, 0, 0, 63 [SEP] 27, CellPhone, 0.834, 0.491, -0.607, 0, 270, 0, 61 [SEP] 28, Potato, 0.783, 1.432, 1.254, 0, 270, 0, 80 [SEP] 29, Knife, 0.859, 0.934, -0.729, 0, 0, 0, 58 [SEP] 30, Fork, 0.875, 0.703, -0.731, 0, 0, 0, 55 [SEP] 31, Pan, 0.842, 0.950, -1.098, 0, 0, 0, 51 [SEP] 32, Lettuce, -0.912, 0.254, 0.608, 0, 90, 0, 77 [SEP] 33, Plate, 0.811, 0.111, -1.972, 0, 0, 0, 62 [SEP] 34, Apple, 0.844, 1.452, 1.444, 0, 270, 0, 80 [SEP] 35, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 53 [SEP] 36, Spatula, -1.167, 0.948, -1.430, 0, 90, 0, 57 [SEP] 37, PaperTowelRoll, -1.041, 1.037, -0.118, 0, 0, 0, 57 [SEP] 38, Tomato, 1.114, 0.952, -0.034, 0, 0, 0, 58 [SEP] 39, Egg, 1.029, 0.949, -1.793, 0, 0, 0, 63 [SEP] 40, SaltShaker, -1.881, 0.550, 2.563, 0, 0, 0, 83 [SEP] 41, PepperShaker, -1.985, 0.550, 2.874, 0, 0, 0, 83 [SEP] 42, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 83 [SEP] 43, ButterKnife, -0.624, 0.933, -1.463, 0, 0, 0, 57 [SEP] 44, SoapBottle, 1.212, 2.208, -1.191, 0, 270, 0, 64 [SEP] 45, Vase, 1.147, 1.667, 0.280, 0, 270, 0, 65 [SEP] 46, Bowl, 0.773, 0.914, -1.879, 0, 0, 0, 63 [SEP] 47, DishSponge, -0.477, 0.933, 0.009, 0, 0, 0, 57 [SEP] 48, Spoon, 0.834, 0.703, -0.648, 0, 270, 0, 55 [SEP] 49, Cup, -1.571, 0.879, 2.719, 0, 0, 0, 84 [SEP] 50, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 76 [SEP] 51, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 52, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 53, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 54, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 55, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 56, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 57, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 58, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 59, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 60, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 61, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 62, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 63, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 64, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 65, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 66, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 67, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 68, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 69, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 70, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 71, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 72, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 73, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 74, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 75, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 76, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 77, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 78, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 79, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 80, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 81, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 82, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 83, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 84, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 85, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 86, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 87, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 88, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 89, NorthWall, , , , , , , [SEP] 90, EastWall, , , , , , , [SEP] 91, SouthWall, , , , , , , [SEP] 92, WestWall, , , , , , , ", "output": ["STEP 1: Turn around towards the fridge and turn right towards the lettuce next to the stove on your left. | STEP 2: Pick up the lettuce from the counter. | STEP 3: Turn left and walk towards the fridge on your right. | STEP 4: Place the lettuce next to the cup in the fridge, let it cool, and then take it back out. | STEP 5: Turn right and walk towards the sink on your right. | STEP 6: Place the lettuce back in the sink. | END"]} +{"id": "trial_T20190907_040327_147149-1", "input": "Put chilled lettuce 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, -3.5, 0.900, -0.25, 0, 270, 0, [SEP] 1, Potato, 0.688, 0.941, -2.051, 0, 0, 0, 63 [SEP] 2, Potato, 0.995, 1.825, -1.339, 0, 270, 0, 79 [SEP] 3, CellPhone, -0.698, 0.930, -0.143, 0, 90, 0, 57 [SEP] 4, CellPhone, 0.773, 0.908, -0.034, 0, 0, 0, 58 [SEP] 5, DishSponge, -0.477, 0.933, 0.315, 0, 0, 0, 57 [SEP] 6, Glassbottle, -0.753, 0.781, -0.745, 0, 90, 0, 78 [SEP] 7, Glassbottle, 0.761, 0.109, -1.812, 0, 0, 0, 62 [SEP] 8, Fork, 0.794, 0.703, -0.565, 0, 180, 0, 55 [SEP] 9, Knife, -0.772, 0.957, -1.308, 0, 0, 0, 57 [SEP] 10, Egg, 0.944, 0.949, -0.034, 0, 0, 0, 58 [SEP] 11, Egg, -0.642, 0.818, -0.659, 0, 90, 0, 78 [SEP] 12, Cup, 0.688, 0.908, -2.136, 0, 0, 0, 63 [SEP] 13, Plate, 0.811, 0.111, -2.212, 0, 0, 0, 62 [SEP] 14, Plate, -0.624, 0.936, -1.231, 0, 0, 0, 57 [SEP] 15, Tomato, 0.844, 1.683, 1.254, 0, 270, 0, 80 [SEP] 16, SoapBottle, 0.688, 0.911, -0.381, 0, 0, 0, 58 [SEP] 17, Bowl, 1.026, 1.138, 1.063, 0, 270, 0, 80 [SEP] 18, SaltShaker, -1.363, 0.550, 2.563, 0, 0, 0, 83 [SEP] 19, SaltShaker, 1.199, 0.907, -1.965, 0, 0, 0, 63 [SEP] 20, Lettuce, 1.029, 0.988, -0.381, 0, 0, 0, 58 [SEP] 21, Mug, 1.026, 0.858, 1.444, 0, 270, 0, 80 [SEP] 22, Apple, 0.965, 1.185, 1.444, 0, 270, 0, 80 [SEP] 23, Statue, -0.624, 0.936, 0.009, 0, 180, 0, 57 [SEP] 24, Glassbottle, 1.055, 1.667, -1.961, 0, 270, 0, 56 [SEP] 25, Bread, 0.905, 1.482, 1.063, 0, 270, 0, 80 [SEP] 26, CreditCard, 0.688, 0.908, -2.222, 0, 0, 0, 63 [SEP] 27, CellPhone, 0.834, 0.491, -0.607, 0, 270, 0, 61 [SEP] 28, Potato, 0.783, 1.432, 1.254, 0, 270, 0, 80 [SEP] 29, Knife, 0.859, 0.934, -0.729, 0, 0, 0, 58 [SEP] 30, Fork, 0.875, 0.703, -0.731, 0, 0, 0, 55 [SEP] 31, Pan, 0.842, 0.950, -1.098, 0, 0, 0, 51 [SEP] 32, Lettuce, -0.912, 0.254, 0.608, 0, 90, 0, 77 [SEP] 33, Plate, 0.811, 0.111, -1.972, 0, 0, 0, 62 [SEP] 34, Apple, 0.844, 1.452, 1.444, 0, 270, 0, 80 [SEP] 35, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 53 [SEP] 36, Spatula, -1.167, 0.948, -1.430, 0, 90, 0, 57 [SEP] 37, PaperTowelRoll, -1.041, 1.037, -0.118, 0, 0, 0, 57 [SEP] 38, Tomato, 1.114, 0.952, -0.034, 0, 0, 0, 58 [SEP] 39, Egg, 1.029, 0.949, -1.793, 0, 0, 0, 63 [SEP] 40, SaltShaker, -1.881, 0.550, 2.563, 0, 0, 0, 83 [SEP] 41, PepperShaker, -1.985, 0.550, 2.874, 0, 0, 0, 83 [SEP] 42, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 83 [SEP] 43, ButterKnife, -0.624, 0.933, -1.463, 0, 0, 0, 57 [SEP] 44, SoapBottle, 1.212, 2.208, -1.191, 0, 270, 0, 64 [SEP] 45, Vase, 1.147, 1.667, 0.280, 0, 270, 0, 65 [SEP] 46, Bowl, 0.773, 0.914, -1.879, 0, 0, 0, 63 [SEP] 47, DishSponge, -0.477, 0.933, 0.009, 0, 0, 0, 57 [SEP] 48, Spoon, 0.834, 0.703, -0.648, 0, 270, 0, 55 [SEP] 49, Cup, -1.571, 0.879, 2.719, 0, 0, 0, 84 [SEP] 50, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 76 [SEP] 51, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 52, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 53, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 54, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 55, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 56, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 57, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 58, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 59, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 60, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 61, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 62, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 63, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 64, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 65, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 66, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 67, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 68, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 69, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 70, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 71, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 72, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 73, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 74, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 75, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 76, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 77, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 78, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 79, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 80, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 81, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 82, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 83, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 84, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 85, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 86, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 87, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 88, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 89, NorthWall, , , , , , , [SEP] 90, EastWall, , , , , , , [SEP] 91, SouthWall, , , , , , , [SEP] 92, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and go into the kitchen. | STEP 2: Pick up the lettuce to the left of the stove. | STEP 3: Go to the fridge on your left. | STEP 4: Chill the lettuce in the fridge and take it out. | STEP 5: Turn right and go to the sink. | STEP 6: Put the lettuce in the sink. | END"]} +{"id": "trial_T20190907_040327_147149-2", "input": "Put the chilled lettuce 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, -3.5, 0.900, -0.25, 0, 270, 0, [SEP] 1, Potato, 0.688, 0.941, -2.051, 0, 0, 0, 63 [SEP] 2, Potato, 0.995, 1.825, -1.339, 0, 270, 0, 79 [SEP] 3, CellPhone, -0.698, 0.930, -0.143, 0, 90, 0, 57 [SEP] 4, CellPhone, 0.773, 0.908, -0.034, 0, 0, 0, 58 [SEP] 5, DishSponge, -0.477, 0.933, 0.315, 0, 0, 0, 57 [SEP] 6, Glassbottle, -0.753, 0.781, -0.745, 0, 90, 0, 78 [SEP] 7, Glassbottle, 0.761, 0.109, -1.812, 0, 0, 0, 62 [SEP] 8, Fork, 0.794, 0.703, -0.565, 0, 180, 0, 55 [SEP] 9, Knife, -0.772, 0.957, -1.308, 0, 0, 0, 57 [SEP] 10, Egg, 0.944, 0.949, -0.034, 0, 0, 0, 58 [SEP] 11, Egg, -0.642, 0.818, -0.659, 0, 90, 0, 78 [SEP] 12, Cup, 0.688, 0.908, -2.136, 0, 0, 0, 63 [SEP] 13, Plate, 0.811, 0.111, -2.212, 0, 0, 0, 62 [SEP] 14, Plate, -0.624, 0.936, -1.231, 0, 0, 0, 57 [SEP] 15, Tomato, 0.844, 1.683, 1.254, 0, 270, 0, 80 [SEP] 16, SoapBottle, 0.688, 0.911, -0.381, 0, 0, 0, 58 [SEP] 17, Bowl, 1.026, 1.138, 1.063, 0, 270, 0, 80 [SEP] 18, SaltShaker, -1.363, 0.550, 2.563, 0, 0, 0, 83 [SEP] 19, SaltShaker, 1.199, 0.907, -1.965, 0, 0, 0, 63 [SEP] 20, Lettuce, 1.029, 0.988, -0.381, 0, 0, 0, 58 [SEP] 21, Mug, 1.026, 0.858, 1.444, 0, 270, 0, 80 [SEP] 22, Apple, 0.965, 1.185, 1.444, 0, 270, 0, 80 [SEP] 23, Statue, -0.624, 0.936, 0.009, 0, 180, 0, 57 [SEP] 24, Glassbottle, 1.055, 1.667, -1.961, 0, 270, 0, 56 [SEP] 25, Bread, 0.905, 1.482, 1.063, 0, 270, 0, 80 [SEP] 26, CreditCard, 0.688, 0.908, -2.222, 0, 0, 0, 63 [SEP] 27, CellPhone, 0.834, 0.491, -0.607, 0, 270, 0, 61 [SEP] 28, Potato, 0.783, 1.432, 1.254, 0, 270, 0, 80 [SEP] 29, Knife, 0.859, 0.934, -0.729, 0, 0, 0, 58 [SEP] 30, Fork, 0.875, 0.703, -0.731, 0, 0, 0, 55 [SEP] 31, Pan, 0.842, 0.950, -1.098, 0, 0, 0, 51 [SEP] 32, Lettuce, -0.912, 0.254, 0.608, 0, 90, 0, 77 [SEP] 33, Plate, 0.811, 0.111, -1.972, 0, 0, 0, 62 [SEP] 34, Apple, 0.844, 1.452, 1.444, 0, 270, 0, 80 [SEP] 35, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 53 [SEP] 36, Spatula, -1.167, 0.948, -1.430, 0, 90, 0, 57 [SEP] 37, PaperTowelRoll, -1.041, 1.037, -0.118, 0, 0, 0, 57 [SEP] 38, Tomato, 1.114, 0.952, -0.034, 0, 0, 0, 58 [SEP] 39, Egg, 1.029, 0.949, -1.793, 0, 0, 0, 63 [SEP] 40, SaltShaker, -1.881, 0.550, 2.563, 0, 0, 0, 83 [SEP] 41, PepperShaker, -1.985, 0.550, 2.874, 0, 0, 0, 83 [SEP] 42, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 83 [SEP] 43, ButterKnife, -0.624, 0.933, -1.463, 0, 0, 0, 57 [SEP] 44, SoapBottle, 1.212, 2.208, -1.191, 0, 270, 0, 64 [SEP] 45, Vase, 1.147, 1.667, 0.280, 0, 270, 0, 65 [SEP] 46, Bowl, 0.773, 0.914, -1.879, 0, 0, 0, 63 [SEP] 47, DishSponge, -0.477, 0.933, 0.009, 0, 0, 0, 57 [SEP] 48, Spoon, 0.834, 0.703, -0.648, 0, 270, 0, 55 [SEP] 49, Cup, -1.571, 0.879, 2.719, 0, 0, 0, 84 [SEP] 50, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 76 [SEP] 51, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 52, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 53, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 54, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 55, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 56, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 57, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 58, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 59, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 60, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 61, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 62, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 63, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 64, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 65, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 66, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 67, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 68, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 69, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 70, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 71, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 72, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 73, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 74, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 75, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 76, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 77, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 78, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 79, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 80, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 81, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 82, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 83, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 84, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 85, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 86, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 87, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 88, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 89, NorthWall, , , , , , , [SEP] 90, EastWall, , , , , , , [SEP] 91, SouthWall, , , , , , , [SEP] 92, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and walk over to the counter left of the stove in the kitchen | STEP 2: Pick up the lettuce from the counter next to the tomato | STEP 3: Turn left and walk to the fridge | STEP 4: Put the lettuce in the fridge and remove it | STEP 5: Turn right and walk to the kitchen sink opposite the stove | STEP 6: Put the lettuce in the kitchen sink | END"]} +{"id": "trial_T20190908_032518_891433-0", "input": "Place a washed pan 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, -2.0, 0, 0, 0, [SEP] 1, Potato, 1.126, 1.825, -1.132, 0, 270, 0, 78 [SEP] 2, CreditCard, 0.754, 0.491, -0.648, 0, 270, 0, 60 [SEP] 3, DishSponge, -0.920, 0.933, -1.618, 0, 0, 0, 56 [SEP] 4, ButterKnife, -1.167, 0.933, -1.167, 0, 0, 0, 56 [SEP] 5, Spoon, 0.874, 0.154, -0.650, 0, 270, 0, 59 [SEP] 6, Spoon, -0.550, 0.934, -0.067, 0, 0, 0, 56 [SEP] 7, Spatula, -1.104, 0.948, -1.167, 0, 90, 0, 56 [SEP] 8, Spatula, -1.292, 0.948, -0.118, 0, 270, 0, 56 [SEP] 9, Knife, -0.772, 0.957, -0.067, 0, 90, 0, 56 [SEP] 10, Egg, -1.101, 0.214, 0.576, 0, 180, 0, 76 [SEP] 11, Cup, 0.966, 0.860, 1.349, 0, 270, 0, 79 [SEP] 12, Plate, 0.905, 1.405, 1.158, 0, 270, 0, 79 [SEP] 13, Plate, 1.169, 2.211, -1.517, 0, 270, 0, 63 [SEP] 14, SoapBottle, 1.056, 1.666, -0.465, 0, 270, 0, 65 [SEP] 15, Bowl, 0.905, 1.405, 0.967, 0, 270, 0, 79 [SEP] 16, PepperShaker, 1.056, 1.662, -0.273, 0, 270, 0, 65 [SEP] 17, Lettuce, -0.550, 1.010, 0.162, 0, 0, 0, 56 [SEP] 18, Bread, -0.550, 1.014, -1.231, 0, 0, 0, 56 [SEP] 19, Mug, 1.087, 0.858, 1.540, 0, 270, 0, 79 [SEP] 20, Mug, -1.571, 0.876, 2.692, 0, 0, 0, 83 [SEP] 21, Apple, 0.966, 1.185, 1.254, 0, 270, 0, 79 [SEP] 22, Statue, -1.104, 0.936, -0.118, 0, 0, 0, 56 [SEP] 23, Glassbottle, 0.811, 0.109, -1.892, 0, 0, 0, 61 [SEP] 24, Bread, -1.292, 1.014, 0.144, 0, 0, 0, 56 [SEP] 25, CreditCard, 0.834, 0.699, -0.731, 0, 270, 0, 54 [SEP] 26, CellPhone, -1.570, 0.550, 2.615, 0, 0, 0, 82 [SEP] 27, Potato, 0.905, 1.432, 1.540, 0, 270, 0, 79 [SEP] 28, Knife, -0.698, 0.957, 0.162, 0, 0, 0, 56 [SEP] 29, Fork, 0.875, 0.702, -0.648, 0, 0, 0, 54 [SEP] 30, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 50 [SEP] 31, Lettuce, 1.026, 1.720, 1.158, 0, 270, 0, 79 [SEP] 32, Plate, -0.846, 0.936, -1.231, 0, 0, 0, 56 [SEP] 33, Apple, 0.966, 1.185, 1.158, 0, 270, 0, 79 [SEP] 34, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 52 [SEP] 35, Spatula, 0.834, 0.510, -0.565, 0, 270, 0, 60 [SEP] 36, PaperTowelRoll, -1.363, 0.658, 2.667, 0, 0, 0, 82 [SEP] 37, Tomato, -0.869, 0.962, -0.096, 0, 0, 0, 56 [SEP] 38, Egg, -0.818, 0.214, 0.575, 0, 180, 0, 76 [SEP] 39, SaltShaker, 0.954, 0.150, -0.729, 0, 270, 0, 59 [SEP] 40, PepperShaker, 1.014, 0.117, 0.423, 0, 270, 0, 57 [SEP] 41, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 82 [SEP] 42, ButterKnife, -0.624, 0.933, -1.540, 0, 0, 0, 56 [SEP] 43, SoapBottle, -1.007, 0.177, 0.576, 0, 180, 0, 76 [SEP] 44, Vase, 1.169, 2.209, -1.299, 0, 270, 0, 63 [SEP] 45, Bowl, 1.087, 1.646, 0.967, 0, 270, 0, 79 [SEP] 46, DishSponge, 0.915, 0.493, -0.565, 0, 270, 0, 60 [SEP] 47, Spoon, -1.041, 0.934, -0.905, 0, 90, 0, 56 [SEP] 48, Cup, 0.844, 0.860, 1.540, 0, 270, 0, 79 [SEP] 49, Mug, 1.026, 1.396, 1.444, 0, 270, 0, 79 [SEP] 50, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 51, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 52, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 53, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 54, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 55, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 56, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 57, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 58, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 59, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 60, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 61, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 62, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 63, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 64, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 65, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 66, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 67, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 68, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 69, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 70, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 71, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 72, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 73, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 74, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 75, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 76, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 77, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 78, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 79, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 80, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 81, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 82, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 83, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 84, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 85, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 86, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 87, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 88, NorthWall, , , , , , , [SEP] 89, EastWall, , , , , , , [SEP] 90, SouthWall, , , , , , , [SEP] 91, WestWall, , , , , , , ", "output": ["STEP 1: Turn right to face the stove. | STEP 2: Pick up the pan from the front left burner of the stove. | STEP 3: Turn around with the pan and face the sink. | STEP 4: Place the pan in the sink, turn on the water, and then remove once washed. | STEP 5: Turn back around to stand in front of the counter to the left of the stove. | STEP 6: Place the pan on the counter to the right of the toaster. | END"]} +{"id": "trial_T20190908_032518_891433-1", "input": "Place a clean pan 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, 0.0, 0.900, -2.0, 0, 0, 0, [SEP] 1, Potato, 1.126, 1.825, -1.132, 0, 270, 0, 78 [SEP] 2, CreditCard, 0.754, 0.491, -0.648, 0, 270, 0, 60 [SEP] 3, DishSponge, -0.920, 0.933, -1.618, 0, 0, 0, 56 [SEP] 4, ButterKnife, -1.167, 0.933, -1.167, 0, 0, 0, 56 [SEP] 5, Spoon, 0.874, 0.154, -0.650, 0, 270, 0, 59 [SEP] 6, Spoon, -0.550, 0.934, -0.067, 0, 0, 0, 56 [SEP] 7, Spatula, -1.104, 0.948, -1.167, 0, 90, 0, 56 [SEP] 8, Spatula, -1.292, 0.948, -0.118, 0, 270, 0, 56 [SEP] 9, Knife, -0.772, 0.957, -0.067, 0, 90, 0, 56 [SEP] 10, Egg, -1.101, 0.214, 0.576, 0, 180, 0, 76 [SEP] 11, Cup, 0.966, 0.860, 1.349, 0, 270, 0, 79 [SEP] 12, Plate, 0.905, 1.405, 1.158, 0, 270, 0, 79 [SEP] 13, Plate, 1.169, 2.211, -1.517, 0, 270, 0, 63 [SEP] 14, SoapBottle, 1.056, 1.666, -0.465, 0, 270, 0, 65 [SEP] 15, Bowl, 0.905, 1.405, 0.967, 0, 270, 0, 79 [SEP] 16, PepperShaker, 1.056, 1.662, -0.273, 0, 270, 0, 65 [SEP] 17, Lettuce, -0.550, 1.010, 0.162, 0, 0, 0, 56 [SEP] 18, Bread, -0.550, 1.014, -1.231, 0, 0, 0, 56 [SEP] 19, Mug, 1.087, 0.858, 1.540, 0, 270, 0, 79 [SEP] 20, Mug, -1.571, 0.876, 2.692, 0, 0, 0, 83 [SEP] 21, Apple, 0.966, 1.185, 1.254, 0, 270, 0, 79 [SEP] 22, Statue, -1.104, 0.936, -0.118, 0, 0, 0, 56 [SEP] 23, Glassbottle, 0.811, 0.109, -1.892, 0, 0, 0, 61 [SEP] 24, Bread, -1.292, 1.014, 0.144, 0, 0, 0, 56 [SEP] 25, CreditCard, 0.834, 0.699, -0.731, 0, 270, 0, 54 [SEP] 26, CellPhone, -1.570, 0.550, 2.615, 0, 0, 0, 82 [SEP] 27, Potato, 0.905, 1.432, 1.540, 0, 270, 0, 79 [SEP] 28, Knife, -0.698, 0.957, 0.162, 0, 0, 0, 56 [SEP] 29, Fork, 0.875, 0.702, -0.648, 0, 0, 0, 54 [SEP] 30, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 50 [SEP] 31, Lettuce, 1.026, 1.720, 1.158, 0, 270, 0, 79 [SEP] 32, Plate, -0.846, 0.936, -1.231, 0, 0, 0, 56 [SEP] 33, Apple, 0.966, 1.185, 1.158, 0, 270, 0, 79 [SEP] 34, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 52 [SEP] 35, Spatula, 0.834, 0.510, -0.565, 0, 270, 0, 60 [SEP] 36, PaperTowelRoll, -1.363, 0.658, 2.667, 0, 0, 0, 82 [SEP] 37, Tomato, -0.869, 0.962, -0.096, 0, 0, 0, 56 [SEP] 38, Egg, -0.818, 0.214, 0.575, 0, 180, 0, 76 [SEP] 39, SaltShaker, 0.954, 0.150, -0.729, 0, 270, 0, 59 [SEP] 40, PepperShaker, 1.014, 0.117, 0.423, 0, 270, 0, 57 [SEP] 41, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 82 [SEP] 42, ButterKnife, -0.624, 0.933, -1.540, 0, 0, 0, 56 [SEP] 43, SoapBottle, -1.007, 0.177, 0.576, 0, 180, 0, 76 [SEP] 44, Vase, 1.169, 2.209, -1.299, 0, 270, 0, 63 [SEP] 45, Bowl, 1.087, 1.646, 0.967, 0, 270, 0, 79 [SEP] 46, DishSponge, 0.915, 0.493, -0.565, 0, 270, 0, 60 [SEP] 47, Spoon, -1.041, 0.934, -0.905, 0, 90, 0, 56 [SEP] 48, Cup, 0.844, 0.860, 1.540, 0, 270, 0, 79 [SEP] 49, Mug, 1.026, 1.396, 1.444, 0, 270, 0, 79 [SEP] 50, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 51, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 52, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 53, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 54, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 55, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 56, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 57, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 58, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 59, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 60, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 61, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 62, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 63, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 64, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 65, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 66, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 67, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 68, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 69, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 70, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 71, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 72, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 73, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 74, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 75, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 76, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 77, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 78, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 79, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 80, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 81, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 82, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 83, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 84, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 85, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 86, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 87, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 88, NorthWall, , , , , , , [SEP] 89, EastWall, , , , , , , [SEP] 90, SouthWall, , , , , , , [SEP] 91, WestWall, , , , , , , ", "output": ["STEP 1: Move forward towards the sink then turn right and face the range. | STEP 2: Pick up the pan from the range's front left burner. | STEP 3: Turn around and face the sink. | STEP 4: Place the pan in the sink, immerse it in water to clean it, drain the water, then pick up the pan from the sink. | STEP 5: Turn around and move to the dishwasher to the right of the black toaster. | STEP 6: Place the pan on the kitchen counter above the dishwasher and to the right of the toaster. | END"]} +{"id": "trial_T20190908_032518_891433-2", "input": "Put a washed pan on the count 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, 0.0, 0.900, -2.0, 0, 0, 0, [SEP] 1, Potato, 1.126, 1.825, -1.132, 0, 270, 0, 78 [SEP] 2, CreditCard, 0.754, 0.491, -0.648, 0, 270, 0, 60 [SEP] 3, DishSponge, -0.920, 0.933, -1.618, 0, 0, 0, 56 [SEP] 4, ButterKnife, -1.167, 0.933, -1.167, 0, 0, 0, 56 [SEP] 5, Spoon, 0.874, 0.154, -0.650, 0, 270, 0, 59 [SEP] 6, Spoon, -0.550, 0.934, -0.067, 0, 0, 0, 56 [SEP] 7, Spatula, -1.104, 0.948, -1.167, 0, 90, 0, 56 [SEP] 8, Spatula, -1.292, 0.948, -0.118, 0, 270, 0, 56 [SEP] 9, Knife, -0.772, 0.957, -0.067, 0, 90, 0, 56 [SEP] 10, Egg, -1.101, 0.214, 0.576, 0, 180, 0, 76 [SEP] 11, Cup, 0.966, 0.860, 1.349, 0, 270, 0, 79 [SEP] 12, Plate, 0.905, 1.405, 1.158, 0, 270, 0, 79 [SEP] 13, Plate, 1.169, 2.211, -1.517, 0, 270, 0, 63 [SEP] 14, SoapBottle, 1.056, 1.666, -0.465, 0, 270, 0, 65 [SEP] 15, Bowl, 0.905, 1.405, 0.967, 0, 270, 0, 79 [SEP] 16, PepperShaker, 1.056, 1.662, -0.273, 0, 270, 0, 65 [SEP] 17, Lettuce, -0.550, 1.010, 0.162, 0, 0, 0, 56 [SEP] 18, Bread, -0.550, 1.014, -1.231, 0, 0, 0, 56 [SEP] 19, Mug, 1.087, 0.858, 1.540, 0, 270, 0, 79 [SEP] 20, Mug, -1.571, 0.876, 2.692, 0, 0, 0, 83 [SEP] 21, Apple, 0.966, 1.185, 1.254, 0, 270, 0, 79 [SEP] 22, Statue, -1.104, 0.936, -0.118, 0, 0, 0, 56 [SEP] 23, Glassbottle, 0.811, 0.109, -1.892, 0, 0, 0, 61 [SEP] 24, Bread, -1.292, 1.014, 0.144, 0, 0, 0, 56 [SEP] 25, CreditCard, 0.834, 0.699, -0.731, 0, 270, 0, 54 [SEP] 26, CellPhone, -1.570, 0.550, 2.615, 0, 0, 0, 82 [SEP] 27, Potato, 0.905, 1.432, 1.540, 0, 270, 0, 79 [SEP] 28, Knife, -0.698, 0.957, 0.162, 0, 0, 0, 56 [SEP] 29, Fork, 0.875, 0.702, -0.648, 0, 0, 0, 54 [SEP] 30, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 50 [SEP] 31, Lettuce, 1.026, 1.720, 1.158, 0, 270, 0, 79 [SEP] 32, Plate, -0.846, 0.936, -1.231, 0, 0, 0, 56 [SEP] 33, Apple, 0.966, 1.185, 1.158, 0, 270, 0, 79 [SEP] 34, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 52 [SEP] 35, Spatula, 0.834, 0.510, -0.565, 0, 270, 0, 60 [SEP] 36, PaperTowelRoll, -1.363, 0.658, 2.667, 0, 0, 0, 82 [SEP] 37, Tomato, -0.869, 0.962, -0.096, 0, 0, 0, 56 [SEP] 38, Egg, -0.818, 0.214, 0.575, 0, 180, 0, 76 [SEP] 39, SaltShaker, 0.954, 0.150, -0.729, 0, 270, 0, 59 [SEP] 40, PepperShaker, 1.014, 0.117, 0.423, 0, 270, 0, 57 [SEP] 41, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 82 [SEP] 42, ButterKnife, -0.624, 0.933, -1.540, 0, 0, 0, 56 [SEP] 43, SoapBottle, -1.007, 0.177, 0.576, 0, 180, 0, 76 [SEP] 44, Vase, 1.169, 2.209, -1.299, 0, 270, 0, 63 [SEP] 45, Bowl, 1.087, 1.646, 0.967, 0, 270, 0, 79 [SEP] 46, DishSponge, 0.915, 0.493, -0.565, 0, 270, 0, 60 [SEP] 47, Spoon, -1.041, 0.934, -0.905, 0, 90, 0, 56 [SEP] 48, Cup, 0.844, 0.860, 1.540, 0, 270, 0, 79 [SEP] 49, Mug, 1.026, 1.396, 1.444, 0, 270, 0, 79 [SEP] 50, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 51, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 52, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 53, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 54, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 55, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 56, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 57, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 58, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 59, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 60, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 61, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 62, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 63, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 64, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 65, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 66, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 67, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 68, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 69, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 70, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 71, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 72, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 73, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 74, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 75, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 76, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 77, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 78, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 79, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 80, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 81, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 82, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 83, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 84, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 85, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 86, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 87, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 88, NorthWall, , , , , , , [SEP] 89, EastWall, , , , , , , [SEP] 90, SouthWall, , , , , , , [SEP] 91, WestWall, , , , , , , ", "output": ["STEP 1: Walk forward and face the stove on your right. | STEP 2: Pick up the pan from the stove. | STEP 3: Turn around and face the sink. | STEP 4: Wash the pan in the sink. | STEP 5: Turn around so your back is to the sink. | STEP 6: Put the pan on the count to the left of the stove. | END"]} +{"id": "trial_T20190909_232711_494127-0", "input": "put a bowl with a pencil in it 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, -1.75, 0.900, 1.5, 0, 90, 0, [SEP] 1, Mug, -2.045, 1.347, 0.325, 0, 0, 0, 45 [SEP] 2, CD, -2.155, 0.386, 0.646, 0, 0, 0, 47 [SEP] 3, CD, -2.292, 0.039, 2.522, 0, 180, 0, 50 [SEP] 4, CellPhone, -2.091, 0.879, 0.665, 0, 0, 0, 45 [SEP] 5, Pen, -2.265, 0.884, 0.581, 0, 0, 0, 45 [SEP] 6, Pen, -1.728, 1.729, 0.489, 0, 0, 0, 40 [SEP] 7, Pencil, -0.511, 0.368, -0.692, 0, 0, 0, 36 [SEP] 8, KeyChain, -1.339, 1.350, 0.407, 0, 0, 0, 42 [SEP] 9, Book, -1.914, 0.386, 0.721, 0, 0, 0, 47 [SEP] 10, Book, 1.815, 0.783, 1.076, 0, 0, 0, 26 [SEP] 11, AlarmClock, -1.834, 1.724, 0.366, 0, 0, 0, 39 [SEP] 12, Book, -0.511, 0.364, -0.933, 0, 0, 0, 34 [SEP] 13, AlarmClock, -0.483, 0.858, -1.183, 0, 0, 0, 35 [SEP] 14, BasketBall, 1.976, 0.120, 0.211, 0, 331.076, 0, [SEP] 15, Pen, -2.045, 1.355, 0.407, 0, 0, 0, 37 [SEP] 16, Laptop, -0.651, 0.855, -0.663, 0, 0, 0, 35 [SEP] 17, BaseballBat, 1.953, 0.659, -1.81, 346.388, 0, 0, [SEP] 18, Bowl, -0.567, 0.861, -1.529, 0, 0, 0, 35 [SEP] 19, Pillow, 0.800, 0.918, 2.524, 0, 0, 0, 26 [SEP] 20, KeyChain, -2.187, 0.039, 2.522, 0, 180, 0, 50 [SEP] 21, CreditCard, -1.918, 0.878, 0.832, 0, 0, 0, 45 [SEP] 22, CellPhone, 1.206, 0.784, 1.655, 0, 0, 0, 26 [SEP] 23, CD, -2.091, 0.878, 0.832, 0, 0, 0, 45 [SEP] 24, Pencil, -1.224, 0.882, 0.665, 0, 0, 0, 45 [SEP] 25, Mug, -0.651, 0.855, -1.183, 0, 0, 0, 35 [SEP] 26, Bed, 1.227, -0.002, 1.664, 0, 0, 0, [SEP] 27, LightSwitch, 2.151, 1.233, -0.518, 0, 270, 0, [SEP] 28, GarbageCan, -0.747, 0.014, -0.327, 0, 0, 0, [SEP] 29, Mirror, -1.358, 1.427, 2.855, 0, 0, 0, [SEP] 30, DeskLamp, -2.296, 0.858, 0.750, 0, 0, 0, [SEP] 31, Window, -0.421, 1.534, -1.947, 90, 0, 0, [SEP] 32, Window, 0.579, 1.534, -1.947, 90, 0, 0, [SEP] 33, Drawer, -0.491, 0.739, -0.855, 0, 90, 0, [SEP] 34, Drawer, -0.491, 0.204, -0.855, 0, 90, 0, [SEP] 35, Desk, -0.639, 0.009, -1.187, 0, 90, 0, [SEP] 36, Drawer, -0.491, 0.487, -0.855, 0, 90, 0, [SEP] 37, Shelf, -1.965, 1.514, 0.416, 0, 0, 0, [SEP] 38, Shelf, -1.965, 1.092, 0.416, 0, 0, 0, [SEP] 39, Shelf, -1.312, 1.888, 0.416, 0, 0, 0, [SEP] 40, Shelf, -1.965, 1.888, 0.416, 0, 0, 0, [SEP] 41, Shelf, -1.312, 1.092, 0.416, 0, 0, 0, [SEP] 42, Shelf, -1.312, 1.514, 0.416, 0, 0, 0, [SEP] 43, Blinds, 0.601, 2.161, -1.916, 0, 0, 0, [SEP] 44, Blinds, -0.402, 2.161, -1.916, 0, 0, 0, [SEP] 45, Desk, -1.726, 0.001, 0.575, 0, 0, 0, [SEP] 46, Drawer, -2.058, 0.733, 0.734, 0, 0, 0, [SEP] 47, Drawer, -2.058, 0.482, 0.734, 0, 0, 0, [SEP] 48, Drawer, -2.058, 0.198, 0.735, 0, 0, 0, [SEP] 49, Chair, -0.137, 0.000, -1.587, 0, 315, 0, [SEP] 50, Safe, -2.183, -7.748, 2.576, 0, 180, 0, [SEP] 51, Chair, -1.433, 0.009, 0.780, 357.672, 206.726, 0, [SEP] 52, LaundryHamper, 0.163, 0.003, 2.635, 0, 86.390, 0, [SEP] 53, NorthWall, , , , , , , [SEP] 54, EastWall, , , , , , , [SEP] 55, SouthWall, , , , , , , [SEP] 56, WestWall, , , , , , , ", "output": ["STEP 1: go forward go to the right turn to the right towards the desk | STEP 2: pick up the pencil from the book shelf | STEP 3: turn to the left go right turn to the left go right turn to the right towards the desk | STEP 4: put the pencil inside the bowl that is in the desk | STEP 5: pick up the bowl from the desk | STEP 6: turn to the right go left go right turn to the left towards the book shelf | STEP 7: put the bowl on top of the book shelf | END"]} +{"id": "trial_T20190909_232711_494127-1", "input": "Put a bowl with a pencil in it 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, -1.75, 0.900, 1.5, 0, 90, 0, [SEP] 1, Mug, -2.045, 1.347, 0.325, 0, 0, 0, 45 [SEP] 2, CD, -2.155, 0.386, 0.646, 0, 0, 0, 47 [SEP] 3, CD, -2.292, 0.039, 2.522, 0, 180, 0, 50 [SEP] 4, CellPhone, -2.091, 0.879, 0.665, 0, 0, 0, 45 [SEP] 5, Pen, -2.265, 0.884, 0.581, 0, 0, 0, 45 [SEP] 6, Pen, -1.728, 1.729, 0.489, 0, 0, 0, 40 [SEP] 7, Pencil, -0.511, 0.368, -0.692, 0, 0, 0, 36 [SEP] 8, KeyChain, -1.339, 1.350, 0.407, 0, 0, 0, 42 [SEP] 9, Book, -1.914, 0.386, 0.721, 0, 0, 0, 47 [SEP] 10, Book, 1.815, 0.783, 1.076, 0, 0, 0, 26 [SEP] 11, AlarmClock, -1.834, 1.724, 0.366, 0, 0, 0, 39 [SEP] 12, Book, -0.511, 0.364, -0.933, 0, 0, 0, 34 [SEP] 13, AlarmClock, -0.483, 0.858, -1.183, 0, 0, 0, 35 [SEP] 14, BasketBall, 1.976, 0.120, 0.211, 0, 331.076, 0, [SEP] 15, Pen, -2.045, 1.355, 0.407, 0, 0, 0, 37 [SEP] 16, Laptop, -0.651, 0.855, -0.663, 0, 0, 0, 35 [SEP] 17, BaseballBat, 1.953, 0.659, -1.81, 346.388, 0, 0, [SEP] 18, Bowl, -0.567, 0.861, -1.529, 0, 0, 0, 35 [SEP] 19, Pillow, 0.800, 0.918, 2.524, 0, 0, 0, 26 [SEP] 20, KeyChain, -2.187, 0.039, 2.522, 0, 180, 0, 50 [SEP] 21, CreditCard, -1.918, 0.878, 0.832, 0, 0, 0, 45 [SEP] 22, CellPhone, 1.206, 0.784, 1.655, 0, 0, 0, 26 [SEP] 23, CD, -2.091, 0.878, 0.832, 0, 0, 0, 45 [SEP] 24, Pencil, -1.224, 0.882, 0.665, 0, 0, 0, 45 [SEP] 25, Mug, -0.651, 0.855, -1.183, 0, 0, 0, 35 [SEP] 26, Bed, 1.227, -0.002, 1.664, 0, 0, 0, [SEP] 27, LightSwitch, 2.151, 1.233, -0.518, 0, 270, 0, [SEP] 28, GarbageCan, -0.747, 0.014, -0.327, 0, 0, 0, [SEP] 29, Mirror, -1.358, 1.427, 2.855, 0, 0, 0, [SEP] 30, DeskLamp, -2.296, 0.858, 0.750, 0, 0, 0, [SEP] 31, Window, -0.421, 1.534, -1.947, 90, 0, 0, [SEP] 32, Window, 0.579, 1.534, -1.947, 90, 0, 0, [SEP] 33, Drawer, -0.491, 0.739, -0.855, 0, 90, 0, [SEP] 34, Drawer, -0.491, 0.204, -0.855, 0, 90, 0, [SEP] 35, Desk, -0.639, 0.009, -1.187, 0, 90, 0, [SEP] 36, Drawer, -0.491, 0.487, -0.855, 0, 90, 0, [SEP] 37, Shelf, -1.965, 1.514, 0.416, 0, 0, 0, [SEP] 38, Shelf, -1.965, 1.092, 0.416, 0, 0, 0, [SEP] 39, Shelf, -1.312, 1.888, 0.416, 0, 0, 0, [SEP] 40, Shelf, -1.965, 1.888, 0.416, 0, 0, 0, [SEP] 41, Shelf, -1.312, 1.092, 0.416, 0, 0, 0, [SEP] 42, Shelf, -1.312, 1.514, 0.416, 0, 0, 0, [SEP] 43, Blinds, 0.601, 2.161, -1.916, 0, 0, 0, [SEP] 44, Blinds, -0.402, 2.161, -1.916, 0, 0, 0, [SEP] 45, Desk, -1.726, 0.001, 0.575, 0, 0, 0, [SEP] 46, Drawer, -2.058, 0.733, 0.734, 0, 0, 0, [SEP] 47, Drawer, -2.058, 0.482, 0.734, 0, 0, 0, [SEP] 48, Drawer, -2.058, 0.198, 0.735, 0, 0, 0, [SEP] 49, Chair, -0.137, 0.000, -1.587, 0, 315, 0, [SEP] 50, Safe, -2.183, -7.748, 2.576, 0, 180, 0, [SEP] 51, Chair, -1.433, 0.009, 0.780, 357.672, 206.726, 0, [SEP] 52, LaundryHamper, 0.163, 0.003, 2.635, 0, 86.390, 0, [SEP] 53, NorthWall, , , , , , , [SEP] 54, EastWall, , , , , , , [SEP] 55, SouthWall, , , , , , , [SEP] 56, WestWall, , , , , , , ", "output": ["STEP 1: Move forward to the end of the desk, then turn right to face the desk. | STEP 2: Pick up the pencil from the desk. | STEP 3: Turn around and move forward to the bed, then turn right and go to the desk ahead. | STEP 4: Put the pencil in the bowl on the desk. | STEP 5: Pick up the bowl from the desk. | STEP 6: Go across the room, then turn left and go toward the wall, then turn left to face the desk. | STEP 7: Put the bowl on the desk. | END"]} +{"id": "trial_T20190909_232711_494127-2", "input": "collect pencil and bowl for the desk SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.75, 0.900, 1.5, 0, 90, 0, [SEP] 1, Mug, -2.045, 1.347, 0.325, 0, 0, 0, 45 [SEP] 2, CD, -2.155, 0.386, 0.646, 0, 0, 0, 47 [SEP] 3, CD, -2.292, 0.039, 2.522, 0, 180, 0, 50 [SEP] 4, CellPhone, -2.091, 0.879, 0.665, 0, 0, 0, 45 [SEP] 5, Pen, -2.265, 0.884, 0.581, 0, 0, 0, 45 [SEP] 6, Pen, -1.728, 1.729, 0.489, 0, 0, 0, 40 [SEP] 7, Pencil, -0.511, 0.368, -0.692, 0, 0, 0, 36 [SEP] 8, KeyChain, -1.339, 1.350, 0.407, 0, 0, 0, 42 [SEP] 9, Book, -1.914, 0.386, 0.721, 0, 0, 0, 47 [SEP] 10, Book, 1.815, 0.783, 1.076, 0, 0, 0, 26 [SEP] 11, AlarmClock, -1.834, 1.724, 0.366, 0, 0, 0, 39 [SEP] 12, Book, -0.511, 0.364, -0.933, 0, 0, 0, 34 [SEP] 13, AlarmClock, -0.483, 0.858, -1.183, 0, 0, 0, 35 [SEP] 14, BasketBall, 1.976, 0.120, 0.211, 0, 331.076, 0, [SEP] 15, Pen, -2.045, 1.355, 0.407, 0, 0, 0, 37 [SEP] 16, Laptop, -0.651, 0.855, -0.663, 0, 0, 0, 35 [SEP] 17, BaseballBat, 1.953, 0.659, -1.81, 346.388, 0, 0, [SEP] 18, Bowl, -0.567, 0.861, -1.529, 0, 0, 0, 35 [SEP] 19, Pillow, 0.800, 0.918, 2.524, 0, 0, 0, 26 [SEP] 20, KeyChain, -2.187, 0.039, 2.522, 0, 180, 0, 50 [SEP] 21, CreditCard, -1.918, 0.878, 0.832, 0, 0, 0, 45 [SEP] 22, CellPhone, 1.206, 0.784, 1.655, 0, 0, 0, 26 [SEP] 23, CD, -2.091, 0.878, 0.832, 0, 0, 0, 45 [SEP] 24, Pencil, -1.224, 0.882, 0.665, 0, 0, 0, 45 [SEP] 25, Mug, -0.651, 0.855, -1.183, 0, 0, 0, 35 [SEP] 26, Bed, 1.227, -0.002, 1.664, 0, 0, 0, [SEP] 27, LightSwitch, 2.151, 1.233, -0.518, 0, 270, 0, [SEP] 28, GarbageCan, -0.747, 0.014, -0.327, 0, 0, 0, [SEP] 29, Mirror, -1.358, 1.427, 2.855, 0, 0, 0, [SEP] 30, DeskLamp, -2.296, 0.858, 0.750, 0, 0, 0, [SEP] 31, Window, -0.421, 1.534, -1.947, 90, 0, 0, [SEP] 32, Window, 0.579, 1.534, -1.947, 90, 0, 0, [SEP] 33, Drawer, -0.491, 0.739, -0.855, 0, 90, 0, [SEP] 34, Drawer, -0.491, 0.204, -0.855, 0, 90, 0, [SEP] 35, Desk, -0.639, 0.009, -1.187, 0, 90, 0, [SEP] 36, Drawer, -0.491, 0.487, -0.855, 0, 90, 0, [SEP] 37, Shelf, -1.965, 1.514, 0.416, 0, 0, 0, [SEP] 38, Shelf, -1.965, 1.092, 0.416, 0, 0, 0, [SEP] 39, Shelf, -1.312, 1.888, 0.416, 0, 0, 0, [SEP] 40, Shelf, -1.965, 1.888, 0.416, 0, 0, 0, [SEP] 41, Shelf, -1.312, 1.092, 0.416, 0, 0, 0, [SEP] 42, Shelf, -1.312, 1.514, 0.416, 0, 0, 0, [SEP] 43, Blinds, 0.601, 2.161, -1.916, 0, 0, 0, [SEP] 44, Blinds, -0.402, 2.161, -1.916, 0, 0, 0, [SEP] 45, Desk, -1.726, 0.001, 0.575, 0, 0, 0, [SEP] 46, Drawer, -2.058, 0.733, 0.734, 0, 0, 0, [SEP] 47, Drawer, -2.058, 0.482, 0.734, 0, 0, 0, [SEP] 48, Drawer, -2.058, 0.198, 0.735, 0, 0, 0, [SEP] 49, Chair, -0.137, 0.000, -1.587, 0, 315, 0, [SEP] 50, Safe, -2.183, -7.748, 2.576, 0, 180, 0, [SEP] 51, Chair, -1.433, 0.009, 0.780, 357.672, 206.726, 0, [SEP] 52, LaundryHamper, 0.163, 0.003, 2.635, 0, 86.390, 0, [SEP] 53, NorthWall, , , , , , , [SEP] 54, EastWall, , , , , , , [SEP] 55, SouthWall, , , , , , , [SEP] 56, WestWall, , , , , , , ", "output": ["STEP 1: Turn to the right, walk to the desk | STEP 2: Pick up the pencil from the desk | STEP 3: Turn to the left, walk to the second desk | STEP 4: Place the pencil in the bowl on the desk | STEP 5: Pick up the pencil and the bowl from the desk | STEP 6: Turn to the right, walk to the bed, then turn left and walk to the other desk | STEP 7: Place the pencil and bowl on the desk, between the books | END"]} +{"id": "trial_T20190909_081746_857594-0", "input": "To move two bars of soap 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, -2.0, 0.901, 2.25, 0, 90, 0, [SEP] 1, Cloth, -0.229, 0.075, 3.100, 0, 0, 0, 21 [SEP] 2, Cloth, -0.279, 0.075, 2.247, 0, 0, 0, 27 [SEP] 3, SprayBottle, -0.264, 0.955, 2.878, 0, 0, 0, 25 [SEP] 4, SprayBottle, -0.077, 0.954, 1.669, 0, 0, 0, 33 [SEP] 5, SoapBar, -0.141, 0.954, 2.807, 0, 0, 0, 25 [SEP] 6, SoapBottle, -0.141, 0.955, 2.948, 0, 0, 0, 25 [SEP] 7, ToiletPaper, -2.251, 0.014, 3.782, 0, 0, 0, 34 [SEP] 8, HandTowel, -0.038, 1.619, 1.887, 0, 90, 0, 31 [SEP] 9, Towel, -1.082, 1.326, 1.302, 0, 0, 0, 28 [SEP] 10, SoapBar, -0.388, 0.954, 2.843, 0, 0, 0, 25 [SEP] 11, ToiletPaper, -0.280, 0.654, 1.985, 0, 180, 90, 30 [SEP] 12, Plunger, -0.112, -0.000, 1.848, 0, 0, 0, [SEP] 13, Candle, -0.129, 0.076, 2.654, 0, 0, 0, 22 [SEP] 14, ToiletPaper, -0.450, 0.951, 2.913, 0, 0, 0, 25 [SEP] 15, SprayBottle, -0.326, 0.955, 2.737, 0, 0, 0, 25 [SEP] 16, Cloth, -0.331, 0.076, 3.462, 0, 0, 0, 26 [SEP] 17, ScrubBrush, -0.322, 3.109, 1.950, 0, 0, 0, [SEP] 18, SoapBottle, -0.388, 0.955, 2.948, 0, 0, 0, 25 [SEP] 19, Mirror, -0.030, 1.544, 2.864, 0, 0, 0, [SEP] 20, Sink, -0.302, 0.799, 3.263, 0, 270, 0, [SEP] 21, Cabinet, -0.491, 0.404, 2.863, 0, 0, 0, [SEP] 22, Cabinet, -0.495, 0.384, 2.842, 0, 0, 0, [SEP] 23, ShowerDoor, -1.647, 1.017, 1.180, 0, 0, 0, [SEP] 24, ShowerGlass, -0.909, 0.788, 0.485, 0, 0, 0, [SEP] 25, CounterTop, -0.261, 0.927, 2.843, 0, 0, 0, [SEP] 26, Cabinet, -0.495, 0.384, 3.650, 0, 0, 0, [SEP] 27, Cabinet, -0.491, 0.404, 2.055, 0, 0, 0, [SEP] 28, TowelHolder, -1.082, 1.312, 1.195, 0, 0, 0, [SEP] 29, LightSwitch, -2.424, 1.447, 3.338, 0, 90, 0, [SEP] 30, ToiletPaperHanger, -0.266, 0.786, 2.043, 0, 180, 0, [SEP] 31, HandTowelHolder, 0.000, 1.721, 1.887, 0, 180, 0, [SEP] 32, HandTowelHolder, 0.000, 1.721, 3.799, 0, 180, 0, [SEP] 33, Toilet, -0.542, 3.109, 1.493, 0, 270, 0, [SEP] 34, GarbageCan, -2.159, -0.000, 3.756, 0, 0, 0, [SEP] 35, SinkBasin, -0.308, 0.820, 3.266, 0, 0, 0, [SEP] 36, ShowerHead, -0.134, 1.888, 0.564, 0, 90, 0, [SEP] 37, Faucet, 0.0, 1.009, 3.265, 0, 0, 0, [SEP] 38, Faucet, 0.0, 1.009, 2.421, 0, 0, 0, [SEP] 39, SinkBasin, -0.308, 0.820, 2.422, 0, 0, 0, [SEP] 40, Sink, -0.302, 0.799, 2.419, 0, 270, 0, [SEP] 41, NorthWall, , , , , , , [SEP] 42, SouthWall, , , , , , , [SEP] 43, SouthWall, , , , , , , ", "output": ["STEP 1: Walk over to the counter in the middle of the sinks. | STEP 2: Pick up the bar of soap in the back of the counter. | STEP 3: Move further back from the counter. | STEP 4: Open the cabinet door all the way to the left, place the bar of soap in the cabinet to the right of the rag, and close the door. | STEP 5: Move closer to the counter in between the two sinks. | STEP 6: Pick up the bar of soap from the counter. | STEP 7: Move further back from the counter. | STEP 8: Open the cabinet door all the way to the left, put the soap inside the cabinet to the left of the other soap, and close the door. | END"]} +{"id": "trial_T20190909_081746_857594-1", "input": "Place two bars of white soap on the shelf 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, -2.0, 0.901, 2.25, 0, 90, 0, [SEP] 1, Cloth, -0.229, 0.075, 3.100, 0, 0, 0, 21 [SEP] 2, Cloth, -0.279, 0.075, 2.247, 0, 0, 0, 27 [SEP] 3, SprayBottle, -0.264, 0.955, 2.878, 0, 0, 0, 25 [SEP] 4, SprayBottle, -0.077, 0.954, 1.669, 0, 0, 0, 33 [SEP] 5, SoapBar, -0.141, 0.954, 2.807, 0, 0, 0, 25 [SEP] 6, SoapBottle, -0.141, 0.955, 2.948, 0, 0, 0, 25 [SEP] 7, ToiletPaper, -2.251, 0.014, 3.782, 0, 0, 0, 34 [SEP] 8, HandTowel, -0.038, 1.619, 1.887, 0, 90, 0, 31 [SEP] 9, Towel, -1.082, 1.326, 1.302, 0, 0, 0, 28 [SEP] 10, SoapBar, -0.388, 0.954, 2.843, 0, 0, 0, 25 [SEP] 11, ToiletPaper, -0.280, 0.654, 1.985, 0, 180, 90, 30 [SEP] 12, Plunger, -0.112, -0.000, 1.848, 0, 0, 0, [SEP] 13, Candle, -0.129, 0.076, 2.654, 0, 0, 0, 22 [SEP] 14, ToiletPaper, -0.450, 0.951, 2.913, 0, 0, 0, 25 [SEP] 15, SprayBottle, -0.326, 0.955, 2.737, 0, 0, 0, 25 [SEP] 16, Cloth, -0.331, 0.076, 3.462, 0, 0, 0, 26 [SEP] 17, ScrubBrush, -0.322, 3.109, 1.950, 0, 0, 0, [SEP] 18, SoapBottle, -0.388, 0.955, 2.948, 0, 0, 0, 25 [SEP] 19, Mirror, -0.030, 1.544, 2.864, 0, 0, 0, [SEP] 20, Sink, -0.302, 0.799, 3.263, 0, 270, 0, [SEP] 21, Cabinet, -0.491, 0.404, 2.863, 0, 0, 0, [SEP] 22, Cabinet, -0.495, 0.384, 2.842, 0, 0, 0, [SEP] 23, ShowerDoor, -1.647, 1.017, 1.180, 0, 0, 0, [SEP] 24, ShowerGlass, -0.909, 0.788, 0.485, 0, 0, 0, [SEP] 25, CounterTop, -0.261, 0.927, 2.843, 0, 0, 0, [SEP] 26, Cabinet, -0.495, 0.384, 3.650, 0, 0, 0, [SEP] 27, Cabinet, -0.491, 0.404, 2.055, 0, 0, 0, [SEP] 28, TowelHolder, -1.082, 1.312, 1.195, 0, 0, 0, [SEP] 29, LightSwitch, -2.424, 1.447, 3.338, 0, 90, 0, [SEP] 30, ToiletPaperHanger, -0.266, 0.786, 2.043, 0, 180, 0, [SEP] 31, HandTowelHolder, 0.000, 1.721, 1.887, 0, 180, 0, [SEP] 32, HandTowelHolder, 0.000, 1.721, 3.799, 0, 180, 0, [SEP] 33, Toilet, -0.542, 3.109, 1.493, 0, 270, 0, [SEP] 34, GarbageCan, -2.159, -0.000, 3.756, 0, 0, 0, [SEP] 35, SinkBasin, -0.308, 0.820, 3.266, 0, 0, 0, [SEP] 36, ShowerHead, -0.134, 1.888, 0.564, 0, 90, 0, [SEP] 37, Faucet, 0.0, 1.009, 3.265, 0, 0, 0, [SEP] 38, Faucet, 0.0, 1.009, 2.421, 0, 0, 0, [SEP] 39, SinkBasin, -0.308, 0.820, 2.422, 0, 0, 0, [SEP] 40, Sink, -0.302, 0.799, 2.419, 0, 270, 0, [SEP] 41, NorthWall, , , , , , , [SEP] 42, SouthWall, , , , , , , [SEP] 43, SouthWall, , , , , , , ", "output": ["STEP 1: Turn around and go to the sink. | STEP 2: Pick up the white bar of soap closest to the wall | STEP 3: Go to the left cabinet under the left sink. | STEP 4: Open the far left cabinet door under the sink on the left. | STEP 5: Go to the cleaning supplies between the sinks. | STEP 6: Pick up the white bar of soap above the orange roll. | STEP 7: Go to the left cabinet under the left sink. | STEP 8: Open the cabinet and place the white soap inside on the shelf left of the other bar of white soap. | END"]} +{"id": "trial_T20190909_081746_857594-2", "input": "Put two bars of soap in a 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, -2.0, 0.901, 2.25, 0, 90, 0, [SEP] 1, Cloth, -0.229, 0.075, 3.100, 0, 0, 0, 21 [SEP] 2, Cloth, -0.279, 0.075, 2.247, 0, 0, 0, 27 [SEP] 3, SprayBottle, -0.264, 0.955, 2.878, 0, 0, 0, 25 [SEP] 4, SprayBottle, -0.077, 0.954, 1.669, 0, 0, 0, 33 [SEP] 5, SoapBar, -0.141, 0.954, 2.807, 0, 0, 0, 25 [SEP] 6, SoapBottle, -0.141, 0.955, 2.948, 0, 0, 0, 25 [SEP] 7, ToiletPaper, -2.251, 0.014, 3.782, 0, 0, 0, 34 [SEP] 8, HandTowel, -0.038, 1.619, 1.887, 0, 90, 0, 31 [SEP] 9, Towel, -1.082, 1.326, 1.302, 0, 0, 0, 28 [SEP] 10, SoapBar, -0.388, 0.954, 2.843, 0, 0, 0, 25 [SEP] 11, ToiletPaper, -0.280, 0.654, 1.985, 0, 180, 90, 30 [SEP] 12, Plunger, -0.112, -0.000, 1.848, 0, 0, 0, [SEP] 13, Candle, -0.129, 0.076, 2.654, 0, 0, 0, 22 [SEP] 14, ToiletPaper, -0.450, 0.951, 2.913, 0, 0, 0, 25 [SEP] 15, SprayBottle, -0.326, 0.955, 2.737, 0, 0, 0, 25 [SEP] 16, Cloth, -0.331, 0.076, 3.462, 0, 0, 0, 26 [SEP] 17, ScrubBrush, -0.322, 3.109, 1.950, 0, 0, 0, [SEP] 18, SoapBottle, -0.388, 0.955, 2.948, 0, 0, 0, 25 [SEP] 19, Mirror, -0.030, 1.544, 2.864, 0, 0, 0, [SEP] 20, Sink, -0.302, 0.799, 3.263, 0, 270, 0, [SEP] 21, Cabinet, -0.491, 0.404, 2.863, 0, 0, 0, [SEP] 22, Cabinet, -0.495, 0.384, 2.842, 0, 0, 0, [SEP] 23, ShowerDoor, -1.647, 1.017, 1.180, 0, 0, 0, [SEP] 24, ShowerGlass, -0.909, 0.788, 0.485, 0, 0, 0, [SEP] 25, CounterTop, -0.261, 0.927, 2.843, 0, 0, 0, [SEP] 26, Cabinet, -0.495, 0.384, 3.650, 0, 0, 0, [SEP] 27, Cabinet, -0.491, 0.404, 2.055, 0, 0, 0, [SEP] 28, TowelHolder, -1.082, 1.312, 1.195, 0, 0, 0, [SEP] 29, LightSwitch, -2.424, 1.447, 3.338, 0, 90, 0, [SEP] 30, ToiletPaperHanger, -0.266, 0.786, 2.043, 0, 180, 0, [SEP] 31, HandTowelHolder, 0.000, 1.721, 1.887, 0, 180, 0, [SEP] 32, HandTowelHolder, 0.000, 1.721, 3.799, 0, 180, 0, [SEP] 33, Toilet, -0.542, 3.109, 1.493, 0, 270, 0, [SEP] 34, GarbageCan, -2.159, -0.000, 3.756, 0, 0, 0, [SEP] 35, SinkBasin, -0.308, 0.820, 3.266, 0, 0, 0, [SEP] 36, ShowerHead, -0.134, 1.888, 0.564, 0, 90, 0, [SEP] 37, Faucet, 0.0, 1.009, 3.265, 0, 0, 0, [SEP] 38, Faucet, 0.0, 1.009, 2.421, 0, 0, 0, [SEP] 39, SinkBasin, -0.308, 0.820, 2.422, 0, 0, 0, [SEP] 40, Sink, -0.302, 0.799, 2.419, 0, 270, 0, [SEP] 41, NorthWall, , , , , , , [SEP] 42, SouthWall, , , , , , , [SEP] 43, SouthWall, , , , , , , ", "output": ["STEP 1: Turn around to walk to the sinks. | STEP 2: Pick up the rightmost bar of soap in between the two sinks. | STEP 3: Turn to face the cabinets under the sinks. | STEP 4: Put the bar of soap in the leftmost cabinet under the sink. | STEP 5: Turn to face the sinks. | STEP 6: Pick up the other bar of soap in between the sinks. | STEP 7: Turn to face the cabinet under the sinks. | STEP 8: Put the other bar of soap in the leftmost cabinet under the sink. | END"]} +{"id": "trial_T20190908_214946_567644-0", "input": "Put a clean bar of soap 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, 2.0, 0, 90, 0, [SEP] 1, Cloth, -0.202, 0.954, 2.807, 0, 0, 0, 24 [SEP] 2, SprayBottle, -2.202, 0.018, 3.756, 0, 0, 0, 33 [SEP] 3, SprayBottle, -0.381, 0.076, 2.336, 0, 0, 0, 26 [SEP] 4, SoapBar, -0.326, 0.954, 2.878, 0, 0, 0, 24 [SEP] 5, SoapBottle, -0.381, 0.076, 2.202, 0, 0, 0, 26 [SEP] 6, HandTowel, -0.038, 1.619, 1.887, 0, 90, 0, 30 [SEP] 7, HandTowel, -0.038, 1.619, 3.799, 0, 90, 0, 31 [SEP] 8, Towel, -1.082, 1.326, 1.302, 0, 0, 0, 27 [SEP] 9, SoapBar, -0.158, 0.953, 1.481, 0, 0, 0, 32 [SEP] 10, ToiletPaper, -0.117, 0.945, 1.629, 0, 0, 0, 32 [SEP] 11, Plunger, -0.112, -0.000, 1.848, 0, 0, 0, [SEP] 12, Candle, -0.450, 0.954, 2.843, 0, 0, 0, 24 [SEP] 13, ToiletPaper, -0.280, 0.073, 2.743, 0, 0, 0, 21 [SEP] 14, SprayBottle, -0.382, 0.077, 3.372, 0, 0, 0, 25 [SEP] 15, Cloth, -0.229, 0.075, 3.100, 0, 0, 0, 20 [SEP] 16, ScrubBrush, -0.322, 3.109, 1.950, 0, 0, 0, [SEP] 17, SoapBottle, -0.179, 0.077, 3.417, 0, 0, 0, 25 [SEP] 18, Mirror, -0.030, 1.544, 2.864, 0, 0, 0, [SEP] 19, Sink, -0.302, 0.799, 3.263, 0, 270, 0, [SEP] 20, Cabinet, -0.491, 0.404, 2.863, 0, 0, 0, [SEP] 21, Cabinet, -0.495, 0.384, 2.842, 0, 0, 0, [SEP] 22, ShowerDoor, -1.647, 1.017, 1.180, 0, 0, 0, [SEP] 23, ShowerGlass, -0.909, 0.788, 0.485, 0, 0, 0, [SEP] 24, CounterTop, -0.261, 0.927, 2.843, 0, 0, 0, [SEP] 25, Cabinet, -0.495, 0.384, 3.650, 0, 0, 0, [SEP] 26, Cabinet, -0.491, 0.404, 2.055, 0, 0, 0, [SEP] 27, TowelHolder, -1.082, 1.312, 1.195, 0, 0, 0, [SEP] 28, LightSwitch, -2.424, 1.447, 3.338, 0, 90, 0, [SEP] 29, ToiletPaperHanger, -0.266, 0.786, 2.043, 0, 180, 0, [SEP] 30, HandTowelHolder, 0.000, 1.721, 1.887, 0, 180, 0, [SEP] 31, HandTowelHolder, 0.000, 1.721, 3.799, 0, 180, 0, [SEP] 32, Toilet, -0.542, 3.109, 1.493, 0, 270, 0, [SEP] 33, GarbageCan, -2.159, -0.000, 3.756, 0, 0, 0, [SEP] 34, SinkBasin, -0.308, 0.820, 3.266, 0, 0, 0, [SEP] 35, ShowerHead, -0.134, 1.888, 0.564, 0, 90, 0, [SEP] 36, Faucet, 0.0, 1.009, 3.265, 0, 0, 0, [SEP] 37, Faucet, 0.0, 1.009, 2.421, 0, 0, 0, [SEP] 38, SinkBasin, -0.308, 0.820, 2.422, 0, 0, 0, [SEP] 39, Sink, -0.302, 0.799, 2.419, 0, 270, 0, [SEP] 40, NorthWall, , , , , , , [SEP] 41, SouthWall, , , , , , , [SEP] 42, SouthWall, , , , , , , ", "output": ["STEP 1: Walk up to the right side of the sink counter. | STEP 2: Pick up the bar of soap off of the toilet tank to your right. | STEP 3: Walk over to the rightmost sink. | STEP 4: Put the bar of soap in the sink and turn on the water, after a couple seconds turn the water off and remove the now clean bar of soap. | STEP 5: Turn around and walk towards the wall, then turn left and walk towards the shower, turn left again to face the counter. | STEP 6: Open the second cabinet door from the right below the counter and put the clean bar of soap inside, then close the cabinet. | END"]} +{"id": "trial_T20190908_214946_567644-1", "input": "Put 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, -1.75, 0.901, 2.0, 0, 90, 0, [SEP] 1, Cloth, -0.202, 0.954, 2.807, 0, 0, 0, 24 [SEP] 2, SprayBottle, -2.202, 0.018, 3.756, 0, 0, 0, 33 [SEP] 3, SprayBottle, -0.381, 0.076, 2.336, 0, 0, 0, 26 [SEP] 4, SoapBar, -0.326, 0.954, 2.878, 0, 0, 0, 24 [SEP] 5, SoapBottle, -0.381, 0.076, 2.202, 0, 0, 0, 26 [SEP] 6, HandTowel, -0.038, 1.619, 1.887, 0, 90, 0, 30 [SEP] 7, HandTowel, -0.038, 1.619, 3.799, 0, 90, 0, 31 [SEP] 8, Towel, -1.082, 1.326, 1.302, 0, 0, 0, 27 [SEP] 9, SoapBar, -0.158, 0.953, 1.481, 0, 0, 0, 32 [SEP] 10, ToiletPaper, -0.117, 0.945, 1.629, 0, 0, 0, 32 [SEP] 11, Plunger, -0.112, -0.000, 1.848, 0, 0, 0, [SEP] 12, Candle, -0.450, 0.954, 2.843, 0, 0, 0, 24 [SEP] 13, ToiletPaper, -0.280, 0.073, 2.743, 0, 0, 0, 21 [SEP] 14, SprayBottle, -0.382, 0.077, 3.372, 0, 0, 0, 25 [SEP] 15, Cloth, -0.229, 0.075, 3.100, 0, 0, 0, 20 [SEP] 16, ScrubBrush, -0.322, 3.109, 1.950, 0, 0, 0, [SEP] 17, SoapBottle, -0.179, 0.077, 3.417, 0, 0, 0, 25 [SEP] 18, Mirror, -0.030, 1.544, 2.864, 0, 0, 0, [SEP] 19, Sink, -0.302, 0.799, 3.263, 0, 270, 0, [SEP] 20, Cabinet, -0.491, 0.404, 2.863, 0, 0, 0, [SEP] 21, Cabinet, -0.495, 0.384, 2.842, 0, 0, 0, [SEP] 22, ShowerDoor, -1.647, 1.017, 1.180, 0, 0, 0, [SEP] 23, ShowerGlass, -0.909, 0.788, 0.485, 0, 0, 0, [SEP] 24, CounterTop, -0.261, 0.927, 2.843, 0, 0, 0, [SEP] 25, Cabinet, -0.495, 0.384, 3.650, 0, 0, 0, [SEP] 26, Cabinet, -0.491, 0.404, 2.055, 0, 0, 0, [SEP] 27, TowelHolder, -1.082, 1.312, 1.195, 0, 0, 0, [SEP] 28, LightSwitch, -2.424, 1.447, 3.338, 0, 90, 0, [SEP] 29, ToiletPaperHanger, -0.266, 0.786, 2.043, 0, 180, 0, [SEP] 30, HandTowelHolder, 0.000, 1.721, 1.887, 0, 180, 0, [SEP] 31, HandTowelHolder, 0.000, 1.721, 3.799, 0, 180, 0, [SEP] 32, Toilet, -0.542, 3.109, 1.493, 0, 270, 0, [SEP] 33, GarbageCan, -2.159, -0.000, 3.756, 0, 0, 0, [SEP] 34, SinkBasin, -0.308, 0.820, 3.266, 0, 0, 0, [SEP] 35, ShowerHead, -0.134, 1.888, 0.564, 0, 90, 0, [SEP] 36, Faucet, 0.0, 1.009, 3.265, 0, 0, 0, [SEP] 37, Faucet, 0.0, 1.009, 2.421, 0, 0, 0, [SEP] 38, SinkBasin, -0.308, 0.820, 2.422, 0, 0, 0, [SEP] 39, Sink, -0.302, 0.799, 2.419, 0, 270, 0, [SEP] 40, NorthWall, , , , , , , [SEP] 41, SouthWall, , , , , , , [SEP] 42, SouthWall, , , , , , , ", "output": ["STEP 1: Move forward to the toilet. | STEP 2: Pick up the soap on the toilet. | STEP 3: Bring the soap to the right sink. | STEP 4: Wash the soap in the right sink. | STEP 5: Bring the washed soap to the cabinet under the right sink. | STEP 6: Put the washed soap in the left cabinet under the right sink. | END"]} +{"id": "trial_T20190908_214946_567644-2", "input": "Put the clean soap 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, -1.75, 0.901, 2.0, 0, 90, 0, [SEP] 1, Cloth, -0.202, 0.954, 2.807, 0, 0, 0, 24 [SEP] 2, SprayBottle, -2.202, 0.018, 3.756, 0, 0, 0, 33 [SEP] 3, SprayBottle, -0.381, 0.076, 2.336, 0, 0, 0, 26 [SEP] 4, SoapBar, -0.326, 0.954, 2.878, 0, 0, 0, 24 [SEP] 5, SoapBottle, -0.381, 0.076, 2.202, 0, 0, 0, 26 [SEP] 6, HandTowel, -0.038, 1.619, 1.887, 0, 90, 0, 30 [SEP] 7, HandTowel, -0.038, 1.619, 3.799, 0, 90, 0, 31 [SEP] 8, Towel, -1.082, 1.326, 1.302, 0, 0, 0, 27 [SEP] 9, SoapBar, -0.158, 0.953, 1.481, 0, 0, 0, 32 [SEP] 10, ToiletPaper, -0.117, 0.945, 1.629, 0, 0, 0, 32 [SEP] 11, Plunger, -0.112, -0.000, 1.848, 0, 0, 0, [SEP] 12, Candle, -0.450, 0.954, 2.843, 0, 0, 0, 24 [SEP] 13, ToiletPaper, -0.280, 0.073, 2.743, 0, 0, 0, 21 [SEP] 14, SprayBottle, -0.382, 0.077, 3.372, 0, 0, 0, 25 [SEP] 15, Cloth, -0.229, 0.075, 3.100, 0, 0, 0, 20 [SEP] 16, ScrubBrush, -0.322, 3.109, 1.950, 0, 0, 0, [SEP] 17, SoapBottle, -0.179, 0.077, 3.417, 0, 0, 0, 25 [SEP] 18, Mirror, -0.030, 1.544, 2.864, 0, 0, 0, [SEP] 19, Sink, -0.302, 0.799, 3.263, 0, 270, 0, [SEP] 20, Cabinet, -0.491, 0.404, 2.863, 0, 0, 0, [SEP] 21, Cabinet, -0.495, 0.384, 2.842, 0, 0, 0, [SEP] 22, ShowerDoor, -1.647, 1.017, 1.180, 0, 0, 0, [SEP] 23, ShowerGlass, -0.909, 0.788, 0.485, 0, 0, 0, [SEP] 24, CounterTop, -0.261, 0.927, 2.843, 0, 0, 0, [SEP] 25, Cabinet, -0.495, 0.384, 3.650, 0, 0, 0, [SEP] 26, Cabinet, -0.491, 0.404, 2.055, 0, 0, 0, [SEP] 27, TowelHolder, -1.082, 1.312, 1.195, 0, 0, 0, [SEP] 28, LightSwitch, -2.424, 1.447, 3.338, 0, 90, 0, [SEP] 29, ToiletPaperHanger, -0.266, 0.786, 2.043, 0, 180, 0, [SEP] 30, HandTowelHolder, 0.000, 1.721, 1.887, 0, 180, 0, [SEP] 31, HandTowelHolder, 0.000, 1.721, 3.799, 0, 180, 0, [SEP] 32, Toilet, -0.542, 3.109, 1.493, 0, 270, 0, [SEP] 33, GarbageCan, -2.159, -0.000, 3.756, 0, 0, 0, [SEP] 34, SinkBasin, -0.308, 0.820, 3.266, 0, 0, 0, [SEP] 35, ShowerHead, -0.134, 1.888, 0.564, 0, 90, 0, [SEP] 36, Faucet, 0.0, 1.009, 3.265, 0, 0, 0, [SEP] 37, Faucet, 0.0, 1.009, 2.421, 0, 0, 0, [SEP] 38, SinkBasin, -0.308, 0.820, 2.422, 0, 0, 0, [SEP] 39, Sink, -0.302, 0.799, 2.419, 0, 270, 0, [SEP] 40, NorthWall, , , , , , , [SEP] 41, SouthWall, , , , , , , [SEP] 42, SouthWall, , , , , , , ", "output": ["STEP 1: Walk forward to the sink counter | STEP 2: Pick up the soap on the right side of sink counter | STEP 3: Turn left then face the sink | STEP 4: Put the soap in the sink and rinse it | STEP 5: Turn around to your right then move a little | STEP 6: Open the cabinet on your left and put it the soap | END"]} +{"id": "trial_T20190909_210238_431966-0", "input": "take a coffee mug from a book shelf and place 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, 0.75, 0.900, -1.25, 0, 270, 0, [SEP] 1, Bowl, -0.483, 0.861, -1.529, 0, 0, 0, 38 [SEP] 2, Mug, -1.834, 1.721, 0.366, 0, 0, 0, 42 [SEP] 3, CD, -0.748, 0.202, -0.365, 0, 0, 0, 31 [SEP] 4, CD, -2.091, 0.878, 0.749, 0, 0, 0, 48 [SEP] 5, Pen, -1.918, 0.884, 0.498, 0, 90, 0, 41 [SEP] 6, Pencil, -1.286, 1.727, 0.448, 0, 0, 0, 42 [SEP] 7, Pencil, -1.224, 0.882, 0.665, 0, 0, 0, 48 [SEP] 8, CreditCard, -2.155, 0.386, 0.646, 0, 0, 0, 50 [SEP] 9, CreditCard, -2.091, 0.878, 0.832, 0, 0, 0, 48 [SEP] 10, KeyChain, -0.483, 0.857, -1.702, 0, 270, 0, 38 [SEP] 11, KeyChain, -1.445, 1.350, 0.407, 0, 90, 0, 45 [SEP] 12, Book, 1.815, 0.783, 1.945, 0, 0, 0, 29 [SEP] 13, Book, -0.735, 0.857, -0.836, 0, 0, 0, 38 [SEP] 14, Laptop, 1.409, 0.781, 1.366, 0, 0, 0, 29 [SEP] 15, Book, 1.206, 0.783, 1.945, 0, 0, 0, 29 [SEP] 16, AlarmClock, -0.651, 0.858, -1.183, 0, 0, 0, 38 [SEP] 17, BasketBall, 1.976, 0.120, 0.211, 0, 331.076, 0, [SEP] 18, Pen, -2.235, 0.673, 0.721, 0, 0, 0, 49 [SEP] 19, Laptop, -1.783, 0.871, 0.732, 0, 0, 0, 48 [SEP] 20, BaseballBat, 1.953, 0.659, -1.81, 346.388, 0, 0, [SEP] 21, Bowl, -2.091, 0.882, 0.581, 0, 0, 0, 48 [SEP] 22, Pillow, 1.003, 0.918, 1.366, 0, 0, 0, 29 [SEP] 23, KeyChain, -1.728, 0.882, 0.530, 0, 0, 0, 41 [SEP] 24, CreditCard, -0.735, 0.857, -1.356, 0, 0, 0, 38 [SEP] 25, CellPhone, 0.800, 0.784, 1.945, 0, 0, 0, 29 [SEP] 26, CD, -2.240, 0.039, 2.682, 0, 180, 0, 53 [SEP] 27, Pencil, -0.473, 0.368, -0.852, 0, 0, 0, 39 [SEP] 28, Mug, -2.045, 1.347, 0.407, 0, 0, 0, 48 [SEP] 29, Bed, 1.227, -0.002, 1.664, 0, 0, 0, [SEP] 30, LightSwitch, 2.151, 1.233, -0.518, 0, 270, 0, [SEP] 31, GarbageCan, -0.747, 0.014, -0.327, 0, 0, 0, [SEP] 32, Mirror, -1.358, 1.427, 2.855, 0, 0, 0, [SEP] 33, DeskLamp, -2.296, 0.858, 0.750, 0, 0, 0, [SEP] 34, Window, -0.421, 1.534, -1.947, 90, 0, 0, [SEP] 35, Window, 0.579, 1.534, -1.947, 90, 0, 0, [SEP] 36, Drawer, -0.491, 0.739, -0.855, 0, 90, 0, [SEP] 37, Drawer, -0.491, 0.204, -0.855, 0, 90, 0, [SEP] 38, Desk, -0.639, 0.009, -1.187, 0, 90, 0, [SEP] 39, Drawer, -0.491, 0.487, -0.855, 0, 90, 0, [SEP] 40, Shelf, -1.965, 1.514, 0.416, 0, 0, 0, [SEP] 41, Shelf, -1.965, 1.092, 0.416, 0, 0, 0, [SEP] 42, Shelf, -1.312, 1.888, 0.416, 0, 0, 0, [SEP] 43, Shelf, -1.965, 1.888, 0.416, 0, 0, 0, [SEP] 44, Shelf, -1.312, 1.092, 0.416, 0, 0, 0, [SEP] 45, Shelf, -1.312, 1.514, 0.416, 0, 0, 0, [SEP] 46, Blinds, 0.601, 2.161, -1.916, 0, 0, 0, [SEP] 47, Blinds, -0.402, 2.161, -1.916, 0, 0, 0, [SEP] 48, Desk, -1.726, 0.001, 0.575, 0, 0, 0, [SEP] 49, Drawer, -2.058, 0.733, 0.734, 0, 0, 0, [SEP] 50, Drawer, -2.058, 0.482, 0.734, 0, 0, 0, [SEP] 51, Drawer, -2.058, 0.198, 0.735, 0, 0, 0, [SEP] 52, Chair, -0.137, 0.000, -1.587, 0, 315, 0, [SEP] 53, Safe, -2.183, -7.748, 2.576, 0, 180, 0, [SEP] 54, Chair, -1.433, 0.009, 0.780, 357.672, 206.726, 0, [SEP] 55, LaundryHamper, 0.163, 0.003, 2.635, 0, 86.390, 0, [SEP] 56, NorthWall, , , , , , , [SEP] 57, EastWall, , , , , , , [SEP] 58, SouthWall, , , , , , , [SEP] 59, WestWall, , , , , , , ", "output": ["STEP 1: go to the desk that is in front of a book shelf with a computer on it | STEP 2: pick up the white coffee mug from the book shelf | STEP 3: go to the left end of the desk | STEP 4: place the mug on the left end of the desk | END"]} +{"id": "trial_T20190909_210238_431966-1", "input": "Move a cup from the shelf 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, 0.75, 0.900, -1.25, 0, 270, 0, [SEP] 1, Bowl, -0.483, 0.861, -1.529, 0, 0, 0, 38 [SEP] 2, Mug, -1.834, 1.721, 0.366, 0, 0, 0, 42 [SEP] 3, CD, -0.748, 0.202, -0.365, 0, 0, 0, 31 [SEP] 4, CD, -2.091, 0.878, 0.749, 0, 0, 0, 48 [SEP] 5, Pen, -1.918, 0.884, 0.498, 0, 90, 0, 41 [SEP] 6, Pencil, -1.286, 1.727, 0.448, 0, 0, 0, 42 [SEP] 7, Pencil, -1.224, 0.882, 0.665, 0, 0, 0, 48 [SEP] 8, CreditCard, -2.155, 0.386, 0.646, 0, 0, 0, 50 [SEP] 9, CreditCard, -2.091, 0.878, 0.832, 0, 0, 0, 48 [SEP] 10, KeyChain, -0.483, 0.857, -1.702, 0, 270, 0, 38 [SEP] 11, KeyChain, -1.445, 1.350, 0.407, 0, 90, 0, 45 [SEP] 12, Book, 1.815, 0.783, 1.945, 0, 0, 0, 29 [SEP] 13, Book, -0.735, 0.857, -0.836, 0, 0, 0, 38 [SEP] 14, Laptop, 1.409, 0.781, 1.366, 0, 0, 0, 29 [SEP] 15, Book, 1.206, 0.783, 1.945, 0, 0, 0, 29 [SEP] 16, AlarmClock, -0.651, 0.858, -1.183, 0, 0, 0, 38 [SEP] 17, BasketBall, 1.976, 0.120, 0.211, 0, 331.076, 0, [SEP] 18, Pen, -2.235, 0.673, 0.721, 0, 0, 0, 49 [SEP] 19, Laptop, -1.783, 0.871, 0.732, 0, 0, 0, 48 [SEP] 20, BaseballBat, 1.953, 0.659, -1.81, 346.388, 0, 0, [SEP] 21, Bowl, -2.091, 0.882, 0.581, 0, 0, 0, 48 [SEP] 22, Pillow, 1.003, 0.918, 1.366, 0, 0, 0, 29 [SEP] 23, KeyChain, -1.728, 0.882, 0.530, 0, 0, 0, 41 [SEP] 24, CreditCard, -0.735, 0.857, -1.356, 0, 0, 0, 38 [SEP] 25, CellPhone, 0.800, 0.784, 1.945, 0, 0, 0, 29 [SEP] 26, CD, -2.240, 0.039, 2.682, 0, 180, 0, 53 [SEP] 27, Pencil, -0.473, 0.368, -0.852, 0, 0, 0, 39 [SEP] 28, Mug, -2.045, 1.347, 0.407, 0, 0, 0, 48 [SEP] 29, Bed, 1.227, -0.002, 1.664, 0, 0, 0, [SEP] 30, LightSwitch, 2.151, 1.233, -0.518, 0, 270, 0, [SEP] 31, GarbageCan, -0.747, 0.014, -0.327, 0, 0, 0, [SEP] 32, Mirror, -1.358, 1.427, 2.855, 0, 0, 0, [SEP] 33, DeskLamp, -2.296, 0.858, 0.750, 0, 0, 0, [SEP] 34, Window, -0.421, 1.534, -1.947, 90, 0, 0, [SEP] 35, Window, 0.579, 1.534, -1.947, 90, 0, 0, [SEP] 36, Drawer, -0.491, 0.739, -0.855, 0, 90, 0, [SEP] 37, Drawer, -0.491, 0.204, -0.855, 0, 90, 0, [SEP] 38, Desk, -0.639, 0.009, -1.187, 0, 90, 0, [SEP] 39, Drawer, -0.491, 0.487, -0.855, 0, 90, 0, [SEP] 40, Shelf, -1.965, 1.514, 0.416, 0, 0, 0, [SEP] 41, Shelf, -1.965, 1.092, 0.416, 0, 0, 0, [SEP] 42, Shelf, -1.312, 1.888, 0.416, 0, 0, 0, [SEP] 43, Shelf, -1.965, 1.888, 0.416, 0, 0, 0, [SEP] 44, Shelf, -1.312, 1.092, 0.416, 0, 0, 0, [SEP] 45, Shelf, -1.312, 1.514, 0.416, 0, 0, 0, [SEP] 46, Blinds, 0.601, 2.161, -1.916, 0, 0, 0, [SEP] 47, Blinds, -0.402, 2.161, -1.916, 0, 0, 0, [SEP] 48, Desk, -1.726, 0.001, 0.575, 0, 0, 0, [SEP] 49, Drawer, -2.058, 0.733, 0.734, 0, 0, 0, [SEP] 50, Drawer, -2.058, 0.482, 0.734, 0, 0, 0, [SEP] 51, Drawer, -2.058, 0.198, 0.735, 0, 0, 0, [SEP] 52, Chair, -0.137, 0.000, -1.587, 0, 315, 0, [SEP] 53, Safe, -2.183, -7.748, 2.576, 0, 180, 0, [SEP] 54, Chair, -1.433, 0.009, 0.780, 357.672, 206.726, 0, [SEP] 55, LaundryHamper, 0.163, 0.003, 2.635, 0, 86.390, 0, [SEP] 56, NorthWall, , , , , , , [SEP] 57, EastWall, , , , , , , [SEP] 58, SouthWall, , , , , , , [SEP] 59, WestWall, , , , , , , ", "output": ["STEP 1: Turn to the right and then the left to the other side of the room, and face the desk on the left side. Look up to the books on the shelf. | STEP 2: Pick up the cup from the shelf. | STEP 3: Carry the cup and turn to the left and then face the desk on the right side. | STEP 4: Place the cup on the short side of the desk, close to you. | END"]} +{"id": "trial_T20190909_210238_431966-2", "input": "Pick up a coffee mug from the desk and put it down 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, 0.75, 0.900, -1.25, 0, 270, 0, [SEP] 1, Bowl, -0.483, 0.861, -1.529, 0, 0, 0, 38 [SEP] 2, Mug, -1.834, 1.721, 0.366, 0, 0, 0, 42 [SEP] 3, CD, -0.748, 0.202, -0.365, 0, 0, 0, 31 [SEP] 4, CD, -2.091, 0.878, 0.749, 0, 0, 0, 48 [SEP] 5, Pen, -1.918, 0.884, 0.498, 0, 90, 0, 41 [SEP] 6, Pencil, -1.286, 1.727, 0.448, 0, 0, 0, 42 [SEP] 7, Pencil, -1.224, 0.882, 0.665, 0, 0, 0, 48 [SEP] 8, CreditCard, -2.155, 0.386, 0.646, 0, 0, 0, 50 [SEP] 9, CreditCard, -2.091, 0.878, 0.832, 0, 0, 0, 48 [SEP] 10, KeyChain, -0.483, 0.857, -1.702, 0, 270, 0, 38 [SEP] 11, KeyChain, -1.445, 1.350, 0.407, 0, 90, 0, 45 [SEP] 12, Book, 1.815, 0.783, 1.945, 0, 0, 0, 29 [SEP] 13, Book, -0.735, 0.857, -0.836, 0, 0, 0, 38 [SEP] 14, Laptop, 1.409, 0.781, 1.366, 0, 0, 0, 29 [SEP] 15, Book, 1.206, 0.783, 1.945, 0, 0, 0, 29 [SEP] 16, AlarmClock, -0.651, 0.858, -1.183, 0, 0, 0, 38 [SEP] 17, BasketBall, 1.976, 0.120, 0.211, 0, 331.076, 0, [SEP] 18, Pen, -2.235, 0.673, 0.721, 0, 0, 0, 49 [SEP] 19, Laptop, -1.783, 0.871, 0.732, 0, 0, 0, 48 [SEP] 20, BaseballBat, 1.953, 0.659, -1.81, 346.388, 0, 0, [SEP] 21, Bowl, -2.091, 0.882, 0.581, 0, 0, 0, 48 [SEP] 22, Pillow, 1.003, 0.918, 1.366, 0, 0, 0, 29 [SEP] 23, KeyChain, -1.728, 0.882, 0.530, 0, 0, 0, 41 [SEP] 24, CreditCard, -0.735, 0.857, -1.356, 0, 0, 0, 38 [SEP] 25, CellPhone, 0.800, 0.784, 1.945, 0, 0, 0, 29 [SEP] 26, CD, -2.240, 0.039, 2.682, 0, 180, 0, 53 [SEP] 27, Pencil, -0.473, 0.368, -0.852, 0, 0, 0, 39 [SEP] 28, Mug, -2.045, 1.347, 0.407, 0, 0, 0, 48 [SEP] 29, Bed, 1.227, -0.002, 1.664, 0, 0, 0, [SEP] 30, LightSwitch, 2.151, 1.233, -0.518, 0, 270, 0, [SEP] 31, GarbageCan, -0.747, 0.014, -0.327, 0, 0, 0, [SEP] 32, Mirror, -1.358, 1.427, 2.855, 0, 0, 0, [SEP] 33, DeskLamp, -2.296, 0.858, 0.750, 0, 0, 0, [SEP] 34, Window, -0.421, 1.534, -1.947, 90, 0, 0, [SEP] 35, Window, 0.579, 1.534, -1.947, 90, 0, 0, [SEP] 36, Drawer, -0.491, 0.739, -0.855, 0, 90, 0, [SEP] 37, Drawer, -0.491, 0.204, -0.855, 0, 90, 0, [SEP] 38, Desk, -0.639, 0.009, -1.187, 0, 90, 0, [SEP] 39, Drawer, -0.491, 0.487, -0.855, 0, 90, 0, [SEP] 40, Shelf, -1.965, 1.514, 0.416, 0, 0, 0, [SEP] 41, Shelf, -1.965, 1.092, 0.416, 0, 0, 0, [SEP] 42, Shelf, -1.312, 1.888, 0.416, 0, 0, 0, [SEP] 43, Shelf, -1.965, 1.888, 0.416, 0, 0, 0, [SEP] 44, Shelf, -1.312, 1.092, 0.416, 0, 0, 0, [SEP] 45, Shelf, -1.312, 1.514, 0.416, 0, 0, 0, [SEP] 46, Blinds, 0.601, 2.161, -1.916, 0, 0, 0, [SEP] 47, Blinds, -0.402, 2.161, -1.916, 0, 0, 0, [SEP] 48, Desk, -1.726, 0.001, 0.575, 0, 0, 0, [SEP] 49, Drawer, -2.058, 0.733, 0.734, 0, 0, 0, [SEP] 50, Drawer, -2.058, 0.482, 0.734, 0, 0, 0, [SEP] 51, Drawer, -2.058, 0.198, 0.735, 0, 0, 0, [SEP] 52, Chair, -0.137, 0.000, -1.587, 0, 315, 0, [SEP] 53, Safe, -2.183, -7.748, 2.576, 0, 180, 0, [SEP] 54, Chair, -1.433, 0.009, 0.780, 357.672, 206.726, 0, [SEP] 55, LaundryHamper, 0.163, 0.003, 2.635, 0, 86.390, 0, [SEP] 56, NorthWall, , , , , , , [SEP] 57, EastWall, , , , , , , [SEP] 58, SouthWall, , , , , , , [SEP] 59, WestWall, , , , , , , ", "output": ["STEP 1: Turn right at the brown desk and walk between the bed and the desk. Turn left at the orange cylinder on the right of the bed on the floor. Walk to the desk on your left with a laptop on it. | STEP 2: Pick up the white coffee mug that's on the desk. | STEP 3: Turn around and walk to the bed. Turn right at the bed. | STEP 4: Put the coffee mug back down on the left side of the desk to the right of the bed. | END"]} +{"id": "trial_T20190907_163408_914117-0", "input": "Put two pillows 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, -1.75, 0.901, 2.0, 0, 270, 0, [SEP] 1, Newspaper, -2.914, 0.205, 4.404, 0, 90, 0, 56 [SEP] 2, Newspaper, -0.952, 0.628, 2.753, 0, 0, 0, 61 [SEP] 3, CellPhone, -2.901, 1.111, 4.786, 0, 90, 0, 57 [SEP] 4, CellPhone, -1.459, 0.590, 4.470, 0, 0, 0, 51 [SEP] 5, Statue, -2.351, 0.039, 0.369, 0, 90, 0, 40 [SEP] 6, Statue, -4.184, 1.117, 4.588, 0, 90, 0, 57 [SEP] 7, Watch, -5.506, 1.591, 0.079, 0, 0, 0, 32 [SEP] 8, RemoteControl, -5.534, 1.041, 0.173, 0, 0, 0, 39 [SEP] 9, RemoteControl, -4.826, 1.110, 4.786, 0, 90, 0, 57 [SEP] 10, Box, -0.213, 0.295, 0.919, 0, 90, 0, 42 [SEP] 11, Box, -4.154, 0.421, 4.466, 0, 90, 0, 54 [SEP] 12, Pillow, -1.584, 0.668, 4.297, 0, 0, 0, 51 [SEP] 13, Box, -3.864, 1.329, 4.687, 0, 90, 0, 57 [SEP] 14, Watch, -5.534, 1.039, 0.438, 0, 0, 0, 39 [SEP] 15, Pillow, -2.031, 0.668, 4.421, 0, 0, 0, 51 [SEP] 16, TissueBox, -0.221, 1.593, 0.823, 0, 270, 0, 44 [SEP] 17, Newspaper, -3.638, 0.210, 4.395, 0, 90, 0, 55 [SEP] 18, CreditCard, -4.505, 1.107, 4.292, 0, 90, 0, 52 [SEP] 19, KeyChain, -1.092, 0.074, 0.362, 0, 0, 0, 46 [SEP] 20, CellPhone, -0.163, 0.074, 1.285, 0, 270, 0, 42 [SEP] 21, Statue, -1.460, 1.107, 0.192, 0, 0, 0, 43 [SEP] 22, Laptop, -3.393, 1.104, 4.492, 0, 191.867, 0, 57 [SEP] 23, RemoteControl, -4.184, 1.113, 4.885, 0, 90, 0, 57 [SEP] 24, Vase, -2.351, 0.037, 0.160, 0, 90, 0, 40 [SEP] 25, DeskLamp, -4.649, 1.051, 0.268, 0, 0, 0, [SEP] 26, DeskLamp, -2.992, 1.107, 4.522, 0, 0, 0, [SEP] 27, FloorLamp, -0.650, 0.007, 4.431, 0, 0, 0, [SEP] 28, FloorLamp, -5.607, 0.007, 4.641, 0, 0, 0, [SEP] 29, Shelf, -5.237, 1.776, 0.070, 0, 0, 0, [SEP] 30, Shelf, -5.238, 1.968, 0.085, 0, 0, 0, [SEP] 31, Shelf, -5.242, 1.391, 0.086, 0, 0, 0, [SEP] 32, Shelf, -5.241, 1.582, 0.065, 0, 0, 0, [SEP] 33, LightSwitch, -6.002, 1.353, 3.404, 0, 90, 0, [SEP] 34, GarbageCan, -5.794, -0.033, 4.073, 0, 90, 0, [SEP] 35, Painting, -6.017, 1.802, 4.177, 90, 270, 0, [SEP] 36, HousePlant, -3.966, 1.625, 0.135, 0, 315, 0, [SEP] 37, Television, -3.355, 0.833, 0.027, 0, 0, 0, [SEP] 38, Drawer, -5.024, 0.903, 0.370, 0, 0, 0, [SEP] 39, SideTable, -5.024, 0.008, 0.267, 0, 0, 0, [SEP] 40, Safe, -2.298, 5.778, 0.268, 0, 90, 0, [SEP] 41, Shelf, -0.253, 0.781, 1.058, 0, 270, 0, [SEP] 42, Shelf, -0.283, 0.274, 1.066, 0, 270, 0, [SEP] 43, Shelf, -1.224, 1.288, 0.270, 0, 0, 0, [SEP] 44, Shelf, -1.218, 1.810, 0.275, 0, 0, 0, [SEP] 45, Shelf, -0.280, 1.810, 1.057, 0, 270, 0, [SEP] 46, Shelf, -1.218, 0.274, 0.262, 0, 0, 0, [SEP] 47, Shelf, -1.223, 0.782, 0.237, 0, 0, 0, [SEP] 48, Shelf, -0.280, 1.288, 1.055, 0, 270, 0, [SEP] 49, ShelvingUnit, -0.268, 0.004, 1.067, 0, 270, 0, [SEP] 50, ShelvingUnit, -1.218, 0.004, 0.244, 0, 0, 0, [SEP] 51, ArmChair, -2.027, 0.001, 4.422, 0, 178.692, 0, [SEP] 52, Drawer, -4.329, 1.014, 4.311, 0, 180, 0, [SEP] 53, Drawer, -3.750, 1.014, 4.311, 0, 180, 0, [SEP] 54, Cabinet, -4.049, 0.561, 4.212, 0, 180, 0, [SEP] 55, Cabinet, -4.032, 0.561, 4.212, 0, 180, 0, [SEP] 56, Cabinet, -2.884, 0.561, 4.212, 0, 180, 0, [SEP] 57, Dresser, -4.041, -0.000, 4.589, 0, 180, 0, [SEP] 58, Drawer, -4.916, 1.014, 4.311, 0, 180, 0, [SEP] 59, Drawer, -3.166, 1.014, 4.311, 0, 180, 0, [SEP] 60, Cabinet, -5.196, 0.561, 4.212, 0, 180, 0, [SEP] 61, Sofa, -0.705, -0.002, 2.753, 0, 270, 0, [SEP] 62, NorthWall, , , , , , , [SEP] 63, SouthWall, , , , , , , [SEP] 64, SouthWall, , , , , , , ", "output": ["STEP 1: Move forward, then turn right and go to the blue chair. | STEP 2: Pick up the leftmost pillow on the blue chair. | STEP 3: Turn around, move forward, then turn left to face the sofa. | STEP 4: Put the pillow on the sofa, to the right of the newspaper. | STEP 5: Turn left, and go back to the blue chair. | STEP 6: Pick up the pillow on the blue chair. | STEP 7: Turn left, move forward, turn left, then turn left again to face the sofa. | STEP 8: Put the pillow on the sofa, to the left of the newspaper. | END"]} +{"id": "trial_T20190907_163408_914117-1", "input": "Place two pillows 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, -1.75, 0.901, 2.0, 0, 270, 0, [SEP] 1, Newspaper, -2.914, 0.205, 4.404, 0, 90, 0, 56 [SEP] 2, Newspaper, -0.952, 0.628, 2.753, 0, 0, 0, 61 [SEP] 3, CellPhone, -2.901, 1.111, 4.786, 0, 90, 0, 57 [SEP] 4, CellPhone, -1.459, 0.590, 4.470, 0, 0, 0, 51 [SEP] 5, Statue, -2.351, 0.039, 0.369, 0, 90, 0, 40 [SEP] 6, Statue, -4.184, 1.117, 4.588, 0, 90, 0, 57 [SEP] 7, Watch, -5.506, 1.591, 0.079, 0, 0, 0, 32 [SEP] 8, RemoteControl, -5.534, 1.041, 0.173, 0, 0, 0, 39 [SEP] 9, RemoteControl, -4.826, 1.110, 4.786, 0, 90, 0, 57 [SEP] 10, Box, -0.213, 0.295, 0.919, 0, 90, 0, 42 [SEP] 11, Box, -4.154, 0.421, 4.466, 0, 90, 0, 54 [SEP] 12, Pillow, -1.584, 0.668, 4.297, 0, 0, 0, 51 [SEP] 13, Box, -3.864, 1.329, 4.687, 0, 90, 0, 57 [SEP] 14, Watch, -5.534, 1.039, 0.438, 0, 0, 0, 39 [SEP] 15, Pillow, -2.031, 0.668, 4.421, 0, 0, 0, 51 [SEP] 16, TissueBox, -0.221, 1.593, 0.823, 0, 270, 0, 44 [SEP] 17, Newspaper, -3.638, 0.210, 4.395, 0, 90, 0, 55 [SEP] 18, CreditCard, -4.505, 1.107, 4.292, 0, 90, 0, 52 [SEP] 19, KeyChain, -1.092, 0.074, 0.362, 0, 0, 0, 46 [SEP] 20, CellPhone, -0.163, 0.074, 1.285, 0, 270, 0, 42 [SEP] 21, Statue, -1.460, 1.107, 0.192, 0, 0, 0, 43 [SEP] 22, Laptop, -3.393, 1.104, 4.492, 0, 191.867, 0, 57 [SEP] 23, RemoteControl, -4.184, 1.113, 4.885, 0, 90, 0, 57 [SEP] 24, Vase, -2.351, 0.037, 0.160, 0, 90, 0, 40 [SEP] 25, DeskLamp, -4.649, 1.051, 0.268, 0, 0, 0, [SEP] 26, DeskLamp, -2.992, 1.107, 4.522, 0, 0, 0, [SEP] 27, FloorLamp, -0.650, 0.007, 4.431, 0, 0, 0, [SEP] 28, FloorLamp, -5.607, 0.007, 4.641, 0, 0, 0, [SEP] 29, Shelf, -5.237, 1.776, 0.070, 0, 0, 0, [SEP] 30, Shelf, -5.238, 1.968, 0.085, 0, 0, 0, [SEP] 31, Shelf, -5.242, 1.391, 0.086, 0, 0, 0, [SEP] 32, Shelf, -5.241, 1.582, 0.065, 0, 0, 0, [SEP] 33, LightSwitch, -6.002, 1.353, 3.404, 0, 90, 0, [SEP] 34, GarbageCan, -5.794, -0.033, 4.073, 0, 90, 0, [SEP] 35, Painting, -6.017, 1.802, 4.177, 90, 270, 0, [SEP] 36, HousePlant, -3.966, 1.625, 0.135, 0, 315, 0, [SEP] 37, Television, -3.355, 0.833, 0.027, 0, 0, 0, [SEP] 38, Drawer, -5.024, 0.903, 0.370, 0, 0, 0, [SEP] 39, SideTable, -5.024, 0.008, 0.267, 0, 0, 0, [SEP] 40, Safe, -2.298, 5.778, 0.268, 0, 90, 0, [SEP] 41, Shelf, -0.253, 0.781, 1.058, 0, 270, 0, [SEP] 42, Shelf, -0.283, 0.274, 1.066, 0, 270, 0, [SEP] 43, Shelf, -1.224, 1.288, 0.270, 0, 0, 0, [SEP] 44, Shelf, -1.218, 1.810, 0.275, 0, 0, 0, [SEP] 45, Shelf, -0.280, 1.810, 1.057, 0, 270, 0, [SEP] 46, Shelf, -1.218, 0.274, 0.262, 0, 0, 0, [SEP] 47, Shelf, -1.223, 0.782, 0.237, 0, 0, 0, [SEP] 48, Shelf, -0.280, 1.288, 1.055, 0, 270, 0, [SEP] 49, ShelvingUnit, -0.268, 0.004, 1.067, 0, 270, 0, [SEP] 50, ShelvingUnit, -1.218, 0.004, 0.244, 0, 0, 0, [SEP] 51, ArmChair, -2.027, 0.001, 4.422, 0, 178.692, 0, [SEP] 52, Drawer, -4.329, 1.014, 4.311, 0, 180, 0, [SEP] 53, Drawer, -3.750, 1.014, 4.311, 0, 180, 0, [SEP] 54, Cabinet, -4.049, 0.561, 4.212, 0, 180, 0, [SEP] 55, Cabinet, -4.032, 0.561, 4.212, 0, 180, 0, [SEP] 56, Cabinet, -2.884, 0.561, 4.212, 0, 180, 0, [SEP] 57, Dresser, -4.041, -0.000, 4.589, 0, 180, 0, [SEP] 58, Drawer, -4.916, 1.014, 4.311, 0, 180, 0, [SEP] 59, Drawer, -3.166, 1.014, 4.311, 0, 180, 0, [SEP] 60, Cabinet, -5.196, 0.561, 4.212, 0, 180, 0, [SEP] 61, Sofa, -0.705, -0.002, 2.753, 0, 270, 0, [SEP] 62, NorthWall, , , , , , , [SEP] 63, SouthWall, , , , , , , [SEP] 64, SouthWall, , , , , , , ", "output": ["STEP 1: take a few steps forward and turn to the right and go to the blue chair | STEP 2: pick up the left pillow on the chair | STEP 3: turn to the right twice and take a few steps forward and turn to the left facing the sofa | STEP 4: put the pillow on the sofa right of the newspaper | STEP 5: step forward to the sofa and turn to the left and go to the blue chair | STEP 6: pick up the pillow on the chair | STEP 7: turn to the left and take a few steps and turn to the left and take a few steps and turn to the left facing the sofa | STEP 8: put the pillow on the sofa left of the newspaper | END"]} +{"id": "trial_T20190907_163408_914117-2", "input": "Move two pillows 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, 0.901, 2.0, 0, 270, 0, [SEP] 1, Newspaper, -2.914, 0.205, 4.404, 0, 90, 0, 56 [SEP] 2, Newspaper, -0.952, 0.628, 2.753, 0, 0, 0, 61 [SEP] 3, CellPhone, -2.901, 1.111, 4.786, 0, 90, 0, 57 [SEP] 4, CellPhone, -1.459, 0.590, 4.470, 0, 0, 0, 51 [SEP] 5, Statue, -2.351, 0.039, 0.369, 0, 90, 0, 40 [SEP] 6, Statue, -4.184, 1.117, 4.588, 0, 90, 0, 57 [SEP] 7, Watch, -5.506, 1.591, 0.079, 0, 0, 0, 32 [SEP] 8, RemoteControl, -5.534, 1.041, 0.173, 0, 0, 0, 39 [SEP] 9, RemoteControl, -4.826, 1.110, 4.786, 0, 90, 0, 57 [SEP] 10, Box, -0.213, 0.295, 0.919, 0, 90, 0, 42 [SEP] 11, Box, -4.154, 0.421, 4.466, 0, 90, 0, 54 [SEP] 12, Pillow, -1.584, 0.668, 4.297, 0, 0, 0, 51 [SEP] 13, Box, -3.864, 1.329, 4.687, 0, 90, 0, 57 [SEP] 14, Watch, -5.534, 1.039, 0.438, 0, 0, 0, 39 [SEP] 15, Pillow, -2.031, 0.668, 4.421, 0, 0, 0, 51 [SEP] 16, TissueBox, -0.221, 1.593, 0.823, 0, 270, 0, 44 [SEP] 17, Newspaper, -3.638, 0.210, 4.395, 0, 90, 0, 55 [SEP] 18, CreditCard, -4.505, 1.107, 4.292, 0, 90, 0, 52 [SEP] 19, KeyChain, -1.092, 0.074, 0.362, 0, 0, 0, 46 [SEP] 20, CellPhone, -0.163, 0.074, 1.285, 0, 270, 0, 42 [SEP] 21, Statue, -1.460, 1.107, 0.192, 0, 0, 0, 43 [SEP] 22, Laptop, -3.393, 1.104, 4.492, 0, 191.867, 0, 57 [SEP] 23, RemoteControl, -4.184, 1.113, 4.885, 0, 90, 0, 57 [SEP] 24, Vase, -2.351, 0.037, 0.160, 0, 90, 0, 40 [SEP] 25, DeskLamp, -4.649, 1.051, 0.268, 0, 0, 0, [SEP] 26, DeskLamp, -2.992, 1.107, 4.522, 0, 0, 0, [SEP] 27, FloorLamp, -0.650, 0.007, 4.431, 0, 0, 0, [SEP] 28, FloorLamp, -5.607, 0.007, 4.641, 0, 0, 0, [SEP] 29, Shelf, -5.237, 1.776, 0.070, 0, 0, 0, [SEP] 30, Shelf, -5.238, 1.968, 0.085, 0, 0, 0, [SEP] 31, Shelf, -5.242, 1.391, 0.086, 0, 0, 0, [SEP] 32, Shelf, -5.241, 1.582, 0.065, 0, 0, 0, [SEP] 33, LightSwitch, -6.002, 1.353, 3.404, 0, 90, 0, [SEP] 34, GarbageCan, -5.794, -0.033, 4.073, 0, 90, 0, [SEP] 35, Painting, -6.017, 1.802, 4.177, 90, 270, 0, [SEP] 36, HousePlant, -3.966, 1.625, 0.135, 0, 315, 0, [SEP] 37, Television, -3.355, 0.833, 0.027, 0, 0, 0, [SEP] 38, Drawer, -5.024, 0.903, 0.370, 0, 0, 0, [SEP] 39, SideTable, -5.024, 0.008, 0.267, 0, 0, 0, [SEP] 40, Safe, -2.298, 5.778, 0.268, 0, 90, 0, [SEP] 41, Shelf, -0.253, 0.781, 1.058, 0, 270, 0, [SEP] 42, Shelf, -0.283, 0.274, 1.066, 0, 270, 0, [SEP] 43, Shelf, -1.224, 1.288, 0.270, 0, 0, 0, [SEP] 44, Shelf, -1.218, 1.810, 0.275, 0, 0, 0, [SEP] 45, Shelf, -0.280, 1.810, 1.057, 0, 270, 0, [SEP] 46, Shelf, -1.218, 0.274, 0.262, 0, 0, 0, [SEP] 47, Shelf, -1.223, 0.782, 0.237, 0, 0, 0, [SEP] 48, Shelf, -0.280, 1.288, 1.055, 0, 270, 0, [SEP] 49, ShelvingUnit, -0.268, 0.004, 1.067, 0, 270, 0, [SEP] 50, ShelvingUnit, -1.218, 0.004, 0.244, 0, 0, 0, [SEP] 51, ArmChair, -2.027, 0.001, 4.422, 0, 178.692, 0, [SEP] 52, Drawer, -4.329, 1.014, 4.311, 0, 180, 0, [SEP] 53, Drawer, -3.750, 1.014, 4.311, 0, 180, 0, [SEP] 54, Cabinet, -4.049, 0.561, 4.212, 0, 180, 0, [SEP] 55, Cabinet, -4.032, 0.561, 4.212, 0, 180, 0, [SEP] 56, Cabinet, -2.884, 0.561, 4.212, 0, 180, 0, [SEP] 57, Dresser, -4.041, -0.000, 4.589, 0, 180, 0, [SEP] 58, Drawer, -4.916, 1.014, 4.311, 0, 180, 0, [SEP] 59, Drawer, -3.166, 1.014, 4.311, 0, 180, 0, [SEP] 60, Cabinet, -5.196, 0.561, 4.212, 0, 180, 0, [SEP] 61, Sofa, -0.705, -0.002, 2.753, 0, 270, 0, [SEP] 62, NorthWall, , , , , , , [SEP] 63, SouthWall, , , , , , , [SEP] 64, SouthWall, , , , , , , ", "output": ["STEP 1: Take a step forward, then turn right and walk over to the blue chair with two pillows on its seat. | STEP 2: Pick up the leftmost pillow off of the seat of the chair. | STEP 3: Turn around and begin walking across the room, then turn left and walk up to the couch. | STEP 4: Put the pillow vertically on the couch to the right of the newspaper. | STEP 5: Turn left and walk over to the blue chair. | STEP 6: Pick up the pillow off of the seat of the blue chair. | STEP 7: Turn left and take a step forward, then turn left again and walk over to the couch. | STEP 8: Put the pillow vertically on the couch to the left of the newspaper. | END"]} +{"id": "trial_T20190907_171933_349922-0", "input": "Move a heated mug to the base 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, -2.5, 0.900, -1.75, 0, 270, 0, [SEP] 1, Potato, 0.966, 1.673, 1.063, 0, 270, 0, 79 [SEP] 2, Potato, -0.865, 0.207, 0.543, 0, 180, 0, 76 [SEP] 3, CellPhone, 0.859, 0.908, -0.381, 0, 0, 0, 57 [SEP] 4, CellPhone, 0.688, 0.908, -0.555, 0, 0, 0, 57 [SEP] 5, DishSponge, 1.194, 1.665, -2.234, 0, 270, 0, 55 [SEP] 6, Glassbottle, -0.753, 0.781, -0.918, 0, 90, 0, 77 [SEP] 7, Glassbottle, -0.624, 0.934, -1.540, 0, 0, 0, 56 [SEP] 8, Spoon, 0.773, 0.912, -1.965, 0, 0, 0, 62 [SEP] 9, Spatula, -0.698, 0.948, -1.618, 0, 180, 0, 56 [SEP] 10, Spatula, -0.753, 0.795, -0.659, 0, 180, 0, 77 [SEP] 11, Knife, -1.229, 0.957, -0.118, 0, 0, 0, 56 [SEP] 12, Egg, 0.966, 1.680, 1.254, 0, 270, 0, 79 [SEP] 13, Plate, 0.859, 0.914, -0.208, 0, 0, 0, 57 [SEP] 14, Plate, -0.772, 0.936, -1.231, 0, 0, 0, 56 [SEP] 15, SoapBottle, -1.571, 0.882, 2.692, 0, 0, 0, 83 [SEP] 16, Bowl, -1.363, 0.557, 2.770, 0, 0, 0, 82 [SEP] 17, PepperShaker, 0.773, 0.907, -0.729, 0, 0, 0, 57 [SEP] 18, PepperShaker, 0.914, 0.150, -0.611, 0, 270, 0, 59 [SEP] 19, Lettuce, 1.029, 0.988, 0.139, 0, 0, 0, 57 [SEP] 20, Mug, 0.783, 0.858, 1.444, 0, 270, 0, 79 [SEP] 21, Apple, 0.944, 0.961, -0.729, 0, 0, 0, 57 [SEP] 22, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 56 [SEP] 23, Glassbottle, -1.054, 0.177, 0.510, 0, 180, 0, 76 [SEP] 24, Bread, -0.778, 0.996, 0.210, 0, 258.728, 0, 56 [SEP] 25, CreditCard, -0.550, 0.930, -1.463, 0, 0, 0, 56 [SEP] 26, CellPhone, -0.920, 0.930, -1.463, 0, 0, 0, 56 [SEP] 27, Potato, -0.808, 0.811, -0.400, 0, 90, 0, 77 [SEP] 28, Knife, 0.944, 0.934, -0.381, 0, 180, 0, 57 [SEP] 29, Fork, 0.834, 0.703, -0.565, 0, 0, 0, 54 [SEP] 30, Pan, 0.842, 0.950, -1.504, 0, 0, 0, 53 [SEP] 31, Lettuce, 0.688, 0.988, 0.139, 0, 0, 0, 57 [SEP] 32, Plate, 0.966, 1.405, 1.349, 0, 270, 0, 79 [SEP] 33, Apple, -0.960, 0.227, 0.608, 0, 180, 0, 76 [SEP] 34, Pot, 0.842, 0.950, -1.098, 0, 0, 0, 50 [SEP] 35, Spatula, -0.808, 0.791, -0.745, 0, 180, 0, 77 [SEP] 36, PaperTowelRoll, -0.772, 1.037, 0.009, 0, 0, 0, 56 [SEP] 37, Tomato, 0.844, 0.903, 1.063, 0, 270, 0, 79 [SEP] 38, Egg, 1.026, 1.172, 1.444, 0, 270, 0, 79 [SEP] 39, SaltShaker, 0.875, 0.490, -0.565, 0, 270, 0, 60 [SEP] 40, PepperShaker, 1.239, 1.662, 0.089, 0, 270, 0, 64 [SEP] 41, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 82 [SEP] 42, ButterKnife, -0.550, 0.933, 0.086, 0, 0, 0, 56 [SEP] 43, SoapBottle, 1.082, 2.208, -1.517, 0, 270, 0, 63 [SEP] 44, Vase, 1.101, 1.667, -2.029, 0, 270, 0, 55 [SEP] 45, Bowl, 0.965, 0.866, 1.444, 0, 270, 0, 79 [SEP] 46, DishSponge, 0.794, 0.701, -0.648, 0, 270, 0, 54 [SEP] 47, Spoon, -0.550, 0.919, 0.239, 0, 0, 0, 56 [SEP] 48, Cup, 1.093, 1.792, -1.339, 0, 270, 0, 78 [SEP] 49, Mug, -0.772, 0.928, -1.540, 0, 0, 0, 56 [SEP] 50, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 51, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 52, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 53, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 54, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 55, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 56, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 57, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 58, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 59, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 60, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 61, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 62, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 63, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 64, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 65, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 66, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 67, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 68, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 69, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 70, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 71, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 72, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 73, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 74, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 75, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 76, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 77, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 78, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 79, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 80, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 81, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 82, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 83, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 84, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 85, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 86, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 87, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 88, NorthWall, , , , , , , [SEP] 89, EastWall, , , , , , , [SEP] 90, SouthWall, , , , , , , [SEP] 91, WestWall, , , , , , , ", "output": ["STEP 1: Cross the room to stand at the edge of the kitchen counter, which is to the left of the sink. | STEP 2: Pick up the coffee mug from the counter. | STEP 3: Carry the mug around the counter to stand in front of the stove. | STEP 4: Place the mug in the microwave above the stove, turn it on, and then remove the mug once heated. | STEP 5: Carry the mug to the coffee maker on the counter to the right of the stove. | STEP 6: Place the mug on the base of the coffee maker. | END"]} +{"id": "trial_T20190907_171933_349922-1", "input": "Heat up a mug and place it under 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, -1.75, 0, 270, 0, [SEP] 1, Potato, 0.966, 1.673, 1.063, 0, 270, 0, 79 [SEP] 2, Potato, -0.865, 0.207, 0.543, 0, 180, 0, 76 [SEP] 3, CellPhone, 0.859, 0.908, -0.381, 0, 0, 0, 57 [SEP] 4, CellPhone, 0.688, 0.908, -0.555, 0, 0, 0, 57 [SEP] 5, DishSponge, 1.194, 1.665, -2.234, 0, 270, 0, 55 [SEP] 6, Glassbottle, -0.753, 0.781, -0.918, 0, 90, 0, 77 [SEP] 7, Glassbottle, -0.624, 0.934, -1.540, 0, 0, 0, 56 [SEP] 8, Spoon, 0.773, 0.912, -1.965, 0, 0, 0, 62 [SEP] 9, Spatula, -0.698, 0.948, -1.618, 0, 180, 0, 56 [SEP] 10, Spatula, -0.753, 0.795, -0.659, 0, 180, 0, 77 [SEP] 11, Knife, -1.229, 0.957, -0.118, 0, 0, 0, 56 [SEP] 12, Egg, 0.966, 1.680, 1.254, 0, 270, 0, 79 [SEP] 13, Plate, 0.859, 0.914, -0.208, 0, 0, 0, 57 [SEP] 14, Plate, -0.772, 0.936, -1.231, 0, 0, 0, 56 [SEP] 15, SoapBottle, -1.571, 0.882, 2.692, 0, 0, 0, 83 [SEP] 16, Bowl, -1.363, 0.557, 2.770, 0, 0, 0, 82 [SEP] 17, PepperShaker, 0.773, 0.907, -0.729, 0, 0, 0, 57 [SEP] 18, PepperShaker, 0.914, 0.150, -0.611, 0, 270, 0, 59 [SEP] 19, Lettuce, 1.029, 0.988, 0.139, 0, 0, 0, 57 [SEP] 20, Mug, 0.783, 0.858, 1.444, 0, 270, 0, 79 [SEP] 21, Apple, 0.944, 0.961, -0.729, 0, 0, 0, 57 [SEP] 22, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 56 [SEP] 23, Glassbottle, -1.054, 0.177, 0.510, 0, 180, 0, 76 [SEP] 24, Bread, -0.778, 0.996, 0.210, 0, 258.728, 0, 56 [SEP] 25, CreditCard, -0.550, 0.930, -1.463, 0, 0, 0, 56 [SEP] 26, CellPhone, -0.920, 0.930, -1.463, 0, 0, 0, 56 [SEP] 27, Potato, -0.808, 0.811, -0.400, 0, 90, 0, 77 [SEP] 28, Knife, 0.944, 0.934, -0.381, 0, 180, 0, 57 [SEP] 29, Fork, 0.834, 0.703, -0.565, 0, 0, 0, 54 [SEP] 30, Pan, 0.842, 0.950, -1.504, 0, 0, 0, 53 [SEP] 31, Lettuce, 0.688, 0.988, 0.139, 0, 0, 0, 57 [SEP] 32, Plate, 0.966, 1.405, 1.349, 0, 270, 0, 79 [SEP] 33, Apple, -0.960, 0.227, 0.608, 0, 180, 0, 76 [SEP] 34, Pot, 0.842, 0.950, -1.098, 0, 0, 0, 50 [SEP] 35, Spatula, -0.808, 0.791, -0.745, 0, 180, 0, 77 [SEP] 36, PaperTowelRoll, -0.772, 1.037, 0.009, 0, 0, 0, 56 [SEP] 37, Tomato, 0.844, 0.903, 1.063, 0, 270, 0, 79 [SEP] 38, Egg, 1.026, 1.172, 1.444, 0, 270, 0, 79 [SEP] 39, SaltShaker, 0.875, 0.490, -0.565, 0, 270, 0, 60 [SEP] 40, PepperShaker, 1.239, 1.662, 0.089, 0, 270, 0, 64 [SEP] 41, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 82 [SEP] 42, ButterKnife, -0.550, 0.933, 0.086, 0, 0, 0, 56 [SEP] 43, SoapBottle, 1.082, 2.208, -1.517, 0, 270, 0, 63 [SEP] 44, Vase, 1.101, 1.667, -2.029, 0, 270, 0, 55 [SEP] 45, Bowl, 0.965, 0.866, 1.444, 0, 270, 0, 79 [SEP] 46, DishSponge, 0.794, 0.701, -0.648, 0, 270, 0, 54 [SEP] 47, Spoon, -0.550, 0.919, 0.239, 0, 0, 0, 56 [SEP] 48, Cup, 1.093, 1.792, -1.339, 0, 270, 0, 78 [SEP] 49, Mug, -0.772, 0.928, -1.540, 0, 0, 0, 56 [SEP] 50, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 51, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 52, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 53, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 54, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 55, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 56, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 57, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 58, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 59, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 60, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 61, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 62, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 63, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 64, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 65, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 66, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 67, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 68, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 69, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 70, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 71, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 72, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 73, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 74, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 75, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 76, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 77, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 78, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 79, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 80, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 81, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 82, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 83, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 84, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 85, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 86, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 87, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 88, NorthWall, , , , , , , [SEP] 89, EastWall, , , , , , , [SEP] 90, SouthWall, , , , , , , [SEP] 91, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and go left to the short side of the island. | STEP 2: Pick up the mug behind the spatula. | STEP 3: Take the mug around the island and find the stove on the right. | STEP 4: Open the microwave and place the mug inside. Turn on the microwave and then remove the mug. Shut the microwave door. | STEP 5: Carry the mug and take a few steps to the right. | STEP 6: Place the mug under the coffee maker. | END"]} +{"id": "trial_T20190907_171933_349922-2", "input": "put water on the cup 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, -2.5, 0.900, -1.75, 0, 270, 0, [SEP] 1, Potato, 0.966, 1.673, 1.063, 0, 270, 0, 79 [SEP] 2, Potato, -0.865, 0.207, 0.543, 0, 180, 0, 76 [SEP] 3, CellPhone, 0.859, 0.908, -0.381, 0, 0, 0, 57 [SEP] 4, CellPhone, 0.688, 0.908, -0.555, 0, 0, 0, 57 [SEP] 5, DishSponge, 1.194, 1.665, -2.234, 0, 270, 0, 55 [SEP] 6, Glassbottle, -0.753, 0.781, -0.918, 0, 90, 0, 77 [SEP] 7, Glassbottle, -0.624, 0.934, -1.540, 0, 0, 0, 56 [SEP] 8, Spoon, 0.773, 0.912, -1.965, 0, 0, 0, 62 [SEP] 9, Spatula, -0.698, 0.948, -1.618, 0, 180, 0, 56 [SEP] 10, Spatula, -0.753, 0.795, -0.659, 0, 180, 0, 77 [SEP] 11, Knife, -1.229, 0.957, -0.118, 0, 0, 0, 56 [SEP] 12, Egg, 0.966, 1.680, 1.254, 0, 270, 0, 79 [SEP] 13, Plate, 0.859, 0.914, -0.208, 0, 0, 0, 57 [SEP] 14, Plate, -0.772, 0.936, -1.231, 0, 0, 0, 56 [SEP] 15, SoapBottle, -1.571, 0.882, 2.692, 0, 0, 0, 83 [SEP] 16, Bowl, -1.363, 0.557, 2.770, 0, 0, 0, 82 [SEP] 17, PepperShaker, 0.773, 0.907, -0.729, 0, 0, 0, 57 [SEP] 18, PepperShaker, 0.914, 0.150, -0.611, 0, 270, 0, 59 [SEP] 19, Lettuce, 1.029, 0.988, 0.139, 0, 0, 0, 57 [SEP] 20, Mug, 0.783, 0.858, 1.444, 0, 270, 0, 79 [SEP] 21, Apple, 0.944, 0.961, -0.729, 0, 0, 0, 57 [SEP] 22, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 56 [SEP] 23, Glassbottle, -1.054, 0.177, 0.510, 0, 180, 0, 76 [SEP] 24, Bread, -0.778, 0.996, 0.210, 0, 258.728, 0, 56 [SEP] 25, CreditCard, -0.550, 0.930, -1.463, 0, 0, 0, 56 [SEP] 26, CellPhone, -0.920, 0.930, -1.463, 0, 0, 0, 56 [SEP] 27, Potato, -0.808, 0.811, -0.400, 0, 90, 0, 77 [SEP] 28, Knife, 0.944, 0.934, -0.381, 0, 180, 0, 57 [SEP] 29, Fork, 0.834, 0.703, -0.565, 0, 0, 0, 54 [SEP] 30, Pan, 0.842, 0.950, -1.504, 0, 0, 0, 53 [SEP] 31, Lettuce, 0.688, 0.988, 0.139, 0, 0, 0, 57 [SEP] 32, Plate, 0.966, 1.405, 1.349, 0, 270, 0, 79 [SEP] 33, Apple, -0.960, 0.227, 0.608, 0, 180, 0, 76 [SEP] 34, Pot, 0.842, 0.950, -1.098, 0, 0, 0, 50 [SEP] 35, Spatula, -0.808, 0.791, -0.745, 0, 180, 0, 77 [SEP] 36, PaperTowelRoll, -0.772, 1.037, 0.009, 0, 0, 0, 56 [SEP] 37, Tomato, 0.844, 0.903, 1.063, 0, 270, 0, 79 [SEP] 38, Egg, 1.026, 1.172, 1.444, 0, 270, 0, 79 [SEP] 39, SaltShaker, 0.875, 0.490, -0.565, 0, 270, 0, 60 [SEP] 40, PepperShaker, 1.239, 1.662, 0.089, 0, 270, 0, 64 [SEP] 41, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 82 [SEP] 42, ButterKnife, -0.550, 0.933, 0.086, 0, 0, 0, 56 [SEP] 43, SoapBottle, 1.082, 2.208, -1.517, 0, 270, 0, 63 [SEP] 44, Vase, 1.101, 1.667, -2.029, 0, 270, 0, 55 [SEP] 45, Bowl, 0.965, 0.866, 1.444, 0, 270, 0, 79 [SEP] 46, DishSponge, 0.794, 0.701, -0.648, 0, 270, 0, 54 [SEP] 47, Spoon, -0.550, 0.919, 0.239, 0, 0, 0, 56 [SEP] 48, Cup, 1.093, 1.792, -1.339, 0, 270, 0, 78 [SEP] 49, Mug, -0.772, 0.928, -1.540, 0, 0, 0, 56 [SEP] 50, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 51, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 52, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 53, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 54, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 55, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 56, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 57, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 58, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 59, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 60, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 61, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 62, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 63, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 64, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 65, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 66, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 67, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 68, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 69, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 70, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 71, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 72, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 73, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 74, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 75, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 76, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 77, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 78, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 79, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 80, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 81, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 82, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 83, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 84, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 85, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 86, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 87, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 88, NorthWall, , , , , , , [SEP] 89, EastWall, , , , , , , [SEP] 90, SouthWall, , , , , , , [SEP] 91, WestWall, , , , , , , ", "output": ["STEP 1: turn around to the left towards the counter | STEP 2: pick up the cup from the counter | STEP 3: turn to the right go to the left towards the stove | STEP 4: get water into the cup from the the pot on the stove | STEP 5: turn to the right towards the coffee machine | STEP 6: put the cup in the coffee machine | END"]} +{"id": "trial_T20190909_021728_339782-0", "input": "move salt shaker from counter to drawer 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, -1.25, 0, 0, 0, [SEP] 1, CreditCard, 0.944, 0.908, -0.208, 0, 0, 0, 62 [SEP] 2, CreditCard, 0.773, 0.908, -1.879, 0, 0, 0, 67 [SEP] 3, CellPhone, 1.199, 0.908, -0.208, 0, 0, 0, 62 [SEP] 4, CellPhone, -0.698, 0.930, -1.540, 0, 0, 0, 61 [SEP] 5, DishSponge, 0.834, 0.493, -0.690, 0, 270, 0, 65 [SEP] 6, Glassbottle, -0.96, 0.177, 0.641, 0, 180, 0, 81 [SEP] 7, Glassbottle, 1.029, 0.912, -0.555, 0, 0, 0, 62 [SEP] 8, Fork, -0.550, 0.934, 0.162, 0, 90, 0, 61 [SEP] 9, Fork, 0.875, 0.703, -0.607, 0, 0, 0, 59 [SEP] 10, Spoon, 0.793, 0.154, -0.650, 0, 270, 0, 64 [SEP] 11, Spoon, 0.859, 0.912, 0.139, 0, 270, 0, 62 [SEP] 12, Knife, 0.944, 0.934, -0.381, 0, 0, 0, 62 [SEP] 13, Cup, 1.239, 1.663, -0.038, 0, 270, 0, 69 [SEP] 14, Cup, 1.028, 1.792, -1.132, 0, 270, 0, 83 [SEP] 15, Plate, 1.148, 1.669, -2.029, 0, 270, 0, 60 [SEP] 16, Plate, 1.148, 1.669, -0.465, 0, 270, 0, 70 [SEP] 17, Tomato, 1.026, 1.175, 1.158, 0, 270, 0, 84 [SEP] 18, Tomato, 1.026, 0.903, 1.158, 0, 270, 0, 84 [SEP] 19, Bowl, 1.147, 1.669, 0.153, 0, 270, 0, 69 [SEP] 20, Bowl, 0.944, 0.914, 0.139, 0, 0, 0, 62 [SEP] 21, PepperShaker, 0.773, 0.907, -1.793, 0, 0, 0, 67 [SEP] 22, PepperShaker, 0.713, 0.490, -0.565, 0, 270, 0, 65 [SEP] 23, Bread, 0.773, 0.992, -0.381, 0, 0, 0, 62 [SEP] 24, Mug, 0.995, 1.790, -1.339, 0, 180, 0, 83 [SEP] 25, Mug, -1.571, 0.876, 2.692, 0, 0, 0, 88 [SEP] 26, Apple, -1.054, 0.227, 0.510, 0, 180, 0, 81 [SEP] 27, Statue, -0.550, 0.936, -1.308, 0, 0, 0, 61 [SEP] 28, Glassbottle, -1.355, 0.934, -0.643, 0, 0, 0, 61 [SEP] 29, Bread, 0.905, 1.216, 1.444, 0, 270, 0, 84 [SEP] 30, CreditCard, 0.874, 0.150, -0.729, 0, 270, 0, 64 [SEP] 31, CellPhone, -0.920, 0.930, 0.009, 0, 0, 0, 61 [SEP] 32, Potato, 1.199, 0.941, 0.139, 0, 0, 0, 62 [SEP] 33, Knife, -0.624, 0.957, -1.154, 0, 0, 0, 61 [SEP] 34, Fork, 0.773, 0.911, 0.313, 0, 0, 0, 62 [SEP] 35, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 55 [SEP] 36, Lettuce, -0.624, 1.010, 0.239, 0, 0, 0, 61 [SEP] 37, Plate, -1.363, 0.557, 2.667, 0, 0, 0, 87 [SEP] 38, Apple, 0.844, 1.452, 1.063, 0, 270, 0, 84 [SEP] 39, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 57 [SEP] 40, Spatula, 1.114, 0.926, -0.381, 0, 90, 0, 62 [SEP] 41, PaperTowelRoll, 0.773, 1.015, -1.965, 0, 0, 0, 67 [SEP] 42, Tomato, -0.697, 0.821, -0.745, 0, 90, 0, 82 [SEP] 43, Egg, -0.642, 0.814, -0.486, 0, 90, 0, 82 [SEP] 44, SaltShaker, -0.772, 0.929, -1.231, 0, 0, 0, 61 [SEP] 45, PepperShaker, 1.147, 1.662, 0.025, 0, 270, 0, 69 [SEP] 46, Vase, -1.104, 0.933, -0.905, 0, 0, 0, 61 [SEP] 47, ButterKnife, -0.697, 0.780, -0.832, 0, 90, 0, 82 [SEP] 48, SoapBottle, 0.688, 0.911, -2.051, 0, 0, 0, 67 [SEP] 49, Vase, -1.229, 0.934, -0.380, 0, 0, 0, 61 [SEP] 50, Bowl, 1.026, 1.138, 0.967, 0, 270, 0, 84 [SEP] 51, DishSponge, 1.240, 1.665, -2.234, 0, 270, 0, 60 [SEP] 52, Spoon, 0.773, 0.912, -0.729, 0, 0, 0, 62 [SEP] 53, Cup, 0.861, 0.105, -1.972, 0, 0, 0, 66 [SEP] 54, Mug, 0.844, 0.858, 1.158, 0, 270, 0, 84 [SEP] 55, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 56, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 57, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 58, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 59, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 60, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 61, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 62, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 63, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 64, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 65, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 66, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 67, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 68, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 69, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 70, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 71, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 72, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 73, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 74, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 75, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 76, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 77, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 78, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 79, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 80, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 81, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 82, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 83, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 84, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 85, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 86, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 87, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 88, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 89, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 90, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 91, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 92, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 93, NorthWall, , , , , , , [SEP] 94, EastWall, , , , , , , [SEP] 95, SouthWall, , , , , , , [SEP] 96, WestWall, , , , , , , ", "output": ["STEP 1: turn around, walk to the window, turn left, walk forward, turn left to face counter | STEP 2: pick up the salt shaker that is on the counter | STEP 3: turn right, take a step, turn left, walk forward two steps | STEP 4: open the drawer on the right, put salt shaker in, shut it | END"]} +{"id": "trial_T20190909_021728_339782-1", "input": "Move a salt shaker 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, -2.5, 0.900, -1.25, 0, 0, 0, [SEP] 1, CreditCard, 0.944, 0.908, -0.208, 0, 0, 0, 62 [SEP] 2, CreditCard, 0.773, 0.908, -1.879, 0, 0, 0, 67 [SEP] 3, CellPhone, 1.199, 0.908, -0.208, 0, 0, 0, 62 [SEP] 4, CellPhone, -0.698, 0.930, -1.540, 0, 0, 0, 61 [SEP] 5, DishSponge, 0.834, 0.493, -0.690, 0, 270, 0, 65 [SEP] 6, Glassbottle, -0.96, 0.177, 0.641, 0, 180, 0, 81 [SEP] 7, Glassbottle, 1.029, 0.912, -0.555, 0, 0, 0, 62 [SEP] 8, Fork, -0.550, 0.934, 0.162, 0, 90, 0, 61 [SEP] 9, Fork, 0.875, 0.703, -0.607, 0, 0, 0, 59 [SEP] 10, Spoon, 0.793, 0.154, -0.650, 0, 270, 0, 64 [SEP] 11, Spoon, 0.859, 0.912, 0.139, 0, 270, 0, 62 [SEP] 12, Knife, 0.944, 0.934, -0.381, 0, 0, 0, 62 [SEP] 13, Cup, 1.239, 1.663, -0.038, 0, 270, 0, 69 [SEP] 14, Cup, 1.028, 1.792, -1.132, 0, 270, 0, 83 [SEP] 15, Plate, 1.148, 1.669, -2.029, 0, 270, 0, 60 [SEP] 16, Plate, 1.148, 1.669, -0.465, 0, 270, 0, 70 [SEP] 17, Tomato, 1.026, 1.175, 1.158, 0, 270, 0, 84 [SEP] 18, Tomato, 1.026, 0.903, 1.158, 0, 270, 0, 84 [SEP] 19, Bowl, 1.147, 1.669, 0.153, 0, 270, 0, 69 [SEP] 20, Bowl, 0.944, 0.914, 0.139, 0, 0, 0, 62 [SEP] 21, PepperShaker, 0.773, 0.907, -1.793, 0, 0, 0, 67 [SEP] 22, PepperShaker, 0.713, 0.490, -0.565, 0, 270, 0, 65 [SEP] 23, Bread, 0.773, 0.992, -0.381, 0, 0, 0, 62 [SEP] 24, Mug, 0.995, 1.790, -1.339, 0, 180, 0, 83 [SEP] 25, Mug, -1.571, 0.876, 2.692, 0, 0, 0, 88 [SEP] 26, Apple, -1.054, 0.227, 0.510, 0, 180, 0, 81 [SEP] 27, Statue, -0.550, 0.936, -1.308, 0, 0, 0, 61 [SEP] 28, Glassbottle, -1.355, 0.934, -0.643, 0, 0, 0, 61 [SEP] 29, Bread, 0.905, 1.216, 1.444, 0, 270, 0, 84 [SEP] 30, CreditCard, 0.874, 0.150, -0.729, 0, 270, 0, 64 [SEP] 31, CellPhone, -0.920, 0.930, 0.009, 0, 0, 0, 61 [SEP] 32, Potato, 1.199, 0.941, 0.139, 0, 0, 0, 62 [SEP] 33, Knife, -0.624, 0.957, -1.154, 0, 0, 0, 61 [SEP] 34, Fork, 0.773, 0.911, 0.313, 0, 0, 0, 62 [SEP] 35, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 55 [SEP] 36, Lettuce, -0.624, 1.010, 0.239, 0, 0, 0, 61 [SEP] 37, Plate, -1.363, 0.557, 2.667, 0, 0, 0, 87 [SEP] 38, Apple, 0.844, 1.452, 1.063, 0, 270, 0, 84 [SEP] 39, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 57 [SEP] 40, Spatula, 1.114, 0.926, -0.381, 0, 90, 0, 62 [SEP] 41, PaperTowelRoll, 0.773, 1.015, -1.965, 0, 0, 0, 67 [SEP] 42, Tomato, -0.697, 0.821, -0.745, 0, 90, 0, 82 [SEP] 43, Egg, -0.642, 0.814, -0.486, 0, 90, 0, 82 [SEP] 44, SaltShaker, -0.772, 0.929, -1.231, 0, 0, 0, 61 [SEP] 45, PepperShaker, 1.147, 1.662, 0.025, 0, 270, 0, 69 [SEP] 46, Vase, -1.104, 0.933, -0.905, 0, 0, 0, 61 [SEP] 47, ButterKnife, -0.697, 0.780, -0.832, 0, 90, 0, 82 [SEP] 48, SoapBottle, 0.688, 0.911, -2.051, 0, 0, 0, 67 [SEP] 49, Vase, -1.229, 0.934, -0.380, 0, 0, 0, 61 [SEP] 50, Bowl, 1.026, 1.138, 0.967, 0, 270, 0, 84 [SEP] 51, DishSponge, 1.240, 1.665, -2.234, 0, 270, 0, 60 [SEP] 52, Spoon, 0.773, 0.912, -0.729, 0, 0, 0, 62 [SEP] 53, Cup, 0.861, 0.105, -1.972, 0, 0, 0, 66 [SEP] 54, Mug, 0.844, 0.858, 1.158, 0, 270, 0, 84 [SEP] 55, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 56, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 57, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 58, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 59, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 60, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 61, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 62, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 63, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 64, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 65, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 66, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 67, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 68, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 69, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 70, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 71, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 72, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 73, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 74, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 75, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 76, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 77, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 78, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 79, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 80, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 81, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 82, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 83, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 84, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 85, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 86, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 87, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 88, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 89, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 90, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 91, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 92, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 93, NorthWall, , , , , , , [SEP] 94, EastWall, , , , , , , [SEP] 95, SouthWall, , , , , , , [SEP] 96, WestWall, , , , , , , ", "output": ["STEP 1: Turn to the right then walk forward, Make a left and face the table. | STEP 2: Pick up the salt shaker from the kitchen island. | STEP 3: Move left then right around the kitchen island. | STEP 4: Open the drawer next to the dishwasher and put away the salt shaker. | END"]} +{"id": "trial_T20190909_021728_339782-2", "input": "Put a salt shaker into a kitchen drawer. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.5, 0.900, -1.25, 0, 0, 0, [SEP] 1, CreditCard, 0.944, 0.908, -0.208, 0, 0, 0, 62 [SEP] 2, CreditCard, 0.773, 0.908, -1.879, 0, 0, 0, 67 [SEP] 3, CellPhone, 1.199, 0.908, -0.208, 0, 0, 0, 62 [SEP] 4, CellPhone, -0.698, 0.930, -1.540, 0, 0, 0, 61 [SEP] 5, DishSponge, 0.834, 0.493, -0.690, 0, 270, 0, 65 [SEP] 6, Glassbottle, -0.96, 0.177, 0.641, 0, 180, 0, 81 [SEP] 7, Glassbottle, 1.029, 0.912, -0.555, 0, 0, 0, 62 [SEP] 8, Fork, -0.550, 0.934, 0.162, 0, 90, 0, 61 [SEP] 9, Fork, 0.875, 0.703, -0.607, 0, 0, 0, 59 [SEP] 10, Spoon, 0.793, 0.154, -0.650, 0, 270, 0, 64 [SEP] 11, Spoon, 0.859, 0.912, 0.139, 0, 270, 0, 62 [SEP] 12, Knife, 0.944, 0.934, -0.381, 0, 0, 0, 62 [SEP] 13, Cup, 1.239, 1.663, -0.038, 0, 270, 0, 69 [SEP] 14, Cup, 1.028, 1.792, -1.132, 0, 270, 0, 83 [SEP] 15, Plate, 1.148, 1.669, -2.029, 0, 270, 0, 60 [SEP] 16, Plate, 1.148, 1.669, -0.465, 0, 270, 0, 70 [SEP] 17, Tomato, 1.026, 1.175, 1.158, 0, 270, 0, 84 [SEP] 18, Tomato, 1.026, 0.903, 1.158, 0, 270, 0, 84 [SEP] 19, Bowl, 1.147, 1.669, 0.153, 0, 270, 0, 69 [SEP] 20, Bowl, 0.944, 0.914, 0.139, 0, 0, 0, 62 [SEP] 21, PepperShaker, 0.773, 0.907, -1.793, 0, 0, 0, 67 [SEP] 22, PepperShaker, 0.713, 0.490, -0.565, 0, 270, 0, 65 [SEP] 23, Bread, 0.773, 0.992, -0.381, 0, 0, 0, 62 [SEP] 24, Mug, 0.995, 1.790, -1.339, 0, 180, 0, 83 [SEP] 25, Mug, -1.571, 0.876, 2.692, 0, 0, 0, 88 [SEP] 26, Apple, -1.054, 0.227, 0.510, 0, 180, 0, 81 [SEP] 27, Statue, -0.550, 0.936, -1.308, 0, 0, 0, 61 [SEP] 28, Glassbottle, -1.355, 0.934, -0.643, 0, 0, 0, 61 [SEP] 29, Bread, 0.905, 1.216, 1.444, 0, 270, 0, 84 [SEP] 30, CreditCard, 0.874, 0.150, -0.729, 0, 270, 0, 64 [SEP] 31, CellPhone, -0.920, 0.930, 0.009, 0, 0, 0, 61 [SEP] 32, Potato, 1.199, 0.941, 0.139, 0, 0, 0, 62 [SEP] 33, Knife, -0.624, 0.957, -1.154, 0, 0, 0, 61 [SEP] 34, Fork, 0.773, 0.911, 0.313, 0, 0, 0, 62 [SEP] 35, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 55 [SEP] 36, Lettuce, -0.624, 1.010, 0.239, 0, 0, 0, 61 [SEP] 37, Plate, -1.363, 0.557, 2.667, 0, 0, 0, 87 [SEP] 38, Apple, 0.844, 1.452, 1.063, 0, 270, 0, 84 [SEP] 39, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 57 [SEP] 40, Spatula, 1.114, 0.926, -0.381, 0, 90, 0, 62 [SEP] 41, PaperTowelRoll, 0.773, 1.015, -1.965, 0, 0, 0, 67 [SEP] 42, Tomato, -0.697, 0.821, -0.745, 0, 90, 0, 82 [SEP] 43, Egg, -0.642, 0.814, -0.486, 0, 90, 0, 82 [SEP] 44, SaltShaker, -0.772, 0.929, -1.231, 0, 0, 0, 61 [SEP] 45, PepperShaker, 1.147, 1.662, 0.025, 0, 270, 0, 69 [SEP] 46, Vase, -1.104, 0.933, -0.905, 0, 0, 0, 61 [SEP] 47, ButterKnife, -0.697, 0.780, -0.832, 0, 90, 0, 82 [SEP] 48, SoapBottle, 0.688, 0.911, -2.051, 0, 0, 0, 67 [SEP] 49, Vase, -1.229, 0.934, -0.380, 0, 0, 0, 61 [SEP] 50, Bowl, 1.026, 1.138, 0.967, 0, 270, 0, 84 [SEP] 51, DishSponge, 1.240, 1.665, -2.234, 0, 270, 0, 60 [SEP] 52, Spoon, 0.773, 0.912, -0.729, 0, 0, 0, 62 [SEP] 53, Cup, 0.861, 0.105, -1.972, 0, 0, 0, 66 [SEP] 54, Mug, 0.844, 0.858, 1.158, 0, 270, 0, 84 [SEP] 55, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 56, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 57, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 58, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 59, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 60, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 61, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 62, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 63, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 64, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 65, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 66, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 67, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 68, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 69, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 70, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 71, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 72, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 73, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 74, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 75, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 76, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 77, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 78, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 79, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 80, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 81, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 82, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 83, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 84, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 85, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 86, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 87, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 88, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 89, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 90, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 91, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 92, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 93, NorthWall, , , , , , , [SEP] 94, EastWall, , , , , , , [SEP] 95, SouthWall, , , , , , , [SEP] 96, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and go to the windows, then go between the windows and the kitchen island and turn left to face the end of the island. | STEP 2: Pick up the salt shaker from the island. | STEP 3: Turn toward your right, then go to the drawers to the left of the stove. | STEP 4: Put the salt shaker in the second drawer from the top. | END"]} +{"id": "trial_T20190907_074643_810052-0", "input": "Place a watch inside a safe. 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, 1.5, 0, 180, 0, [SEP] 1, CellPhone, -4.184, 1.111, 4.687, 0, 90, 0, 57 [SEP] 2, Statue, -3.543, 1.113, 4.687, 0, 90, 0, 57 [SEP] 3, Vase, -4.016, 0.203, 4.342, 0, 90, 0, 55 [SEP] 4, Vase, -2.244, 0.037, 0.317, 0, 90, 0, 40 [SEP] 5, Watch, -3.048, 0.996, 4.382, 0, 180, 0, 59 [SEP] 6, KeyChain, -5.024, 1.039, 0.504, 0, 0, 0, 39 [SEP] 7, KeyChain, -5.534, 1.039, 0.438, 0, 0, 0, 39 [SEP] 8, CreditCard, -5.410, 1.783, 0.056, 0, 0, 0, 29 [SEP] 9, CreditCard, -0.338, 1.101, 1.100, 0, 270, 0, 41 [SEP] 10, RemoteControl, -0.787, 0.611, 2.224, 0, 0, 0, 61 [SEP] 11, Box, -0.312, 0.295, 1.011, 0, 270, 0, 42 [SEP] 12, Box, -0.787, 0.830, 1.960, 0, 180, 0, 61 [SEP] 13, Box, -4.085, 0.421, 4.589, 0, 0, 0, 54 [SEP] 14, Watch, -1.277, 1.102, 0.265, 0, 0, 0, 43 [SEP] 15, Pillow, -2.031, 0.668, 4.421, 0, 0, 0, 51 [SEP] 16, TissueBox, -4.673, 0.205, 4.395, 0, 90, 0, 60 [SEP] 17, Newspaper, -4.826, 1.117, 4.391, 0, 90, 0, 57 [SEP] 18, CreditCard, -1.001, 0.073, 0.362, 0, 0, 0, 46 [SEP] 19, KeyChain, -4.854, 1.039, 0.504, 0, 0, 0, 39 [SEP] 20, CellPhone, -2.085, 0.590, 4.211, 0, 0, 0, 51 [SEP] 21, Statue, -0.221, 1.597, 1.189, 0, 270, 0, 45 [SEP] 22, Laptop, -1.584, 0.588, 4.297, 0, 0, 0, 51 [SEP] 23, RemoteControl, -3.222, 1.113, 4.687, 0, 90, 0, 57 [SEP] 24, Vase, -1.459, 0.596, 0.258, 0, 0, 0, 47 [SEP] 25, DeskLamp, -4.649, 1.051, 0.268, 0, 0, 0, [SEP] 26, DeskLamp, -2.992, 1.107, 4.522, 0, 0, 0, [SEP] 27, FloorLamp, -0.650, 0.007, 4.431, 0, 0, 0, [SEP] 28, FloorLamp, -5.607, 0.007, 4.641, 0, 0, 0, [SEP] 29, Shelf, -5.237, 1.776, 0.070, 0, 0, 0, [SEP] 30, Shelf, -5.238, 1.968, 0.085, 0, 0, 0, [SEP] 31, Shelf, -5.242, 1.391, 0.086, 0, 0, 0, [SEP] 32, Shelf, -5.241, 1.582, 0.065, 0, 0, 0, [SEP] 33, LightSwitch, -6.002, 1.353, 3.404, 0, 90, 0, [SEP] 34, GarbageCan, -5.794, -0.033, 4.073, 0, 90, 0, [SEP] 35, Painting, -6.017, 1.802, 4.177, 90, 270, 0, [SEP] 36, HousePlant, -3.966, 1.625, 0.135, 0, 315, 0, [SEP] 37, Television, -3.355, 0.833, 0.027, 0, 0, 0, [SEP] 38, Drawer, -5.024, 0.903, 0.370, 0, 0, 0, [SEP] 39, SideTable, -5.024, 0.008, 0.267, 0, 0, 0, [SEP] 40, Safe, -2.298, 5.778, 0.268, 0, 90, 0, [SEP] 41, Shelf, -0.253, 0.781, 1.058, 0, 270, 0, [SEP] 42, Shelf, -0.283, 0.274, 1.066, 0, 270, 0, [SEP] 43, Shelf, -1.224, 1.288, 0.270, 0, 0, 0, [SEP] 44, Shelf, -1.218, 1.810, 0.275, 0, 0, 0, [SEP] 45, Shelf, -0.280, 1.810, 1.057, 0, 270, 0, [SEP] 46, Shelf, -1.218, 0.274, 0.262, 0, 0, 0, [SEP] 47, Shelf, -1.223, 0.782, 0.237, 0, 0, 0, [SEP] 48, Shelf, -0.280, 1.288, 1.055, 0, 270, 0, [SEP] 49, ShelvingUnit, -0.268, 0.004, 1.067, 0, 270, 0, [SEP] 50, ShelvingUnit, -1.218, 0.004, 0.244, 0, 0, 0, [SEP] 51, ArmChair, -2.027, 0.001, 4.422, 0, 178.692, 0, [SEP] 52, Drawer, -4.329, 1.014, 4.311, 0, 180, 0, [SEP] 53, Drawer, -3.750, 1.014, 4.311, 0, 180, 0, [SEP] 54, Cabinet, -4.049, 0.561, 4.212, 0, 180, 0, [SEP] 55, Cabinet, -4.032, 0.561, 4.212, 0, 180, 0, [SEP] 56, Cabinet, -2.884, 0.561, 4.212, 0, 180, 0, [SEP] 57, Dresser, -4.041, -0.000, 4.589, 0, 180, 0, [SEP] 58, Drawer, -4.916, 1.014, 4.311, 0, 180, 0, [SEP] 59, Drawer, -3.166, 1.014, 4.311, 0, 180, 0, [SEP] 60, Cabinet, -5.196, 0.561, 4.212, 0, 180, 0, [SEP] 61, Sofa, -0.705, -0.002, 2.753, 0, 270, 0, [SEP] 62, NorthWall, , , , , , , [SEP] 63, SouthWall, , , , , , , [SEP] 64, SouthWall, , , , , , , ", "output": ["STEP 1: Walk to the shelves that are immediately to the left of the safe. | STEP 2: Pick up the watch from the top shelf. | STEP 3: Walk to the safe immediately to your right. | STEP 4: Open the safe and put the watch in it, then close the safe. | END"]} +{"id": "trial_T20190907_074643_810052-1", "input": "Place a watch inside of the safe 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, 1.5, 0, 180, 0, [SEP] 1, CellPhone, -4.184, 1.111, 4.687, 0, 90, 0, 57 [SEP] 2, Statue, -3.543, 1.113, 4.687, 0, 90, 0, 57 [SEP] 3, Vase, -4.016, 0.203, 4.342, 0, 90, 0, 55 [SEP] 4, Vase, -2.244, 0.037, 0.317, 0, 90, 0, 40 [SEP] 5, Watch, -3.048, 0.996, 4.382, 0, 180, 0, 59 [SEP] 6, KeyChain, -5.024, 1.039, 0.504, 0, 0, 0, 39 [SEP] 7, KeyChain, -5.534, 1.039, 0.438, 0, 0, 0, 39 [SEP] 8, CreditCard, -5.410, 1.783, 0.056, 0, 0, 0, 29 [SEP] 9, CreditCard, -0.338, 1.101, 1.100, 0, 270, 0, 41 [SEP] 10, RemoteControl, -0.787, 0.611, 2.224, 0, 0, 0, 61 [SEP] 11, Box, -0.312, 0.295, 1.011, 0, 270, 0, 42 [SEP] 12, Box, -0.787, 0.830, 1.960, 0, 180, 0, 61 [SEP] 13, Box, -4.085, 0.421, 4.589, 0, 0, 0, 54 [SEP] 14, Watch, -1.277, 1.102, 0.265, 0, 0, 0, 43 [SEP] 15, Pillow, -2.031, 0.668, 4.421, 0, 0, 0, 51 [SEP] 16, TissueBox, -4.673, 0.205, 4.395, 0, 90, 0, 60 [SEP] 17, Newspaper, -4.826, 1.117, 4.391, 0, 90, 0, 57 [SEP] 18, CreditCard, -1.001, 0.073, 0.362, 0, 0, 0, 46 [SEP] 19, KeyChain, -4.854, 1.039, 0.504, 0, 0, 0, 39 [SEP] 20, CellPhone, -2.085, 0.590, 4.211, 0, 0, 0, 51 [SEP] 21, Statue, -0.221, 1.597, 1.189, 0, 270, 0, 45 [SEP] 22, Laptop, -1.584, 0.588, 4.297, 0, 0, 0, 51 [SEP] 23, RemoteControl, -3.222, 1.113, 4.687, 0, 90, 0, 57 [SEP] 24, Vase, -1.459, 0.596, 0.258, 0, 0, 0, 47 [SEP] 25, DeskLamp, -4.649, 1.051, 0.268, 0, 0, 0, [SEP] 26, DeskLamp, -2.992, 1.107, 4.522, 0, 0, 0, [SEP] 27, FloorLamp, -0.650, 0.007, 4.431, 0, 0, 0, [SEP] 28, FloorLamp, -5.607, 0.007, 4.641, 0, 0, 0, [SEP] 29, Shelf, -5.237, 1.776, 0.070, 0, 0, 0, [SEP] 30, Shelf, -5.238, 1.968, 0.085, 0, 0, 0, [SEP] 31, Shelf, -5.242, 1.391, 0.086, 0, 0, 0, [SEP] 32, Shelf, -5.241, 1.582, 0.065, 0, 0, 0, [SEP] 33, LightSwitch, -6.002, 1.353, 3.404, 0, 90, 0, [SEP] 34, GarbageCan, -5.794, -0.033, 4.073, 0, 90, 0, [SEP] 35, Painting, -6.017, 1.802, 4.177, 90, 270, 0, [SEP] 36, HousePlant, -3.966, 1.625, 0.135, 0, 315, 0, [SEP] 37, Television, -3.355, 0.833, 0.027, 0, 0, 0, [SEP] 38, Drawer, -5.024, 0.903, 0.370, 0, 0, 0, [SEP] 39, SideTable, -5.024, 0.008, 0.267, 0, 0, 0, [SEP] 40, Safe, -2.298, 5.778, 0.268, 0, 90, 0, [SEP] 41, Shelf, -0.253, 0.781, 1.058, 0, 270, 0, [SEP] 42, Shelf, -0.283, 0.274, 1.066, 0, 270, 0, [SEP] 43, Shelf, -1.224, 1.288, 0.270, 0, 0, 0, [SEP] 44, Shelf, -1.218, 1.810, 0.275, 0, 0, 0, [SEP] 45, Shelf, -0.280, 1.810, 1.057, 0, 270, 0, [SEP] 46, Shelf, -1.218, 0.274, 0.262, 0, 0, 0, [SEP] 47, Shelf, -1.223, 0.782, 0.237, 0, 0, 0, [SEP] 48, Shelf, -0.280, 1.288, 1.055, 0, 270, 0, [SEP] 49, ShelvingUnit, -0.268, 0.004, 1.067, 0, 270, 0, [SEP] 50, ShelvingUnit, -1.218, 0.004, 0.244, 0, 0, 0, [SEP] 51, ArmChair, -2.027, 0.001, 4.422, 0, 178.692, 0, [SEP] 52, Drawer, -4.329, 1.014, 4.311, 0, 180, 0, [SEP] 53, Drawer, -3.750, 1.014, 4.311, 0, 180, 0, [SEP] 54, Cabinet, -4.049, 0.561, 4.212, 0, 180, 0, [SEP] 55, Cabinet, -4.032, 0.561, 4.212, 0, 180, 0, [SEP] 56, Cabinet, -2.884, 0.561, 4.212, 0, 180, 0, [SEP] 57, Dresser, -4.041, -0.000, 4.589, 0, 180, 0, [SEP] 58, Drawer, -4.916, 1.014, 4.311, 0, 180, 0, [SEP] 59, Drawer, -3.166, 1.014, 4.311, 0, 180, 0, [SEP] 60, Cabinet, -5.196, 0.561, 4.212, 0, 180, 0, [SEP] 61, Sofa, -0.705, -0.002, 2.753, 0, 270, 0, [SEP] 62, NorthWall, , , , , , , [SEP] 63, SouthWall, , , , , , , [SEP] 64, SouthWall, , , , , , , ", "output": ["STEP 1: Move across the room to face the white shelf on the right side | STEP 2: Pick up the watch that is sitting on the shelf | STEP 3: Carry the watch and turn right towards the white safe | STEP 4: Place the watch inside of the safe to the right of the gold vase, shut the safe | END"]} +{"id": "trial_T20190907_074643_810052-2", "input": "Put a watch in a safe. 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, 1.5, 0, 180, 0, [SEP] 1, CellPhone, -4.184, 1.111, 4.687, 0, 90, 0, 57 [SEP] 2, Statue, -3.543, 1.113, 4.687, 0, 90, 0, 57 [SEP] 3, Vase, -4.016, 0.203, 4.342, 0, 90, 0, 55 [SEP] 4, Vase, -2.244, 0.037, 0.317, 0, 90, 0, 40 [SEP] 5, Watch, -3.048, 0.996, 4.382, 0, 180, 0, 59 [SEP] 6, KeyChain, -5.024, 1.039, 0.504, 0, 0, 0, 39 [SEP] 7, KeyChain, -5.534, 1.039, 0.438, 0, 0, 0, 39 [SEP] 8, CreditCard, -5.410, 1.783, 0.056, 0, 0, 0, 29 [SEP] 9, CreditCard, -0.338, 1.101, 1.100, 0, 270, 0, 41 [SEP] 10, RemoteControl, -0.787, 0.611, 2.224, 0, 0, 0, 61 [SEP] 11, Box, -0.312, 0.295, 1.011, 0, 270, 0, 42 [SEP] 12, Box, -0.787, 0.830, 1.960, 0, 180, 0, 61 [SEP] 13, Box, -4.085, 0.421, 4.589, 0, 0, 0, 54 [SEP] 14, Watch, -1.277, 1.102, 0.265, 0, 0, 0, 43 [SEP] 15, Pillow, -2.031, 0.668, 4.421, 0, 0, 0, 51 [SEP] 16, TissueBox, -4.673, 0.205, 4.395, 0, 90, 0, 60 [SEP] 17, Newspaper, -4.826, 1.117, 4.391, 0, 90, 0, 57 [SEP] 18, CreditCard, -1.001, 0.073, 0.362, 0, 0, 0, 46 [SEP] 19, KeyChain, -4.854, 1.039, 0.504, 0, 0, 0, 39 [SEP] 20, CellPhone, -2.085, 0.590, 4.211, 0, 0, 0, 51 [SEP] 21, Statue, -0.221, 1.597, 1.189, 0, 270, 0, 45 [SEP] 22, Laptop, -1.584, 0.588, 4.297, 0, 0, 0, 51 [SEP] 23, RemoteControl, -3.222, 1.113, 4.687, 0, 90, 0, 57 [SEP] 24, Vase, -1.459, 0.596, 0.258, 0, 0, 0, 47 [SEP] 25, DeskLamp, -4.649, 1.051, 0.268, 0, 0, 0, [SEP] 26, DeskLamp, -2.992, 1.107, 4.522, 0, 0, 0, [SEP] 27, FloorLamp, -0.650, 0.007, 4.431, 0, 0, 0, [SEP] 28, FloorLamp, -5.607, 0.007, 4.641, 0, 0, 0, [SEP] 29, Shelf, -5.237, 1.776, 0.070, 0, 0, 0, [SEP] 30, Shelf, -5.238, 1.968, 0.085, 0, 0, 0, [SEP] 31, Shelf, -5.242, 1.391, 0.086, 0, 0, 0, [SEP] 32, Shelf, -5.241, 1.582, 0.065, 0, 0, 0, [SEP] 33, LightSwitch, -6.002, 1.353, 3.404, 0, 90, 0, [SEP] 34, GarbageCan, -5.794, -0.033, 4.073, 0, 90, 0, [SEP] 35, Painting, -6.017, 1.802, 4.177, 90, 270, 0, [SEP] 36, HousePlant, -3.966, 1.625, 0.135, 0, 315, 0, [SEP] 37, Television, -3.355, 0.833, 0.027, 0, 0, 0, [SEP] 38, Drawer, -5.024, 0.903, 0.370, 0, 0, 0, [SEP] 39, SideTable, -5.024, 0.008, 0.267, 0, 0, 0, [SEP] 40, Safe, -2.298, 5.778, 0.268, 0, 90, 0, [SEP] 41, Shelf, -0.253, 0.781, 1.058, 0, 270, 0, [SEP] 42, Shelf, -0.283, 0.274, 1.066, 0, 270, 0, [SEP] 43, Shelf, -1.224, 1.288, 0.270, 0, 0, 0, [SEP] 44, Shelf, -1.218, 1.810, 0.275, 0, 0, 0, [SEP] 45, Shelf, -0.280, 1.810, 1.057, 0, 270, 0, [SEP] 46, Shelf, -1.218, 0.274, 0.262, 0, 0, 0, [SEP] 47, Shelf, -1.223, 0.782, 0.237, 0, 0, 0, [SEP] 48, Shelf, -0.280, 1.288, 1.055, 0, 270, 0, [SEP] 49, ShelvingUnit, -0.268, 0.004, 1.067, 0, 270, 0, [SEP] 50, ShelvingUnit, -1.218, 0.004, 0.244, 0, 0, 0, [SEP] 51, ArmChair, -2.027, 0.001, 4.422, 0, 178.692, 0, [SEP] 52, Drawer, -4.329, 1.014, 4.311, 0, 180, 0, [SEP] 53, Drawer, -3.750, 1.014, 4.311, 0, 180, 0, [SEP] 54, Cabinet, -4.049, 0.561, 4.212, 0, 180, 0, [SEP] 55, Cabinet, -4.032, 0.561, 4.212, 0, 180, 0, [SEP] 56, Cabinet, -2.884, 0.561, 4.212, 0, 180, 0, [SEP] 57, Dresser, -4.041, -0.000, 4.589, 0, 180, 0, [SEP] 58, Drawer, -4.916, 1.014, 4.311, 0, 180, 0, [SEP] 59, Drawer, -3.166, 1.014, 4.311, 0, 180, 0, [SEP] 60, Cabinet, -5.196, 0.561, 4.212, 0, 180, 0, [SEP] 61, Sofa, -0.705, -0.002, 2.753, 0, 270, 0, [SEP] 62, NorthWall, , , , , , , [SEP] 63, SouthWall, , , , , , , [SEP] 64, SouthWall, , , , , , , ", "output": ["STEP 1: Head to the left and face the shelf on the right. | STEP 2: Pick up the watch on the shelf. | STEP 3: Head right and bring the watch to the safe on the ground. | STEP 4: Put the watch in the safe. | END"]} +{"id": "trial_T20190908_225046_020282-0", "input": "Heat a tomato and place 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, 0.25, 0.900, 0.75, 0, 0, 0, [SEP] 1, Statue, -1.167, 0.936, -0.118, 0, 0, 0, 49 [SEP] 2, Vase, -0.772, 0.934, -1.308, 0, 0, 0, 49 [SEP] 3, Potato, 0.905, 0.893, 1.254, 0, 270, 0, 72 [SEP] 4, Potato, 0.966, 1.673, 0.967, 0, 270, 0, 72 [SEP] 5, CreditCard, -1.571, 0.878, 2.773, 0, 0, 0, 76 [SEP] 6, CellPhone, -1.363, 0.550, 2.615, 0, 0, 0, 75 [SEP] 7, Glassbottle, 1.055, 1.667, -1.893, 0, 270, 0, 48 [SEP] 8, Fork, -1.229, 0.934, -1.430, 0, 90, 0, 49 [SEP] 9, Egg, 1.026, 0.900, 1.540, 0, 270, 0, 72 [SEP] 10, Egg, -0.818, 0.216, 0.641, 0, 180, 0, 69 [SEP] 11, Tomato, 0.688, 0.952, -2.051, 0, 0, 0, 55 [SEP] 12, SoapBottle, 0.688, 0.911, -0.555, 0, 0, 0, 50 [SEP] 13, SoapBottle, 0.859, 0.911, -0.729, 0, 0, 0, 50 [SEP] 14, Lettuce, 0.859, 0.988, -0.381, 0, 0, 0, 50 [SEP] 15, Statue, -1.167, 0.936, 0.144, 0, 0, 0, 49 [SEP] 16, Glassbottle, -1.981, 0.882, 2.692, 0, 0, 0, 76 [SEP] 17, Bread, -0.779, 0.996, 0.209, 0, 258.641, 0, 49 [SEP] 18, CreditCard, 0.914, 0.150, -0.611, 0, 270, 0, 52 [SEP] 19, CellPhone, 0.833, 0.150, -0.690, 0, 270, 0, 52 [SEP] 20, Potato, -0.587, 0.807, -0.486, 0, 90, 0, 70 [SEP] 21, Knife, 0.868, 0.700, -0.600, 90, 315, 0, 47 [SEP] 22, Fork, -0.772, 0.934, -0.143, 0, 0, 0, 49 [SEP] 23, Pan, -1.167, 0.931, -0.380, 0, 90, 0, 49 [SEP] 24, Lettuce, 1.114, 0.988, -0.034, 0, 0, 0, 50 [SEP] 25, Plate, 0.905, 1.405, 1.444, 0, 270, 0, 72 [SEP] 26, Apple, 0.844, 1.452, 1.063, 0, 270, 0, 72 [SEP] 27, Pot, -1.778, 0.557, 2.718, 0, 0, 0, 75 [SEP] 28, Spatula, 0.914, 0.168, -0.531, 0, 0, 0, 52 [SEP] 29, PaperTowelRoll, -1.101, 0.283, 0.576, 0, 180, 0, 69 [SEP] 30, Tomato, -0.808, 0.821, -0.745, 0, 90, 0, 70 [SEP] 31, Egg, 0.844, 0.900, 1.540, 0, 270, 0, 72 [SEP] 32, SaltShaker, -1.571, 0.878, 2.665, 0, 0, 0, 76 [SEP] 33, PepperShaker, 0.711, 0.104, -1.812, 0, 0, 0, 54 [SEP] 34, Vase, 0.861, 0.108, -1.892, 0, 0, 0, 54 [SEP] 35, ButterKnife, -0.624, 0.933, -1.463, 0, 0, 0, 49 [SEP] 36, SoapBottle, 0.944, 0.911, 0.139, 0, 0, 0, 50 [SEP] 37, Vase, 1.148, 1.667, -2.166, 0, 270, 0, 48 [SEP] 38, Bowl, 1.114, 0.914, -0.381, 0, 0, 0, 50 [SEP] 39, DishSponge, 0.773, 0.910, -1.879, 0, 0, 0, 55 [SEP] 40, Spoon, 0.875, 0.496, -0.648, 0, 270, 0, 53 [SEP] 41, Cup, 1.009, 1.663, -2.029, 0, 270, 0, 48 [SEP] 42, Mug, 1.101, 1.661, 0.280, 0, 270, 0, 57 [SEP] 43, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 44, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 45, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 46, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 47, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 48, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 49, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 50, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 51, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 52, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 53, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 54, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 55, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 56, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 57, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 58, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 59, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 60, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 61, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 62, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 63, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 64, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 65, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 66, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 67, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 68, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 69, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 70, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 71, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 72, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 73, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 74, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 75, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 76, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 77, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 78, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 79, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 80, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 81, NorthWall, , , , , , , [SEP] 82, EastWall, , , , , , , [SEP] 83, SouthWall, , , , , , , [SEP] 84, WestWall, , , , , , , ", "output": ["STEP 1: Turn around completely and go forward. Turn right and face the sink. | STEP 2: Pick up the tomato from the sink. | STEP 3: Turn and step to the left. Then turn around to the left again and face the oven. Look up to the microwave. | STEP 4: Place the tomato inside the microwave and heat the tomato then take it out. | STEP 5: Turn to the right and walk forward then turn to the right and go around the island. Turn to the right to face the bin. | STEP 6: Place the tomato inside of the bin. | END"]} +{"id": "trial_T20190908_225046_020282-1", "input": "Put a heated 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, 0.25, 0.900, 0.75, 0, 0, 0, [SEP] 1, Statue, -1.167, 0.936, -0.118, 0, 0, 0, 49 [SEP] 2, Vase, -0.772, 0.934, -1.308, 0, 0, 0, 49 [SEP] 3, Potato, 0.905, 0.893, 1.254, 0, 270, 0, 72 [SEP] 4, Potato, 0.966, 1.673, 0.967, 0, 270, 0, 72 [SEP] 5, CreditCard, -1.571, 0.878, 2.773, 0, 0, 0, 76 [SEP] 6, CellPhone, -1.363, 0.550, 2.615, 0, 0, 0, 75 [SEP] 7, Glassbottle, 1.055, 1.667, -1.893, 0, 270, 0, 48 [SEP] 8, Fork, -1.229, 0.934, -1.430, 0, 90, 0, 49 [SEP] 9, Egg, 1.026, 0.900, 1.540, 0, 270, 0, 72 [SEP] 10, Egg, -0.818, 0.216, 0.641, 0, 180, 0, 69 [SEP] 11, Tomato, 0.688, 0.952, -2.051, 0, 0, 0, 55 [SEP] 12, SoapBottle, 0.688, 0.911, -0.555, 0, 0, 0, 50 [SEP] 13, SoapBottle, 0.859, 0.911, -0.729, 0, 0, 0, 50 [SEP] 14, Lettuce, 0.859, 0.988, -0.381, 0, 0, 0, 50 [SEP] 15, Statue, -1.167, 0.936, 0.144, 0, 0, 0, 49 [SEP] 16, Glassbottle, -1.981, 0.882, 2.692, 0, 0, 0, 76 [SEP] 17, Bread, -0.779, 0.996, 0.209, 0, 258.641, 0, 49 [SEP] 18, CreditCard, 0.914, 0.150, -0.611, 0, 270, 0, 52 [SEP] 19, CellPhone, 0.833, 0.150, -0.690, 0, 270, 0, 52 [SEP] 20, Potato, -0.587, 0.807, -0.486, 0, 90, 0, 70 [SEP] 21, Knife, 0.868, 0.700, -0.600, 90, 315, 0, 47 [SEP] 22, Fork, -0.772, 0.934, -0.143, 0, 0, 0, 49 [SEP] 23, Pan, -1.167, 0.931, -0.380, 0, 90, 0, 49 [SEP] 24, Lettuce, 1.114, 0.988, -0.034, 0, 0, 0, 50 [SEP] 25, Plate, 0.905, 1.405, 1.444, 0, 270, 0, 72 [SEP] 26, Apple, 0.844, 1.452, 1.063, 0, 270, 0, 72 [SEP] 27, Pot, -1.778, 0.557, 2.718, 0, 0, 0, 75 [SEP] 28, Spatula, 0.914, 0.168, -0.531, 0, 0, 0, 52 [SEP] 29, PaperTowelRoll, -1.101, 0.283, 0.576, 0, 180, 0, 69 [SEP] 30, Tomato, -0.808, 0.821, -0.745, 0, 90, 0, 70 [SEP] 31, Egg, 0.844, 0.900, 1.540, 0, 270, 0, 72 [SEP] 32, SaltShaker, -1.571, 0.878, 2.665, 0, 0, 0, 76 [SEP] 33, PepperShaker, 0.711, 0.104, -1.812, 0, 0, 0, 54 [SEP] 34, Vase, 0.861, 0.108, -1.892, 0, 0, 0, 54 [SEP] 35, ButterKnife, -0.624, 0.933, -1.463, 0, 0, 0, 49 [SEP] 36, SoapBottle, 0.944, 0.911, 0.139, 0, 0, 0, 50 [SEP] 37, Vase, 1.148, 1.667, -2.166, 0, 270, 0, 48 [SEP] 38, Bowl, 1.114, 0.914, -0.381, 0, 0, 0, 50 [SEP] 39, DishSponge, 0.773, 0.910, -1.879, 0, 0, 0, 55 [SEP] 40, Spoon, 0.875, 0.496, -0.648, 0, 270, 0, 53 [SEP] 41, Cup, 1.009, 1.663, -2.029, 0, 270, 0, 48 [SEP] 42, Mug, 1.101, 1.661, 0.280, 0, 270, 0, 57 [SEP] 43, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 44, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 45, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 46, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 47, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 48, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 49, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 50, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 51, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 52, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 53, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 54, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 55, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 56, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 57, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 58, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 59, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 60, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 61, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 62, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 63, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 64, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 65, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 66, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 67, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 68, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 69, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 70, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 71, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 72, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 73, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 74, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 75, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 76, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 77, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 78, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 79, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 80, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 81, NorthWall, , , , , , , [SEP] 82, EastWall, , , , , , , [SEP] 83, SouthWall, , , , , , , [SEP] 84, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and face the sink. | STEP 2: Pick the tomato up from the sink. | STEP 3: Turn around and face the microwave above the stove. | STEP 4: Put the tomato in the microwave and shut the door and then open the door and pick up the tomato. | STEP 5: Go left and then left again to face the trash can. | STEP 6: Put the tomato in the trash can. | END"]} +{"id": "trial_T20190908_225046_020282-2", "input": "Put a heated 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, 0.25, 0.900, 0.75, 0, 0, 0, [SEP] 1, Statue, -1.167, 0.936, -0.118, 0, 0, 0, 49 [SEP] 2, Vase, -0.772, 0.934, -1.308, 0, 0, 0, 49 [SEP] 3, Potato, 0.905, 0.893, 1.254, 0, 270, 0, 72 [SEP] 4, Potato, 0.966, 1.673, 0.967, 0, 270, 0, 72 [SEP] 5, CreditCard, -1.571, 0.878, 2.773, 0, 0, 0, 76 [SEP] 6, CellPhone, -1.363, 0.550, 2.615, 0, 0, 0, 75 [SEP] 7, Glassbottle, 1.055, 1.667, -1.893, 0, 270, 0, 48 [SEP] 8, Fork, -1.229, 0.934, -1.430, 0, 90, 0, 49 [SEP] 9, Egg, 1.026, 0.900, 1.540, 0, 270, 0, 72 [SEP] 10, Egg, -0.818, 0.216, 0.641, 0, 180, 0, 69 [SEP] 11, Tomato, 0.688, 0.952, -2.051, 0, 0, 0, 55 [SEP] 12, SoapBottle, 0.688, 0.911, -0.555, 0, 0, 0, 50 [SEP] 13, SoapBottle, 0.859, 0.911, -0.729, 0, 0, 0, 50 [SEP] 14, Lettuce, 0.859, 0.988, -0.381, 0, 0, 0, 50 [SEP] 15, Statue, -1.167, 0.936, 0.144, 0, 0, 0, 49 [SEP] 16, Glassbottle, -1.981, 0.882, 2.692, 0, 0, 0, 76 [SEP] 17, Bread, -0.779, 0.996, 0.209, 0, 258.641, 0, 49 [SEP] 18, CreditCard, 0.914, 0.150, -0.611, 0, 270, 0, 52 [SEP] 19, CellPhone, 0.833, 0.150, -0.690, 0, 270, 0, 52 [SEP] 20, Potato, -0.587, 0.807, -0.486, 0, 90, 0, 70 [SEP] 21, Knife, 0.868, 0.700, -0.600, 90, 315, 0, 47 [SEP] 22, Fork, -0.772, 0.934, -0.143, 0, 0, 0, 49 [SEP] 23, Pan, -1.167, 0.931, -0.380, 0, 90, 0, 49 [SEP] 24, Lettuce, 1.114, 0.988, -0.034, 0, 0, 0, 50 [SEP] 25, Plate, 0.905, 1.405, 1.444, 0, 270, 0, 72 [SEP] 26, Apple, 0.844, 1.452, 1.063, 0, 270, 0, 72 [SEP] 27, Pot, -1.778, 0.557, 2.718, 0, 0, 0, 75 [SEP] 28, Spatula, 0.914, 0.168, -0.531, 0, 0, 0, 52 [SEP] 29, PaperTowelRoll, -1.101, 0.283, 0.576, 0, 180, 0, 69 [SEP] 30, Tomato, -0.808, 0.821, -0.745, 0, 90, 0, 70 [SEP] 31, Egg, 0.844, 0.900, 1.540, 0, 270, 0, 72 [SEP] 32, SaltShaker, -1.571, 0.878, 2.665, 0, 0, 0, 76 [SEP] 33, PepperShaker, 0.711, 0.104, -1.812, 0, 0, 0, 54 [SEP] 34, Vase, 0.861, 0.108, -1.892, 0, 0, 0, 54 [SEP] 35, ButterKnife, -0.624, 0.933, -1.463, 0, 0, 0, 49 [SEP] 36, SoapBottle, 0.944, 0.911, 0.139, 0, 0, 0, 50 [SEP] 37, Vase, 1.148, 1.667, -2.166, 0, 270, 0, 48 [SEP] 38, Bowl, 1.114, 0.914, -0.381, 0, 0, 0, 50 [SEP] 39, DishSponge, 0.773, 0.910, -1.879, 0, 0, 0, 55 [SEP] 40, Spoon, 0.875, 0.496, -0.648, 0, 270, 0, 53 [SEP] 41, Cup, 1.009, 1.663, -2.029, 0, 270, 0, 48 [SEP] 42, Mug, 1.101, 1.661, 0.280, 0, 270, 0, 57 [SEP] 43, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 44, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 45, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 46, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 47, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 48, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 49, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 50, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 51, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 52, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 53, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 54, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 55, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 56, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 57, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 58, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 59, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 60, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 61, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 62, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 63, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 64, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 65, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 66, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 67, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 68, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 69, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 70, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 71, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 72, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 73, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 74, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 75, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 76, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 77, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 78, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 79, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 80, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 81, NorthWall, , , , , , , [SEP] 82, EastWall, , , , , , , [SEP] 83, SouthWall, , , , , , , [SEP] 84, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and walk to the sink. | STEP 2: Pick up the tomato from the sink. | STEP 3: Turn around and look up. | STEP 4: Heat the tomato in the microwave then take it out. | STEP 5: Turn left and walk to the end of the counter then turn left and walk to the trash can. | STEP 6: Put the tomato in the trash can. | END"]} +{"id": "trial_T20190908_222917_366542-0", "input": "Hold the clock 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, -1.0, 0, 0, 0, [SEP] 1, CD, -0.748, 0.202, -0.338, 0, 0, 0, 24 [SEP] 2, Pen, -2.235, 0.110, 0.721, 0, 0, 0, 44 [SEP] 3, Pen, -1.834, 1.729, 0.448, 0, 0, 0, 36 [SEP] 4, CreditCard, -1.914, 0.104, 0.683, 0, 0, 0, 44 [SEP] 5, KeyChain, -1.939, 1.723, 0.530, 0, 0, 0, 36 [SEP] 6, KeyChain, -2.344, 0.039, 2.469, 0, 180, 0, 46 [SEP] 7, Laptop, 1.612, 0.781, 1.076, 0, 0, 0, 22 [SEP] 8, Book, 1.409, 0.783, 1.655, 0, 0, 0, 22 [SEP] 9, AlarmClock, -0.819, 0.858, -1.356, 0, 0, 0, 31 [SEP] 10, BasketBall, 1.976, 0.120, 0.211, 0, 331.076, 0, [SEP] 11, Pen, -1.995, 0.673, 0.721, 0, 0, 0, 42 [SEP] 12, Laptop, 0.800, 0.781, 1.655, 0, 0, 0, 22 [SEP] 13, BaseballBat, 1.953, 0.659, -1.81, 346.388, 0, 0, [SEP] 14, Bowl, -2.091, 0.882, 0.665, 0, 0, 0, 41 [SEP] 15, Pillow, 1.003, 0.918, 1.076, 0, 0, 0, 22 [SEP] 16, KeyChain, -2.344, 0.039, 2.682, 0, 180, 0, 46 [SEP] 17, CreditCard, -2.235, 0.668, 0.796, 0, 0, 0, 42 [SEP] 18, CellPhone, 1.815, 0.784, 2.524, 0, 0, 0, 22 [SEP] 19, CD, -2.083, 0.039, 2.575, 0, 180, 0, 46 [SEP] 20, Pencil, -1.918, 0.882, 0.665, 0, 0, 0, 41 [SEP] 21, Mug, -1.571, 0.876, 0.832, 0, 0, 0, 41 [SEP] 22, Bed, 1.227, -0.002, 1.664, 0, 0, 0, [SEP] 23, LightSwitch, 2.151, 1.233, -0.518, 0, 270, 0, [SEP] 24, GarbageCan, -0.747, 0.014, -0.327, 0, 0, 0, [SEP] 25, Mirror, -1.358, 1.427, 2.855, 0, 0, 0, [SEP] 26, DeskLamp, -2.296, 0.858, 0.750, 0, 0, 0, [SEP] 27, Window, -0.421, 1.534, -1.947, 90, 0, 0, [SEP] 28, Window, 0.579, 1.534, -1.947, 90, 0, 0, [SEP] 29, Drawer, -0.491, 0.739, -0.855, 0, 90, 0, [SEP] 30, Drawer, -0.491, 0.204, -0.855, 0, 90, 0, [SEP] 31, Desk, -0.639, 0.009, -1.187, 0, 90, 0, [SEP] 32, Drawer, -0.491, 0.487, -0.855, 0, 90, 0, [SEP] 33, Shelf, -1.965, 1.514, 0.416, 0, 0, 0, [SEP] 34, Shelf, -1.965, 1.092, 0.416, 0, 0, 0, [SEP] 35, Shelf, -1.312, 1.888, 0.416, 0, 0, 0, [SEP] 36, Shelf, -1.965, 1.888, 0.416, 0, 0, 0, [SEP] 37, Shelf, -1.312, 1.092, 0.416, 0, 0, 0, [SEP] 38, Shelf, -1.312, 1.514, 0.416, 0, 0, 0, [SEP] 39, Blinds, 0.601, 2.161, -1.916, 0, 0, 0, [SEP] 40, Blinds, -0.402, 2.161, -1.916, 0, 0, 0, [SEP] 41, Desk, -1.726, 0.001, 0.575, 0, 0, 0, [SEP] 42, Drawer, -2.058, 0.733, 0.734, 0, 0, 0, [SEP] 43, Drawer, -2.058, 0.482, 0.734, 0, 0, 0, [SEP] 44, Drawer, -2.058, 0.198, 0.735, 0, 0, 0, [SEP] 45, Chair, -0.137, 0.000, -1.587, 0, 315, 0, [SEP] 46, Safe, -2.183, -7.748, 2.576, 0, 180, 0, [SEP] 47, Chair, -1.433, 0.009, 0.780, 357.672, 206.726, 0, [SEP] 48, LaundryHamper, 0.163, 0.003, 2.635, 0, 86.390, 0, [SEP] 49, NorthWall, , , , , , , [SEP] 50, EastWall, , , , , , , [SEP] 51, SouthWall, , , , , , , [SEP] 52, WestWall, , , , , , , ", "output": ["STEP 1: Turn to the left and face the desk. | STEP 2: Pick up the clock from the back of the desk. | STEP 3: Carry the clock and turn to the right. Turn to the left and then face the desk on the left. | STEP 4: Hold the clock and turn on the lamp on the right side of the desk. | END"]} +{"id": "trial_T20190908_222917_366542-1", "input": "Examine an alarm clock 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, 0.5, 0.900, -1.0, 0, 0, 0, [SEP] 1, CD, -0.748, 0.202, -0.338, 0, 0, 0, 24 [SEP] 2, Pen, -2.235, 0.110, 0.721, 0, 0, 0, 44 [SEP] 3, Pen, -1.834, 1.729, 0.448, 0, 0, 0, 36 [SEP] 4, CreditCard, -1.914, 0.104, 0.683, 0, 0, 0, 44 [SEP] 5, KeyChain, -1.939, 1.723, 0.530, 0, 0, 0, 36 [SEP] 6, KeyChain, -2.344, 0.039, 2.469, 0, 180, 0, 46 [SEP] 7, Laptop, 1.612, 0.781, 1.076, 0, 0, 0, 22 [SEP] 8, Book, 1.409, 0.783, 1.655, 0, 0, 0, 22 [SEP] 9, AlarmClock, -0.819, 0.858, -1.356, 0, 0, 0, 31 [SEP] 10, BasketBall, 1.976, 0.120, 0.211, 0, 331.076, 0, [SEP] 11, Pen, -1.995, 0.673, 0.721, 0, 0, 0, 42 [SEP] 12, Laptop, 0.800, 0.781, 1.655, 0, 0, 0, 22 [SEP] 13, BaseballBat, 1.953, 0.659, -1.81, 346.388, 0, 0, [SEP] 14, Bowl, -2.091, 0.882, 0.665, 0, 0, 0, 41 [SEP] 15, Pillow, 1.003, 0.918, 1.076, 0, 0, 0, 22 [SEP] 16, KeyChain, -2.344, 0.039, 2.682, 0, 180, 0, 46 [SEP] 17, CreditCard, -2.235, 0.668, 0.796, 0, 0, 0, 42 [SEP] 18, CellPhone, 1.815, 0.784, 2.524, 0, 0, 0, 22 [SEP] 19, CD, -2.083, 0.039, 2.575, 0, 180, 0, 46 [SEP] 20, Pencil, -1.918, 0.882, 0.665, 0, 0, 0, 41 [SEP] 21, Mug, -1.571, 0.876, 0.832, 0, 0, 0, 41 [SEP] 22, Bed, 1.227, -0.002, 1.664, 0, 0, 0, [SEP] 23, LightSwitch, 2.151, 1.233, -0.518, 0, 270, 0, [SEP] 24, GarbageCan, -0.747, 0.014, -0.327, 0, 0, 0, [SEP] 25, Mirror, -1.358, 1.427, 2.855, 0, 0, 0, [SEP] 26, DeskLamp, -2.296, 0.858, 0.750, 0, 0, 0, [SEP] 27, Window, -0.421, 1.534, -1.947, 90, 0, 0, [SEP] 28, Window, 0.579, 1.534, -1.947, 90, 0, 0, [SEP] 29, Drawer, -0.491, 0.739, -0.855, 0, 90, 0, [SEP] 30, Drawer, -0.491, 0.204, -0.855, 0, 90, 0, [SEP] 31, Desk, -0.639, 0.009, -1.187, 0, 90, 0, [SEP] 32, Drawer, -0.491, 0.487, -0.855, 0, 90, 0, [SEP] 33, Shelf, -1.965, 1.514, 0.416, 0, 0, 0, [SEP] 34, Shelf, -1.965, 1.092, 0.416, 0, 0, 0, [SEP] 35, Shelf, -1.312, 1.888, 0.416, 0, 0, 0, [SEP] 36, Shelf, -1.965, 1.888, 0.416, 0, 0, 0, [SEP] 37, Shelf, -1.312, 1.092, 0.416, 0, 0, 0, [SEP] 38, Shelf, -1.312, 1.514, 0.416, 0, 0, 0, [SEP] 39, Blinds, 0.601, 2.161, -1.916, 0, 0, 0, [SEP] 40, Blinds, -0.402, 2.161, -1.916, 0, 0, 0, [SEP] 41, Desk, -1.726, 0.001, 0.575, 0, 0, 0, [SEP] 42, Drawer, -2.058, 0.733, 0.734, 0, 0, 0, [SEP] 43, Drawer, -2.058, 0.482, 0.734, 0, 0, 0, [SEP] 44, Drawer, -2.058, 0.198, 0.735, 0, 0, 0, [SEP] 45, Chair, -0.137, 0.000, -1.587, 0, 315, 0, [SEP] 46, Safe, -2.183, -7.748, 2.576, 0, 180, 0, [SEP] 47, Chair, -1.433, 0.009, 0.780, 357.672, 206.726, 0, [SEP] 48, LaundryHamper, 0.163, 0.003, 2.635, 0, 86.390, 0, [SEP] 49, NorthWall, , , , , , , [SEP] 50, EastWall, , , , , , , [SEP] 51, SouthWall, , , , , , , [SEP] 52, WestWall, , , , , , , ", "output": ["STEP 1: Turn around completely, then turn right to face the desk. | STEP 2: Pick up the clock that is on the desk. | STEP 3: Turn to the right, walk almost to the top of the bed, turn left, walk to the wall, then turn left again to face the desk. | STEP 4: Turn on the lamp that is sitting on the desk. | END"]} +{"id": "trial_T20190908_222917_366542-2", "input": "Turning on a lamp while holding a canteen 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, CD, -0.748, 0.202, -0.338, 0, 0, 0, 24 [SEP] 2, Pen, -2.235, 0.110, 0.721, 0, 0, 0, 44 [SEP] 3, Pen, -1.834, 1.729, 0.448, 0, 0, 0, 36 [SEP] 4, CreditCard, -1.914, 0.104, 0.683, 0, 0, 0, 44 [SEP] 5, KeyChain, -1.939, 1.723, 0.530, 0, 0, 0, 36 [SEP] 6, KeyChain, -2.344, 0.039, 2.469, 0, 180, 0, 46 [SEP] 7, Laptop, 1.612, 0.781, 1.076, 0, 0, 0, 22 [SEP] 8, Book, 1.409, 0.783, 1.655, 0, 0, 0, 22 [SEP] 9, AlarmClock, -0.819, 0.858, -1.356, 0, 0, 0, 31 [SEP] 10, BasketBall, 1.976, 0.120, 0.211, 0, 331.076, 0, [SEP] 11, Pen, -1.995, 0.673, 0.721, 0, 0, 0, 42 [SEP] 12, Laptop, 0.800, 0.781, 1.655, 0, 0, 0, 22 [SEP] 13, BaseballBat, 1.953, 0.659, -1.81, 346.388, 0, 0, [SEP] 14, Bowl, -2.091, 0.882, 0.665, 0, 0, 0, 41 [SEP] 15, Pillow, 1.003, 0.918, 1.076, 0, 0, 0, 22 [SEP] 16, KeyChain, -2.344, 0.039, 2.682, 0, 180, 0, 46 [SEP] 17, CreditCard, -2.235, 0.668, 0.796, 0, 0, 0, 42 [SEP] 18, CellPhone, 1.815, 0.784, 2.524, 0, 0, 0, 22 [SEP] 19, CD, -2.083, 0.039, 2.575, 0, 180, 0, 46 [SEP] 20, Pencil, -1.918, 0.882, 0.665, 0, 0, 0, 41 [SEP] 21, Mug, -1.571, 0.876, 0.832, 0, 0, 0, 41 [SEP] 22, Bed, 1.227, -0.002, 1.664, 0, 0, 0, [SEP] 23, LightSwitch, 2.151, 1.233, -0.518, 0, 270, 0, [SEP] 24, GarbageCan, -0.747, 0.014, -0.327, 0, 0, 0, [SEP] 25, Mirror, -1.358, 1.427, 2.855, 0, 0, 0, [SEP] 26, DeskLamp, -2.296, 0.858, 0.750, 0, 0, 0, [SEP] 27, Window, -0.421, 1.534, -1.947, 90, 0, 0, [SEP] 28, Window, 0.579, 1.534, -1.947, 90, 0, 0, [SEP] 29, Drawer, -0.491, 0.739, -0.855, 0, 90, 0, [SEP] 30, Drawer, -0.491, 0.204, -0.855, 0, 90, 0, [SEP] 31, Desk, -0.639, 0.009, -1.187, 0, 90, 0, [SEP] 32, Drawer, -0.491, 0.487, -0.855, 0, 90, 0, [SEP] 33, Shelf, -1.965, 1.514, 0.416, 0, 0, 0, [SEP] 34, Shelf, -1.965, 1.092, 0.416, 0, 0, 0, [SEP] 35, Shelf, -1.312, 1.888, 0.416, 0, 0, 0, [SEP] 36, Shelf, -1.965, 1.888, 0.416, 0, 0, 0, [SEP] 37, Shelf, -1.312, 1.092, 0.416, 0, 0, 0, [SEP] 38, Shelf, -1.312, 1.514, 0.416, 0, 0, 0, [SEP] 39, Blinds, 0.601, 2.161, -1.916, 0, 0, 0, [SEP] 40, Blinds, -0.402, 2.161, -1.916, 0, 0, 0, [SEP] 41, Desk, -1.726, 0.001, 0.575, 0, 0, 0, [SEP] 42, Drawer, -2.058, 0.733, 0.734, 0, 0, 0, [SEP] 43, Drawer, -2.058, 0.482, 0.734, 0, 0, 0, [SEP] 44, Drawer, -2.058, 0.198, 0.735, 0, 0, 0, [SEP] 45, Chair, -0.137, 0.000, -1.587, 0, 315, 0, [SEP] 46, Safe, -2.183, -7.748, 2.576, 0, 180, 0, [SEP] 47, Chair, -1.433, 0.009, 0.780, 357.672, 206.726, 0, [SEP] 48, LaundryHamper, 0.163, 0.003, 2.635, 0, 86.390, 0, [SEP] 49, NorthWall, , , , , , , [SEP] 50, EastWall, , , , , , , [SEP] 51, SouthWall, , , , , , , [SEP] 52, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and face the desk | STEP 2: Grab the canteen off of the desk | STEP 3: Turn right and find the desk with the lamp | STEP 4: Turn the lamp on | END"]} +{"id": "trial_T20190907_221300_362511-0", "input": "Put a cleaned mug on the coffee maker 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, -0.25, 0.900, 1.75, 0, 180, 0, [SEP] 1, Statue, -1.355, 0.936, -0.643, 0, 0, 0, 61 [SEP] 2, Potato, 0.995, 1.825, -1.132, 0, 270, 0, 83 [SEP] 3, CellPhone, 0.793, 0.150, -0.690, 0, 270, 0, 64 [SEP] 4, CellPhone, 0.944, 0.908, -0.208, 0, 0, 0, 62 [SEP] 5, DishSponge, -1.363, 0.553, 2.770, 0, 0, 0, 87 [SEP] 6, DishSponge, 1.212, 2.207, -1.082, 0, 270, 0, 68 [SEP] 7, ButterKnife, 0.859, 0.911, -0.729, 0, 0, 0, 62 [SEP] 8, Glassbottle, -0.587, 0.781, -0.745, 0, 90, 0, 82 [SEP] 9, Glassbottle, 0.960, 0.109, -1.972, 0, 0, 0, 66 [SEP] 10, Fork, 1.114, 0.911, -0.555, 0, 90, 0, 62 [SEP] 11, Spoon, -0.698, 0.934, -1.463, 0, 0, 0, 61 [SEP] 12, Spatula, 0.915, 0.510, -0.524, 0, 0, 0, 65 [SEP] 13, Knife, -0.772, 0.957, 0.162, 0, 0, 0, 61 [SEP] 14, Egg, -0.808, 0.818, -0.832, 0, 90, 0, 82 [SEP] 15, Egg, -1.101, 0.216, 0.576, 0, 180, 0, 81 [SEP] 16, Cup, 1.148, 0.860, 1.540, 0, 270, 0, 84 [SEP] 17, Cup, 0.905, 1.399, 0.967, 0, 270, 0, 84 [SEP] 18, Tomato, 0.905, 1.175, 1.540, 0, 270, 0, 84 [SEP] 19, SoapBottle, 1.082, 2.208, -1.082, 0, 270, 0, 68 [SEP] 20, PepperShaker, 1.148, 1.662, -2.166, 0, 270, 0, 60 [SEP] 21, Lettuce, 1.026, 1.479, 1.254, 0, 270, 0, 84 [SEP] 22, Bread, -1.167, 1.014, -0.118, 0, 0, 0, 61 [SEP] 23, Mug, 1.240, 1.661, -0.529, 0, 0, 0, 70 [SEP] 24, Mug, 1.199, 0.906, 0.139, 0, 0, 0, 62 [SEP] 25, Apple, -1.007, 0.229, 0.543, 0, 180, 0, 81 [SEP] 26, Apple, 1.060, 1.845, -1.339, 0, 270, 0, 83 [SEP] 27, Statue, 0.773, 0.914, -0.555, 0, 0, 0, 62 [SEP] 28, Glassbottle, 1.199, 0.912, -0.729, 0, 0, 0, 62 [SEP] 29, Bread, -1.355, 1.014, 0.144, 0, 0, 0, 61 [SEP] 30, CreditCard, 0.754, 0.492, -0.731, 0, 270, 0, 65 [SEP] 31, CellPhone, -0.846, 0.930, 0.086, 0, 0, 0, 61 [SEP] 32, Potato, -0.920, 0.963, 0.315, 0, 0, 0, 61 [SEP] 33, Knife, -0.550, 0.957, -1.231, 0, 0, 0, 61 [SEP] 34, Fork, 0.875, 0.703, -0.565, 0, 0, 0, 59 [SEP] 35, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 55 [SEP] 36, Lettuce, 1.029, 0.988, -0.381, 0, 0, 0, 62 [SEP] 37, Plate, 0.905, 1.138, 1.063, 0, 270, 0, 84 [SEP] 38, Apple, 0.965, 0.913, 1.444, 0, 270, 0, 84 [SEP] 39, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 57 [SEP] 40, Spatula, -1.104, 0.948, -1.167, 0, 90, 0, 61 [SEP] 41, PaperTowelRoll, 0.688, 1.015, -0.208, 0, 0, 0, 62 [SEP] 42, Tomato, 0.844, 1.683, 1.158, 0, 270, 0, 84 [SEP] 43, Egg, -0.865, 0.214, 0.575, 0, 180, 0, 81 [SEP] 44, SaltShaker, -1.881, 0.550, 2.822, 0, 0, 0, 87 [SEP] 45, PepperShaker, -1.778, 0.550, 2.822, 0, 0, 0, 87 [SEP] 46, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 87 [SEP] 47, ButterKnife, 0.773, 0.911, -1.879, 0, 0, 0, 67 [SEP] 48, SoapBottle, 1.102, 1.666, -0.401, 0, 270, 0, 70 [SEP] 49, Vase, -1.571, 0.882, 2.719, 0, 0, 0, 88 [SEP] 50, Bowl, 1.193, 1.669, 0.025, 0, 270, 0, 69 [SEP] 51, DishSponge, 1.029, 0.910, -0.034, 0, 0, 0, 62 [SEP] 52, Spoon, 0.794, 0.704, -0.690, 0, 270, 0, 59 [SEP] 53, Cup, -0.808, 0.773, -0.745, 0, 90, 0, 82 [SEP] 54, Mug, 1.240, 1.661, -0.657, 0, 0, 0, 70 [SEP] 55, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 56, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 57, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 58, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 59, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 60, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 61, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 62, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 63, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 64, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 65, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 66, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 67, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 68, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 69, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 70, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 71, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 72, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 73, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 74, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 75, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 76, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 77, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 78, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 79, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 80, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 81, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 82, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 83, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 84, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 85, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 86, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 87, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 88, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 89, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 90, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 91, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 92, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 93, NorthWall, , , , , , , [SEP] 94, EastWall, , , , , , , [SEP] 95, SouthWall, , , , , , , [SEP] 96, WestWall, , , , , , , ", "output": ["STEP 1: Move to the right of the fridge | STEP 2: Pick up a cup from the counter | STEP 3: Move to the sink to the right | STEP 4: Clean the cup in the sink | STEP 5: Move to the coffee maker to the right of the stove | STEP 6: Put the mug on the coffee maker | END"]} +{"id": "trial_T20190907_221300_362511-1", "input": "Wash the mug and put it in 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, 1.75, 0, 180, 0, [SEP] 1, Statue, -1.355, 0.936, -0.643, 0, 0, 0, 61 [SEP] 2, Potato, 0.995, 1.825, -1.132, 0, 270, 0, 83 [SEP] 3, CellPhone, 0.793, 0.150, -0.690, 0, 270, 0, 64 [SEP] 4, CellPhone, 0.944, 0.908, -0.208, 0, 0, 0, 62 [SEP] 5, DishSponge, -1.363, 0.553, 2.770, 0, 0, 0, 87 [SEP] 6, DishSponge, 1.212, 2.207, -1.082, 0, 270, 0, 68 [SEP] 7, ButterKnife, 0.859, 0.911, -0.729, 0, 0, 0, 62 [SEP] 8, Glassbottle, -0.587, 0.781, -0.745, 0, 90, 0, 82 [SEP] 9, Glassbottle, 0.960, 0.109, -1.972, 0, 0, 0, 66 [SEP] 10, Fork, 1.114, 0.911, -0.555, 0, 90, 0, 62 [SEP] 11, Spoon, -0.698, 0.934, -1.463, 0, 0, 0, 61 [SEP] 12, Spatula, 0.915, 0.510, -0.524, 0, 0, 0, 65 [SEP] 13, Knife, -0.772, 0.957, 0.162, 0, 0, 0, 61 [SEP] 14, Egg, -0.808, 0.818, -0.832, 0, 90, 0, 82 [SEP] 15, Egg, -1.101, 0.216, 0.576, 0, 180, 0, 81 [SEP] 16, Cup, 1.148, 0.860, 1.540, 0, 270, 0, 84 [SEP] 17, Cup, 0.905, 1.399, 0.967, 0, 270, 0, 84 [SEP] 18, Tomato, 0.905, 1.175, 1.540, 0, 270, 0, 84 [SEP] 19, SoapBottle, 1.082, 2.208, -1.082, 0, 270, 0, 68 [SEP] 20, PepperShaker, 1.148, 1.662, -2.166, 0, 270, 0, 60 [SEP] 21, Lettuce, 1.026, 1.479, 1.254, 0, 270, 0, 84 [SEP] 22, Bread, -1.167, 1.014, -0.118, 0, 0, 0, 61 [SEP] 23, Mug, 1.240, 1.661, -0.529, 0, 0, 0, 70 [SEP] 24, Mug, 1.199, 0.906, 0.139, 0, 0, 0, 62 [SEP] 25, Apple, -1.007, 0.229, 0.543, 0, 180, 0, 81 [SEP] 26, Apple, 1.060, 1.845, -1.339, 0, 270, 0, 83 [SEP] 27, Statue, 0.773, 0.914, -0.555, 0, 0, 0, 62 [SEP] 28, Glassbottle, 1.199, 0.912, -0.729, 0, 0, 0, 62 [SEP] 29, Bread, -1.355, 1.014, 0.144, 0, 0, 0, 61 [SEP] 30, CreditCard, 0.754, 0.492, -0.731, 0, 270, 0, 65 [SEP] 31, CellPhone, -0.846, 0.930, 0.086, 0, 0, 0, 61 [SEP] 32, Potato, -0.920, 0.963, 0.315, 0, 0, 0, 61 [SEP] 33, Knife, -0.550, 0.957, -1.231, 0, 0, 0, 61 [SEP] 34, Fork, 0.875, 0.703, -0.565, 0, 0, 0, 59 [SEP] 35, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 55 [SEP] 36, Lettuce, 1.029, 0.988, -0.381, 0, 0, 0, 62 [SEP] 37, Plate, 0.905, 1.138, 1.063, 0, 270, 0, 84 [SEP] 38, Apple, 0.965, 0.913, 1.444, 0, 270, 0, 84 [SEP] 39, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 57 [SEP] 40, Spatula, -1.104, 0.948, -1.167, 0, 90, 0, 61 [SEP] 41, PaperTowelRoll, 0.688, 1.015, -0.208, 0, 0, 0, 62 [SEP] 42, Tomato, 0.844, 1.683, 1.158, 0, 270, 0, 84 [SEP] 43, Egg, -0.865, 0.214, 0.575, 0, 180, 0, 81 [SEP] 44, SaltShaker, -1.881, 0.550, 2.822, 0, 0, 0, 87 [SEP] 45, PepperShaker, -1.778, 0.550, 2.822, 0, 0, 0, 87 [SEP] 46, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 87 [SEP] 47, ButterKnife, 0.773, 0.911, -1.879, 0, 0, 0, 67 [SEP] 48, SoapBottle, 1.102, 1.666, -0.401, 0, 270, 0, 70 [SEP] 49, Vase, -1.571, 0.882, 2.719, 0, 0, 0, 88 [SEP] 50, Bowl, 1.193, 1.669, 0.025, 0, 270, 0, 69 [SEP] 51, DishSponge, 1.029, 0.910, -0.034, 0, 0, 0, 62 [SEP] 52, Spoon, 0.794, 0.704, -0.690, 0, 270, 0, 59 [SEP] 53, Cup, -0.808, 0.773, -0.745, 0, 90, 0, 82 [SEP] 54, Mug, 1.240, 1.661, -0.657, 0, 0, 0, 70 [SEP] 55, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 56, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 57, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 58, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 59, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 60, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 61, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 62, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 63, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 64, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 65, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 66, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 67, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 68, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 69, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 70, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 71, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 72, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 73, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 74, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 75, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 76, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 77, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 78, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 79, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 80, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 81, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 82, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 83, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 84, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 85, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 86, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 87, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 88, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 89, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 90, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 91, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 92, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 93, NorthWall, , , , , , , [SEP] 94, EastWall, , , , , , , [SEP] 95, SouthWall, , , , , , , [SEP] 96, WestWall, , , , , , , ", "output": ["STEP 1: Walk straight and face the toaster on the counter. | STEP 2: Pick up the mug from the counter. | STEP 3: Turn right and take the mug to the sink. | STEP 4: Put the mug in the sink, wash it and take it out. | STEP 5: Turn left and take the mug to the coffee machine. | STEP 6: Put the mug in the coffee machine. | END"]} +{"id": "trial_T20190907_221300_362511-2", "input": "Move a washed mug 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, -0.25, 0.900, 1.75, 0, 180, 0, [SEP] 1, Statue, -1.355, 0.936, -0.643, 0, 0, 0, 61 [SEP] 2, Potato, 0.995, 1.825, -1.132, 0, 270, 0, 83 [SEP] 3, CellPhone, 0.793, 0.150, -0.690, 0, 270, 0, 64 [SEP] 4, CellPhone, 0.944, 0.908, -0.208, 0, 0, 0, 62 [SEP] 5, DishSponge, -1.363, 0.553, 2.770, 0, 0, 0, 87 [SEP] 6, DishSponge, 1.212, 2.207, -1.082, 0, 270, 0, 68 [SEP] 7, ButterKnife, 0.859, 0.911, -0.729, 0, 0, 0, 62 [SEP] 8, Glassbottle, -0.587, 0.781, -0.745, 0, 90, 0, 82 [SEP] 9, Glassbottle, 0.960, 0.109, -1.972, 0, 0, 0, 66 [SEP] 10, Fork, 1.114, 0.911, -0.555, 0, 90, 0, 62 [SEP] 11, Spoon, -0.698, 0.934, -1.463, 0, 0, 0, 61 [SEP] 12, Spatula, 0.915, 0.510, -0.524, 0, 0, 0, 65 [SEP] 13, Knife, -0.772, 0.957, 0.162, 0, 0, 0, 61 [SEP] 14, Egg, -0.808, 0.818, -0.832, 0, 90, 0, 82 [SEP] 15, Egg, -1.101, 0.216, 0.576, 0, 180, 0, 81 [SEP] 16, Cup, 1.148, 0.860, 1.540, 0, 270, 0, 84 [SEP] 17, Cup, 0.905, 1.399, 0.967, 0, 270, 0, 84 [SEP] 18, Tomato, 0.905, 1.175, 1.540, 0, 270, 0, 84 [SEP] 19, SoapBottle, 1.082, 2.208, -1.082, 0, 270, 0, 68 [SEP] 20, PepperShaker, 1.148, 1.662, -2.166, 0, 270, 0, 60 [SEP] 21, Lettuce, 1.026, 1.479, 1.254, 0, 270, 0, 84 [SEP] 22, Bread, -1.167, 1.014, -0.118, 0, 0, 0, 61 [SEP] 23, Mug, 1.240, 1.661, -0.529, 0, 0, 0, 70 [SEP] 24, Mug, 1.199, 0.906, 0.139, 0, 0, 0, 62 [SEP] 25, Apple, -1.007, 0.229, 0.543, 0, 180, 0, 81 [SEP] 26, Apple, 1.060, 1.845, -1.339, 0, 270, 0, 83 [SEP] 27, Statue, 0.773, 0.914, -0.555, 0, 0, 0, 62 [SEP] 28, Glassbottle, 1.199, 0.912, -0.729, 0, 0, 0, 62 [SEP] 29, Bread, -1.355, 1.014, 0.144, 0, 0, 0, 61 [SEP] 30, CreditCard, 0.754, 0.492, -0.731, 0, 270, 0, 65 [SEP] 31, CellPhone, -0.846, 0.930, 0.086, 0, 0, 0, 61 [SEP] 32, Potato, -0.920, 0.963, 0.315, 0, 0, 0, 61 [SEP] 33, Knife, -0.550, 0.957, -1.231, 0, 0, 0, 61 [SEP] 34, Fork, 0.875, 0.703, -0.565, 0, 0, 0, 59 [SEP] 35, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 55 [SEP] 36, Lettuce, 1.029, 0.988, -0.381, 0, 0, 0, 62 [SEP] 37, Plate, 0.905, 1.138, 1.063, 0, 270, 0, 84 [SEP] 38, Apple, 0.965, 0.913, 1.444, 0, 270, 0, 84 [SEP] 39, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 57 [SEP] 40, Spatula, -1.104, 0.948, -1.167, 0, 90, 0, 61 [SEP] 41, PaperTowelRoll, 0.688, 1.015, -0.208, 0, 0, 0, 62 [SEP] 42, Tomato, 0.844, 1.683, 1.158, 0, 270, 0, 84 [SEP] 43, Egg, -0.865, 0.214, 0.575, 0, 180, 0, 81 [SEP] 44, SaltShaker, -1.881, 0.550, 2.822, 0, 0, 0, 87 [SEP] 45, PepperShaker, -1.778, 0.550, 2.822, 0, 0, 0, 87 [SEP] 46, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 87 [SEP] 47, ButterKnife, 0.773, 0.911, -1.879, 0, 0, 0, 67 [SEP] 48, SoapBottle, 1.102, 1.666, -0.401, 0, 270, 0, 70 [SEP] 49, Vase, -1.571, 0.882, 2.719, 0, 0, 0, 88 [SEP] 50, Bowl, 1.193, 1.669, 0.025, 0, 270, 0, 69 [SEP] 51, DishSponge, 1.029, 0.910, -0.034, 0, 0, 0, 62 [SEP] 52, Spoon, 0.794, 0.704, -0.690, 0, 270, 0, 59 [SEP] 53, Cup, -0.808, 0.773, -0.745, 0, 90, 0, 82 [SEP] 54, Mug, 1.240, 1.661, -0.657, 0, 0, 0, 70 [SEP] 55, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 56, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 57, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 58, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 59, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 60, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 61, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 62, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 63, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 64, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 65, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 66, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 67, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 68, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 69, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 70, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 71, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 72, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 73, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 74, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 75, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 76, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 77, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 78, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 79, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 80, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 81, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 82, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 83, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 84, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 85, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 86, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 87, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 88, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 89, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 90, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 91, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 92, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 93, NorthWall, , , , , , , [SEP] 94, EastWall, , , , , , , [SEP] 95, SouthWall, , , , , , , [SEP] 96, WestWall, , , , , , , ", "output": ["STEP 1: Move to stand at the counter between the fridge and dishwasher. | STEP 2: Pick up the white coffee mug next to the toaster. | STEP 3: Carry the mug to the kitchen sink. | STEP 4: Place the mug in the sink, turn on the water, and then remove it once washed. | STEP 5: Turn and carry the mug to stand in front of the coffee maker on the counter to the right of the stove. | STEP 6: Place the mug on the base of the coffee maker. | END"]} +{"id": "trial_T20190909_125415_131061-0", "input": "Move the glass bowl containing a pencil from the desk near the window to the bookshelf on the other 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, 2.25, 0, 270, 0, [SEP] 1, CD, -0.511, 0.083, -0.933, 0, 0, 0, 31 [SEP] 2, CellPhone, -2.187, 0.040, 2.575, 0, 180, 0, 47 [SEP] 3, CellPhone, 0.800, 0.784, 1.366, 0, 0, 0, 23 [SEP] 4, Pencil, -0.483, 0.861, -1.529, 0, 0, 0, 32 [SEP] 5, Book, 1.815, 0.783, 1.655, 0, 0, 0, 23 [SEP] 6, Book, -0.483, 0.857, -0.663, 0, 0, 0, 32 [SEP] 7, Laptop, 1.003, 0.781, 1.076, 0, 0, 0, 23 [SEP] 8, AlarmClock, -1.286, 1.724, 0.489, 0, 0, 0, 36 [SEP] 9, Book, 1.815, 0.783, 1.945, 0, 0, 0, 23 [SEP] 10, AlarmClock, -1.834, 0.883, 0.448, 0, 0, 0, 42 [SEP] 11, BasketBall, 1.976, 0.120, 0.211, 0, 331.076, 0, [SEP] 12, Pen, -2.155, 0.673, 0.721, 0, 0, 0, 43 [SEP] 13, Laptop, 1.612, 0.781, 2.234, 0, 0, 0, 23 [SEP] 14, BaseballBat, 1.953, 0.659, -1.81, 346.388, 0, 0, [SEP] 15, Bowl, -0.735, 0.861, -1.356, 0, 0, 0, 32 [SEP] 16, Pillow, 1.003, 0.918, 1.945, 0, 0, 0, 23 [SEP] 17, KeyChain, -2.344, 0.039, 2.415, 0, 180, 0, 47 [SEP] 18, CreditCard, -0.587, 0.083, -0.612, 0, 0, 0, 31 [SEP] 19, CellPhone, -0.819, 0.858, -0.836, 0, 0, 0, 32 [SEP] 20, CD, -0.435, 0.364, -0.611, 0, 0, 0, 31 [SEP] 21, Pencil, -0.473, 0.368, -1.013, 0, 0, 0, 33 [SEP] 22, Mug, -0.399, 0.855, -1.183, 0, 0, 0, 32 [SEP] 23, Bed, 1.227, -0.002, 1.664, 0, 0, 0, [SEP] 24, LightSwitch, 2.151, 1.233, -0.518, 0, 270, 0, [SEP] 25, GarbageCan, -0.747, 0.014, -0.327, 0, 0, 0, [SEP] 26, Mirror, -1.358, 1.427, 2.855, 0, 0, 0, [SEP] 27, DeskLamp, -2.296, 0.858, 0.750, 0, 0, 0, [SEP] 28, Window, -0.421, 1.534, -1.947, 90, 0, 0, [SEP] 29, Window, 0.579, 1.534, -1.947, 90, 0, 0, [SEP] 30, Drawer, -0.491, 0.739, -0.855, 0, 90, 0, [SEP] 31, Drawer, -0.491, 0.204, -0.855, 0, 90, 0, [SEP] 32, Desk, -0.639, 0.009, -1.187, 0, 90, 0, [SEP] 33, Drawer, -0.491, 0.487, -0.855, 0, 90, 0, [SEP] 34, Shelf, -1.965, 1.514, 0.416, 0, 0, 0, [SEP] 35, Shelf, -1.965, 1.092, 0.416, 0, 0, 0, [SEP] 36, Shelf, -1.312, 1.888, 0.416, 0, 0, 0, [SEP] 37, Shelf, -1.965, 1.888, 0.416, 0, 0, 0, [SEP] 38, Shelf, -1.312, 1.092, 0.416, 0, 0, 0, [SEP] 39, Shelf, -1.312, 1.514, 0.416, 0, 0, 0, [SEP] 40, Blinds, 0.601, 2.161, -1.916, 0, 0, 0, [SEP] 41, Blinds, -0.402, 2.161, -1.916, 0, 0, 0, [SEP] 42, Desk, -1.726, 0.001, 0.575, 0, 0, 0, [SEP] 43, Drawer, -2.058, 0.733, 0.734, 0, 0, 0, [SEP] 44, Drawer, -2.058, 0.482, 0.734, 0, 0, 0, [SEP] 45, Drawer, -2.058, 0.198, 0.735, 0, 0, 0, [SEP] 46, Chair, -0.137, 0.000, -1.587, 0, 315, 0, [SEP] 47, Safe, -2.183, -7.748, 2.576, 0, 180, 0, [SEP] 48, Chair, -1.433, 0.009, 0.780, 357.672, 206.726, 0, [SEP] 49, LaundryHamper, 0.163, 0.003, 2.635, 0, 86.390, 0, [SEP] 50, NorthWall, , , , , , , [SEP] 51, EastWall, , , , , , , [SEP] 52, SouthWall, , , , , , , [SEP] 53, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and go to the left side of the brown desk to the right of the window. | STEP 2: Pick up the pencil on the desk. | STEP 3: Turn right and move closer towards the desk. | STEP 4: Place the pencil in the glass bowl on the desk. | STEP 5: Pick up the glass bowl with the pencil in it. | STEP 6: Turn right and head to the other desk with the lamp on it. | STEP 7: Put the glass bowl with the pencil in it on the top right hand shelf on the desk. | END"]} +{"id": "trial_T20190909_125415_131061-1", "input": "Put a bowl with a pencil 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, -0.5, 0.900, 2.25, 0, 270, 0, [SEP] 1, CD, -0.511, 0.083, -0.933, 0, 0, 0, 31 [SEP] 2, CellPhone, -2.187, 0.040, 2.575, 0, 180, 0, 47 [SEP] 3, CellPhone, 0.800, 0.784, 1.366, 0, 0, 0, 23 [SEP] 4, Pencil, -0.483, 0.861, -1.529, 0, 0, 0, 32 [SEP] 5, Book, 1.815, 0.783, 1.655, 0, 0, 0, 23 [SEP] 6, Book, -0.483, 0.857, -0.663, 0, 0, 0, 32 [SEP] 7, Laptop, 1.003, 0.781, 1.076, 0, 0, 0, 23 [SEP] 8, AlarmClock, -1.286, 1.724, 0.489, 0, 0, 0, 36 [SEP] 9, Book, 1.815, 0.783, 1.945, 0, 0, 0, 23 [SEP] 10, AlarmClock, -1.834, 0.883, 0.448, 0, 0, 0, 42 [SEP] 11, BasketBall, 1.976, 0.120, 0.211, 0, 331.076, 0, [SEP] 12, Pen, -2.155, 0.673, 0.721, 0, 0, 0, 43 [SEP] 13, Laptop, 1.612, 0.781, 2.234, 0, 0, 0, 23 [SEP] 14, BaseballBat, 1.953, 0.659, -1.81, 346.388, 0, 0, [SEP] 15, Bowl, -0.735, 0.861, -1.356, 0, 0, 0, 32 [SEP] 16, Pillow, 1.003, 0.918, 1.945, 0, 0, 0, 23 [SEP] 17, KeyChain, -2.344, 0.039, 2.415, 0, 180, 0, 47 [SEP] 18, CreditCard, -0.587, 0.083, -0.612, 0, 0, 0, 31 [SEP] 19, CellPhone, -0.819, 0.858, -0.836, 0, 0, 0, 32 [SEP] 20, CD, -0.435, 0.364, -0.611, 0, 0, 0, 31 [SEP] 21, Pencil, -0.473, 0.368, -1.013, 0, 0, 0, 33 [SEP] 22, Mug, -0.399, 0.855, -1.183, 0, 0, 0, 32 [SEP] 23, Bed, 1.227, -0.002, 1.664, 0, 0, 0, [SEP] 24, LightSwitch, 2.151, 1.233, -0.518, 0, 270, 0, [SEP] 25, GarbageCan, -0.747, 0.014, -0.327, 0, 0, 0, [SEP] 26, Mirror, -1.358, 1.427, 2.855, 0, 0, 0, [SEP] 27, DeskLamp, -2.296, 0.858, 0.750, 0, 0, 0, [SEP] 28, Window, -0.421, 1.534, -1.947, 90, 0, 0, [SEP] 29, Window, 0.579, 1.534, -1.947, 90, 0, 0, [SEP] 30, Drawer, -0.491, 0.739, -0.855, 0, 90, 0, [SEP] 31, Drawer, -0.491, 0.204, -0.855, 0, 90, 0, [SEP] 32, Desk, -0.639, 0.009, -1.187, 0, 90, 0, [SEP] 33, Drawer, -0.491, 0.487, -0.855, 0, 90, 0, [SEP] 34, Shelf, -1.965, 1.514, 0.416, 0, 0, 0, [SEP] 35, Shelf, -1.965, 1.092, 0.416, 0, 0, 0, [SEP] 36, Shelf, -1.312, 1.888, 0.416, 0, 0, 0, [SEP] 37, Shelf, -1.965, 1.888, 0.416, 0, 0, 0, [SEP] 38, Shelf, -1.312, 1.092, 0.416, 0, 0, 0, [SEP] 39, Shelf, -1.312, 1.514, 0.416, 0, 0, 0, [SEP] 40, Blinds, 0.601, 2.161, -1.916, 0, 0, 0, [SEP] 41, Blinds, -0.402, 2.161, -1.916, 0, 0, 0, [SEP] 42, Desk, -1.726, 0.001, 0.575, 0, 0, 0, [SEP] 43, Drawer, -2.058, 0.733, 0.734, 0, 0, 0, [SEP] 44, Drawer, -2.058, 0.482, 0.734, 0, 0, 0, [SEP] 45, Drawer, -2.058, 0.198, 0.735, 0, 0, 0, [SEP] 46, Chair, -0.137, 0.000, -1.587, 0, 315, 0, [SEP] 47, Safe, -2.183, -7.748, 2.576, 0, 180, 0, [SEP] 48, Chair, -1.433, 0.009, 0.780, 357.672, 206.726, 0, [SEP] 49, LaundryHamper, 0.163, 0.003, 2.635, 0, 86.390, 0, [SEP] 50, NorthWall, , , , , , , [SEP] 51, EastWall, , , , , , , [SEP] 52, SouthWall, , , , , , , [SEP] 53, WestWall, , , , , , , ", "output": ["STEP 1: Turn around, hang a right at the bed and walk to the wooden desk on the right. | STEP 2: Pick up the white pencil from the left side of the desk. | STEP 3: Turn right and walk to the wooden desk on the left. | STEP 4: Put the pencil inside a clear bowl on the desk. | STEP 5: Pick up the clear bowl with the pencil inside from the desk. | STEP 6: Turn right and walk to the wooden desk on the left. | STEP 7: Put the bowl with the pencil inside on the top right shelf of the desk. | END"]} +{"id": "trial_T20190909_125415_131061-2", "input": "Put a transparent plate with pencil in a book 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, 0.900, 2.25, 0, 270, 0, [SEP] 1, CD, -0.511, 0.083, -0.933, 0, 0, 0, 31 [SEP] 2, CellPhone, -2.187, 0.040, 2.575, 0, 180, 0, 47 [SEP] 3, CellPhone, 0.800, 0.784, 1.366, 0, 0, 0, 23 [SEP] 4, Pencil, -0.483, 0.861, -1.529, 0, 0, 0, 32 [SEP] 5, Book, 1.815, 0.783, 1.655, 0, 0, 0, 23 [SEP] 6, Book, -0.483, 0.857, -0.663, 0, 0, 0, 32 [SEP] 7, Laptop, 1.003, 0.781, 1.076, 0, 0, 0, 23 [SEP] 8, AlarmClock, -1.286, 1.724, 0.489, 0, 0, 0, 36 [SEP] 9, Book, 1.815, 0.783, 1.945, 0, 0, 0, 23 [SEP] 10, AlarmClock, -1.834, 0.883, 0.448, 0, 0, 0, 42 [SEP] 11, BasketBall, 1.976, 0.120, 0.211, 0, 331.076, 0, [SEP] 12, Pen, -2.155, 0.673, 0.721, 0, 0, 0, 43 [SEP] 13, Laptop, 1.612, 0.781, 2.234, 0, 0, 0, 23 [SEP] 14, BaseballBat, 1.953, 0.659, -1.81, 346.388, 0, 0, [SEP] 15, Bowl, -0.735, 0.861, -1.356, 0, 0, 0, 32 [SEP] 16, Pillow, 1.003, 0.918, 1.945, 0, 0, 0, 23 [SEP] 17, KeyChain, -2.344, 0.039, 2.415, 0, 180, 0, 47 [SEP] 18, CreditCard, -0.587, 0.083, -0.612, 0, 0, 0, 31 [SEP] 19, CellPhone, -0.819, 0.858, -0.836, 0, 0, 0, 32 [SEP] 20, CD, -0.435, 0.364, -0.611, 0, 0, 0, 31 [SEP] 21, Pencil, -0.473, 0.368, -1.013, 0, 0, 0, 33 [SEP] 22, Mug, -0.399, 0.855, -1.183, 0, 0, 0, 32 [SEP] 23, Bed, 1.227, -0.002, 1.664, 0, 0, 0, [SEP] 24, LightSwitch, 2.151, 1.233, -0.518, 0, 270, 0, [SEP] 25, GarbageCan, -0.747, 0.014, -0.327, 0, 0, 0, [SEP] 26, Mirror, -1.358, 1.427, 2.855, 0, 0, 0, [SEP] 27, DeskLamp, -2.296, 0.858, 0.750, 0, 0, 0, [SEP] 28, Window, -0.421, 1.534, -1.947, 90, 0, 0, [SEP] 29, Window, 0.579, 1.534, -1.947, 90, 0, 0, [SEP] 30, Drawer, -0.491, 0.739, -0.855, 0, 90, 0, [SEP] 31, Drawer, -0.491, 0.204, -0.855, 0, 90, 0, [SEP] 32, Desk, -0.639, 0.009, -1.187, 0, 90, 0, [SEP] 33, Drawer, -0.491, 0.487, -0.855, 0, 90, 0, [SEP] 34, Shelf, -1.965, 1.514, 0.416, 0, 0, 0, [SEP] 35, Shelf, -1.965, 1.092, 0.416, 0, 0, 0, [SEP] 36, Shelf, -1.312, 1.888, 0.416, 0, 0, 0, [SEP] 37, Shelf, -1.965, 1.888, 0.416, 0, 0, 0, [SEP] 38, Shelf, -1.312, 1.092, 0.416, 0, 0, 0, [SEP] 39, Shelf, -1.312, 1.514, 0.416, 0, 0, 0, [SEP] 40, Blinds, 0.601, 2.161, -1.916, 0, 0, 0, [SEP] 41, Blinds, -0.402, 2.161, -1.916, 0, 0, 0, [SEP] 42, Desk, -1.726, 0.001, 0.575, 0, 0, 0, [SEP] 43, Drawer, -2.058, 0.733, 0.734, 0, 0, 0, [SEP] 44, Drawer, -2.058, 0.482, 0.734, 0, 0, 0, [SEP] 45, Drawer, -2.058, 0.198, 0.735, 0, 0, 0, [SEP] 46, Chair, -0.137, 0.000, -1.587, 0, 315, 0, [SEP] 47, Safe, -2.183, -7.748, 2.576, 0, 180, 0, [SEP] 48, Chair, -1.433, 0.009, 0.780, 357.672, 206.726, 0, [SEP] 49, LaundryHamper, 0.163, 0.003, 2.635, 0, 86.390, 0, [SEP] 50, NorthWall, , , , , , , [SEP] 51, EastWall, , , , , , , [SEP] 52, SouthWall, , , , , , , [SEP] 53, WestWall, , , , , , , ", "output": ["STEP 1: Turn left across the room and head towards the table on your right. | STEP 2: Pick up the pencil at the edge of the table. | STEP 3: Turn around right and back to the table. | STEP 4: Drop the pencil on the transparent plate on the table. | STEP 5: Pick up the transparent plate from the table. | STEP 6: Turn right around the room and head towards the book shelf on your left. | STEP 7: Put the transparent plate in the book shelf. | END"]} +{"id": "trial_T20190908_122024_052056-0", "input": "Move a pencil on the desk over. 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, Bowl, -0.819, 0.861, -1.356, 0, 0, 0, 36 [SEP] 2, Bowl, -2.045, 1.353, 0.366, 0, 0, 0, 46 [SEP] 3, Pen, -0.785, 0.209, -0.338, 0, 0, 0, 29 [SEP] 4, Pencil, -0.819, 0.861, -0.663, 0, 0, 0, 36 [SEP] 5, CreditCard, -0.549, 0.364, -0.933, 0, 0, 0, 35 [SEP] 6, CreditCard, -1.834, 1.349, 0.530, 0, 0, 0, 38 [SEP] 7, KeyChain, -1.833, 0.386, 0.646, 0, 0, 0, 48 [SEP] 8, Book, 1.206, 0.783, 1.076, 0, 0, 0, 27 [SEP] 9, Pillow, 1.612, 0.918, 1.366, 0, 0, 0, 27 [SEP] 10, Laptop, 1.206, 0.781, 0.787, 0, 0, 0, 27 [SEP] 11, AlarmClock, -0.483, 0.858, -1.529, 0, 0, 0, 36 [SEP] 12, AlarmClock, -1.339, 1.724, 0.489, 0, 0, 0, 40 [SEP] 13, Book, 1.003, 0.783, 2.524, 0, 0, 0, 27 [SEP] 14, AlarmClock, -1.179, 1.724, 0.448, 0, 0, 0, 40 [SEP] 15, BasketBall, 1.976, 0.120, 0.211, 0, 331.076, 0, [SEP] 16, Pen, -0.473, 0.654, -0.692, 0, 0, 0, 34 [SEP] 17, Laptop, 0.800, 0.781, 1.076, 0, 0, 0, 27 [SEP] 18, BaseballBat, 1.953, 0.659, -1.81, 346.388, 0, 0, [SEP] 19, Bowl, -1.744, 0.882, 0.581, 0, 0, 0, 46 [SEP] 20, Pillow, 1.612, 0.918, 2.524, 0, 0, 0, 27 [SEP] 21, KeyChain, -1.744, 0.879, 0.832, 0, 0, 0, 46 [SEP] 22, CreditCard, -0.735, 0.857, -1.529, 0, 0, 0, 36 [SEP] 23, CellPhone, -2.031, 0.040, 2.469, 0, 180, 0, 51 [SEP] 24, CD, -2.240, 0.039, 2.682, 0, 180, 0, 51 [SEP] 25, Pencil, -1.918, 0.882, 0.749, 0, 0, 0, 46 [SEP] 26, Mug, -0.483, 0.855, -1.702, 0, 0, 0, 36 [SEP] 27, Bed, 1.227, -0.002, 1.664, 0, 0, 0, [SEP] 28, LightSwitch, 2.151, 1.233, -0.518, 0, 270, 0, [SEP] 29, GarbageCan, -0.747, 0.014, -0.327, 0, 0, 0, [SEP] 30, Mirror, -1.358, 1.427, 2.855, 0, 0, 0, [SEP] 31, DeskLamp, -2.296, 0.858, 0.750, 0, 0, 0, [SEP] 32, Window, -0.421, 1.534, -1.947, 90, 0, 0, [SEP] 33, Window, 0.579, 1.534, -1.947, 90, 0, 0, [SEP] 34, Drawer, -0.491, 0.739, -0.855, 0, 90, 0, [SEP] 35, Drawer, -0.491, 0.204, -0.855, 0, 90, 0, [SEP] 36, Desk, -0.639, 0.009, -1.187, 0, 90, 0, [SEP] 37, Drawer, -0.491, 0.487, -0.855, 0, 90, 0, [SEP] 38, Shelf, -1.965, 1.514, 0.416, 0, 0, 0, [SEP] 39, Shelf, -1.965, 1.092, 0.416, 0, 0, 0, [SEP] 40, Shelf, -1.312, 1.888, 0.416, 0, 0, 0, [SEP] 41, Shelf, -1.965, 1.888, 0.416, 0, 0, 0, [SEP] 42, Shelf, -1.312, 1.092, 0.416, 0, 0, 0, [SEP] 43, Shelf, -1.312, 1.514, 0.416, 0, 0, 0, [SEP] 44, Blinds, 0.601, 2.161, -1.916, 0, 0, 0, [SEP] 45, Blinds, -0.402, 2.161, -1.916, 0, 0, 0, [SEP] 46, Desk, -1.726, 0.001, 0.575, 0, 0, 0, [SEP] 47, Drawer, -2.058, 0.733, 0.734, 0, 0, 0, [SEP] 48, Drawer, -2.058, 0.482, 0.734, 0, 0, 0, [SEP] 49, Drawer, -2.058, 0.198, 0.735, 0, 0, 0, [SEP] 50, Chair, -0.137, 0.000, -1.587, 0, 315, 0, [SEP] 51, Safe, -2.183, -7.748, 2.576, 0, 180, 0, [SEP] 52, Chair, -1.433, 0.009, 0.780, 357.672, 206.726, 0, [SEP] 53, LaundryHamper, 0.163, 0.003, 2.635, 0, 86.390, 0, [SEP] 54, NorthWall, , , , , , , [SEP] 55, EastWall, , , , , , , [SEP] 56, SouthWall, , , , , , , [SEP] 57, WestWall, , , , , , , ", "output": ["STEP 1: Turn to your right and walk forward a few steps, then turn back to your left and go to the end of the desk, where it meets the wall. | STEP 2: Pick up the pencil in the middle of the desk, between the clear bowl and the keys. | STEP 3: Move over to your right, so that you are directly in front of the books on the desk. | STEP 4: Place the pencil in front of the books that are directly behind the glass bowl, on the desk. | END"]} +{"id": "trial_T20190908_122024_052056-1", "input": "move pencil from one side of desk to the other 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, Bowl, -0.819, 0.861, -1.356, 0, 0, 0, 36 [SEP] 2, Bowl, -2.045, 1.353, 0.366, 0, 0, 0, 46 [SEP] 3, Pen, -0.785, 0.209, -0.338, 0, 0, 0, 29 [SEP] 4, Pencil, -0.819, 0.861, -0.663, 0, 0, 0, 36 [SEP] 5, CreditCard, -0.549, 0.364, -0.933, 0, 0, 0, 35 [SEP] 6, CreditCard, -1.834, 1.349, 0.530, 0, 0, 0, 38 [SEP] 7, KeyChain, -1.833, 0.386, 0.646, 0, 0, 0, 48 [SEP] 8, Book, 1.206, 0.783, 1.076, 0, 0, 0, 27 [SEP] 9, Pillow, 1.612, 0.918, 1.366, 0, 0, 0, 27 [SEP] 10, Laptop, 1.206, 0.781, 0.787, 0, 0, 0, 27 [SEP] 11, AlarmClock, -0.483, 0.858, -1.529, 0, 0, 0, 36 [SEP] 12, AlarmClock, -1.339, 1.724, 0.489, 0, 0, 0, 40 [SEP] 13, Book, 1.003, 0.783, 2.524, 0, 0, 0, 27 [SEP] 14, AlarmClock, -1.179, 1.724, 0.448, 0, 0, 0, 40 [SEP] 15, BasketBall, 1.976, 0.120, 0.211, 0, 331.076, 0, [SEP] 16, Pen, -0.473, 0.654, -0.692, 0, 0, 0, 34 [SEP] 17, Laptop, 0.800, 0.781, 1.076, 0, 0, 0, 27 [SEP] 18, BaseballBat, 1.953, 0.659, -1.81, 346.388, 0, 0, [SEP] 19, Bowl, -1.744, 0.882, 0.581, 0, 0, 0, 46 [SEP] 20, Pillow, 1.612, 0.918, 2.524, 0, 0, 0, 27 [SEP] 21, KeyChain, -1.744, 0.879, 0.832, 0, 0, 0, 46 [SEP] 22, CreditCard, -0.735, 0.857, -1.529, 0, 0, 0, 36 [SEP] 23, CellPhone, -2.031, 0.040, 2.469, 0, 180, 0, 51 [SEP] 24, CD, -2.240, 0.039, 2.682, 0, 180, 0, 51 [SEP] 25, Pencil, -1.918, 0.882, 0.749, 0, 0, 0, 46 [SEP] 26, Mug, -0.483, 0.855, -1.702, 0, 0, 0, 36 [SEP] 27, Bed, 1.227, -0.002, 1.664, 0, 0, 0, [SEP] 28, LightSwitch, 2.151, 1.233, -0.518, 0, 270, 0, [SEP] 29, GarbageCan, -0.747, 0.014, -0.327, 0, 0, 0, [SEP] 30, Mirror, -1.358, 1.427, 2.855, 0, 0, 0, [SEP] 31, DeskLamp, -2.296, 0.858, 0.750, 0, 0, 0, [SEP] 32, Window, -0.421, 1.534, -1.947, 90, 0, 0, [SEP] 33, Window, 0.579, 1.534, -1.947, 90, 0, 0, [SEP] 34, Drawer, -0.491, 0.739, -0.855, 0, 90, 0, [SEP] 35, Drawer, -0.491, 0.204, -0.855, 0, 90, 0, [SEP] 36, Desk, -0.639, 0.009, -1.187, 0, 90, 0, [SEP] 37, Drawer, -0.491, 0.487, -0.855, 0, 90, 0, [SEP] 38, Shelf, -1.965, 1.514, 0.416, 0, 0, 0, [SEP] 39, Shelf, -1.965, 1.092, 0.416, 0, 0, 0, [SEP] 40, Shelf, -1.312, 1.888, 0.416, 0, 0, 0, [SEP] 41, Shelf, -1.965, 1.888, 0.416, 0, 0, 0, [SEP] 42, Shelf, -1.312, 1.092, 0.416, 0, 0, 0, [SEP] 43, Shelf, -1.312, 1.514, 0.416, 0, 0, 0, [SEP] 44, Blinds, 0.601, 2.161, -1.916, 0, 0, 0, [SEP] 45, Blinds, -0.402, 2.161, -1.916, 0, 0, 0, [SEP] 46, Desk, -1.726, 0.001, 0.575, 0, 0, 0, [SEP] 47, Drawer, -2.058, 0.733, 0.734, 0, 0, 0, [SEP] 48, Drawer, -2.058, 0.482, 0.734, 0, 0, 0, [SEP] 49, Drawer, -2.058, 0.198, 0.735, 0, 0, 0, [SEP] 50, Chair, -0.137, 0.000, -1.587, 0, 315, 0, [SEP] 51, Safe, -2.183, -7.748, 2.576, 0, 180, 0, [SEP] 52, Chair, -1.433, 0.009, 0.780, 357.672, 206.726, 0, [SEP] 53, LaundryHamper, 0.163, 0.003, 2.635, 0, 86.390, 0, [SEP] 54, NorthWall, , , , , , , [SEP] 55, EastWall, , , , , , , [SEP] 56, SouthWall, , , , , , , [SEP] 57, WestWall, , , , , , , ", "output": ["STEP 1: turn right, walk a few steps, turn left, walk towards the wall, turn left to face desk | STEP 2: pick up the pencil that is on the desk | STEP 3: turn around, take a step, turn right, take a step, turn right to face desk | STEP 4: put the pencil next to the dish on the desk | END"]} +{"id": "trial_T20190908_122024_052056-2", "input": "Take the pencil from the desk, put it on the other 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, 0.75, 0, 270, 0, [SEP] 1, Bowl, -0.819, 0.861, -1.356, 0, 0, 0, 36 [SEP] 2, Bowl, -2.045, 1.353, 0.366, 0, 0, 0, 46 [SEP] 3, Pen, -0.785, 0.209, -0.338, 0, 0, 0, 29 [SEP] 4, Pencil, -0.819, 0.861, -0.663, 0, 0, 0, 36 [SEP] 5, CreditCard, -0.549, 0.364, -0.933, 0, 0, 0, 35 [SEP] 6, CreditCard, -1.834, 1.349, 0.530, 0, 0, 0, 38 [SEP] 7, KeyChain, -1.833, 0.386, 0.646, 0, 0, 0, 48 [SEP] 8, Book, 1.206, 0.783, 1.076, 0, 0, 0, 27 [SEP] 9, Pillow, 1.612, 0.918, 1.366, 0, 0, 0, 27 [SEP] 10, Laptop, 1.206, 0.781, 0.787, 0, 0, 0, 27 [SEP] 11, AlarmClock, -0.483, 0.858, -1.529, 0, 0, 0, 36 [SEP] 12, AlarmClock, -1.339, 1.724, 0.489, 0, 0, 0, 40 [SEP] 13, Book, 1.003, 0.783, 2.524, 0, 0, 0, 27 [SEP] 14, AlarmClock, -1.179, 1.724, 0.448, 0, 0, 0, 40 [SEP] 15, BasketBall, 1.976, 0.120, 0.211, 0, 331.076, 0, [SEP] 16, Pen, -0.473, 0.654, -0.692, 0, 0, 0, 34 [SEP] 17, Laptop, 0.800, 0.781, 1.076, 0, 0, 0, 27 [SEP] 18, BaseballBat, 1.953, 0.659, -1.81, 346.388, 0, 0, [SEP] 19, Bowl, -1.744, 0.882, 0.581, 0, 0, 0, 46 [SEP] 20, Pillow, 1.612, 0.918, 2.524, 0, 0, 0, 27 [SEP] 21, KeyChain, -1.744, 0.879, 0.832, 0, 0, 0, 46 [SEP] 22, CreditCard, -0.735, 0.857, -1.529, 0, 0, 0, 36 [SEP] 23, CellPhone, -2.031, 0.040, 2.469, 0, 180, 0, 51 [SEP] 24, CD, -2.240, 0.039, 2.682, 0, 180, 0, 51 [SEP] 25, Pencil, -1.918, 0.882, 0.749, 0, 0, 0, 46 [SEP] 26, Mug, -0.483, 0.855, -1.702, 0, 0, 0, 36 [SEP] 27, Bed, 1.227, -0.002, 1.664, 0, 0, 0, [SEP] 28, LightSwitch, 2.151, 1.233, -0.518, 0, 270, 0, [SEP] 29, GarbageCan, -0.747, 0.014, -0.327, 0, 0, 0, [SEP] 30, Mirror, -1.358, 1.427, 2.855, 0, 0, 0, [SEP] 31, DeskLamp, -2.296, 0.858, 0.750, 0, 0, 0, [SEP] 32, Window, -0.421, 1.534, -1.947, 90, 0, 0, [SEP] 33, Window, 0.579, 1.534, -1.947, 90, 0, 0, [SEP] 34, Drawer, -0.491, 0.739, -0.855, 0, 90, 0, [SEP] 35, Drawer, -0.491, 0.204, -0.855, 0, 90, 0, [SEP] 36, Desk, -0.639, 0.009, -1.187, 0, 90, 0, [SEP] 37, Drawer, -0.491, 0.487, -0.855, 0, 90, 0, [SEP] 38, Shelf, -1.965, 1.514, 0.416, 0, 0, 0, [SEP] 39, Shelf, -1.965, 1.092, 0.416, 0, 0, 0, [SEP] 40, Shelf, -1.312, 1.888, 0.416, 0, 0, 0, [SEP] 41, Shelf, -1.965, 1.888, 0.416, 0, 0, 0, [SEP] 42, Shelf, -1.312, 1.092, 0.416, 0, 0, 0, [SEP] 43, Shelf, -1.312, 1.514, 0.416, 0, 0, 0, [SEP] 44, Blinds, 0.601, 2.161, -1.916, 0, 0, 0, [SEP] 45, Blinds, -0.402, 2.161, -1.916, 0, 0, 0, [SEP] 46, Desk, -1.726, 0.001, 0.575, 0, 0, 0, [SEP] 47, Drawer, -2.058, 0.733, 0.734, 0, 0, 0, [SEP] 48, Drawer, -2.058, 0.482, 0.734, 0, 0, 0, [SEP] 49, Drawer, -2.058, 0.198, 0.735, 0, 0, 0, [SEP] 50, Chair, -0.137, 0.000, -1.587, 0, 315, 0, [SEP] 51, Safe, -2.183, -7.748, 2.576, 0, 180, 0, [SEP] 52, Chair, -1.433, 0.009, 0.780, 357.672, 206.726, 0, [SEP] 53, LaundryHamper, 0.163, 0.003, 2.635, 0, 86.390, 0, [SEP] 54, NorthWall, , , , , , , [SEP] 55, EastWall, , , , , , , [SEP] 56, SouthWall, , , , , , , [SEP] 57, WestWall, , , , , , , ", "output": ["STEP 1: Turn right, head to the desk | STEP 2: take the pencil from the desk | STEP 3: turn around, take a few steps to the right, face the desk | STEP 4: Put the pencil on the desk | END"]} +{"id": "trial_T20190907_144303_250492-0", "input": "Put a cup with a fork 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, -2.75, 0.900, 1.5, 0, 0, 0, [SEP] 1, Potato, 1.029, 0.941, -0.729, 0, 0, 0, 57 [SEP] 2, Potato, -0.846, 0.963, 0.239, 0, 0, 0, 56 [SEP] 3, CellPhone, 0.793, 0.150, -0.611, 0, 270, 0, 59 [SEP] 4, CellPhone, 1.199, 0.908, 0.139, 0, 0, 0, 57 [SEP] 5, DishSponge, 1.039, 2.207, -1.191, 0, 270, 0, 63 [SEP] 6, DishSponge, 0.754, 0.494, -0.607, 0, 270, 0, 60 [SEP] 7, ButterKnife, -0.624, 0.933, -1.231, 0, 0, 0, 56 [SEP] 8, ButterKnife, -1.167, 0.933, 0.144, 0, 0, 0, 56 [SEP] 9, Fork, -0.697, 0.777, -0.745, 0, 0, 0, 77 [SEP] 10, Fork, -1.104, 0.934, -0.118, 0, 0, 0, 56 [SEP] 11, Spoon, -0.753, 0.781, -0.573, 0, 90, 0, 77 [SEP] 12, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 52 [SEP] 13, Cup, -1.571, 0.879, 2.773, 0, 0, 0, 83 [SEP] 14, Tomato, -1.007, 0.217, 0.608, 0, 180, 0, 76 [SEP] 15, Tomato, -0.587, 0.821, -0.573, 0, 90, 0, 77 [SEP] 16, SoapBottle, 1.055, 1.666, -2.029, 0, 270, 0, 55 [SEP] 17, SoapBottle, 1.056, 1.666, -0.593, 0, 270, 0, 65 [SEP] 18, Bowl, 1.082, 2.211, -1.626, 0, 270, 0, 63 [SEP] 19, PepperShaker, 0.713, 0.150, -0.729, 0, 270, 0, 59 [SEP] 20, Lettuce, 0.905, 0.940, 1.349, 0, 270, 0, 79 [SEP] 21, Bread, -1.292, 1.014, -0.118, 0, 0, 0, 56 [SEP] 22, Statue, 0.773, 0.914, -0.555, 0, 180, 0, 57 [SEP] 23, Glassbottle, 1.055, 1.667, -2.302, 0, 270, 0, 55 [SEP] 24, Bread, 1.114, 0.992, -0.208, 0, 0, 0, 57 [SEP] 25, CreditCard, 0.773, 0.908, -0.208, 0, 0, 0, 57 [SEP] 26, CellPhone, -1.167, 0.930, -1.430, 0, 0, 0, 56 [SEP] 27, Potato, -0.912, 0.209, 0.510, 0, 180, 0, 76 [SEP] 28, Knife, 0.773, 0.934, -1.879, 0, 270, 0, 62 [SEP] 29, Fork, -0.624, 0.934, 0.315, 0, 0, 0, 56 [SEP] 30, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 50 [SEP] 31, Lettuce, 0.688, 0.988, -1.879, 0, 0, 0, 62 [SEP] 32, Plate, -1.881, 0.557, 2.667, 0, 0, 0, 82 [SEP] 33, Apple, 1.148, 1.452, 1.540, 0, 270, 0, 79 [SEP] 34, Pot, 0.859, 0.914, -0.034, 0, 0, 0, 57 [SEP] 35, Spatula, 0.944, 0.926, -0.729, 0, 90, 0, 57 [SEP] 36, PaperTowelRoll, -1.985, 0.658, 2.822, 0, 0, 0, 82 [SEP] 37, Tomato, -0.920, 0.974, -1.618, 0, 0, 0, 56 [SEP] 38, Egg, -0.772, 0.971, -1.154, 0, 0, 0, 56 [SEP] 39, SaltShaker, -1.881, 0.550, 2.822, 0, 0, 0, 82 [SEP] 40, PepperShaker, 0.688, 0.907, -0.381, 0, 0, 0, 57 [SEP] 41, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 82 [SEP] 42, ButterKnife, -0.846, 0.933, -0.143, 0, 0, 0, 56 [SEP] 43, SoapBottle, 0.862, 0.121, 0.374, 0, 270, 0, 51 [SEP] 44, Vase, -1.355, 0.934, -1.167, 0, 0, 0, 56 [SEP] 45, Bowl, 0.966, 1.138, 0.967, 0, 270, 0, 79 [SEP] 46, DishSponge, -0.772, 0.933, -1.308, 0, 0, 0, 56 [SEP] 47, Spoon, 0.875, 0.495, -0.648, 0, 270, 0, 60 [SEP] 48, Cup, 1.029, 0.908, -0.555, 0, 0, 0, 57 [SEP] 49, Mug, 0.905, 1.129, 1.444, 0, 270, 0, 79 [SEP] 50, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 51, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 52, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 53, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 54, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 55, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 56, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 57, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 58, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 59, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 60, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 61, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 62, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 63, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 64, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 65, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 66, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 67, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 68, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 69, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 70, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 71, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 72, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 73, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 74, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 75, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 76, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 77, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 78, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 79, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 80, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 81, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 82, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 83, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 84, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 85, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 86, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 87, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 88, NorthWall, , , , , , , [SEP] 89, EastWall, , , , , , , [SEP] 90, SouthWall, , , , , , , [SEP] 91, WestWall, , , , , , , ", "output": ["STEP 1: Move to the sink to the right of the fridge. | STEP 2: Pick up the fork from the sink. | STEP 3: Turn around to the counter behind you. | STEP 4: Place the fork in the cup on the counter. | STEP 5: Pick up the cup from the counter. | STEP 6: Turn around to the sink. | STEP 7: Place the cup in the sink. | END"]} +{"id": "trial_T20190907_144303_250492-1", "input": "Place a fork into a green bin, place that combination 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, -2.75, 0.900, 1.5, 0, 0, 0, [SEP] 1, Potato, 1.029, 0.941, -0.729, 0, 0, 0, 57 [SEP] 2, Potato, -0.846, 0.963, 0.239, 0, 0, 0, 56 [SEP] 3, CellPhone, 0.793, 0.150, -0.611, 0, 270, 0, 59 [SEP] 4, CellPhone, 1.199, 0.908, 0.139, 0, 0, 0, 57 [SEP] 5, DishSponge, 1.039, 2.207, -1.191, 0, 270, 0, 63 [SEP] 6, DishSponge, 0.754, 0.494, -0.607, 0, 270, 0, 60 [SEP] 7, ButterKnife, -0.624, 0.933, -1.231, 0, 0, 0, 56 [SEP] 8, ButterKnife, -1.167, 0.933, 0.144, 0, 0, 0, 56 [SEP] 9, Fork, -0.697, 0.777, -0.745, 0, 0, 0, 77 [SEP] 10, Fork, -1.104, 0.934, -0.118, 0, 0, 0, 56 [SEP] 11, Spoon, -0.753, 0.781, -0.573, 0, 90, 0, 77 [SEP] 12, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 52 [SEP] 13, Cup, -1.571, 0.879, 2.773, 0, 0, 0, 83 [SEP] 14, Tomato, -1.007, 0.217, 0.608, 0, 180, 0, 76 [SEP] 15, Tomato, -0.587, 0.821, -0.573, 0, 90, 0, 77 [SEP] 16, SoapBottle, 1.055, 1.666, -2.029, 0, 270, 0, 55 [SEP] 17, SoapBottle, 1.056, 1.666, -0.593, 0, 270, 0, 65 [SEP] 18, Bowl, 1.082, 2.211, -1.626, 0, 270, 0, 63 [SEP] 19, PepperShaker, 0.713, 0.150, -0.729, 0, 270, 0, 59 [SEP] 20, Lettuce, 0.905, 0.940, 1.349, 0, 270, 0, 79 [SEP] 21, Bread, -1.292, 1.014, -0.118, 0, 0, 0, 56 [SEP] 22, Statue, 0.773, 0.914, -0.555, 0, 180, 0, 57 [SEP] 23, Glassbottle, 1.055, 1.667, -2.302, 0, 270, 0, 55 [SEP] 24, Bread, 1.114, 0.992, -0.208, 0, 0, 0, 57 [SEP] 25, CreditCard, 0.773, 0.908, -0.208, 0, 0, 0, 57 [SEP] 26, CellPhone, -1.167, 0.930, -1.430, 0, 0, 0, 56 [SEP] 27, Potato, -0.912, 0.209, 0.510, 0, 180, 0, 76 [SEP] 28, Knife, 0.773, 0.934, -1.879, 0, 270, 0, 62 [SEP] 29, Fork, -0.624, 0.934, 0.315, 0, 0, 0, 56 [SEP] 30, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 50 [SEP] 31, Lettuce, 0.688, 0.988, -1.879, 0, 0, 0, 62 [SEP] 32, Plate, -1.881, 0.557, 2.667, 0, 0, 0, 82 [SEP] 33, Apple, 1.148, 1.452, 1.540, 0, 270, 0, 79 [SEP] 34, Pot, 0.859, 0.914, -0.034, 0, 0, 0, 57 [SEP] 35, Spatula, 0.944, 0.926, -0.729, 0, 90, 0, 57 [SEP] 36, PaperTowelRoll, -1.985, 0.658, 2.822, 0, 0, 0, 82 [SEP] 37, Tomato, -0.920, 0.974, -1.618, 0, 0, 0, 56 [SEP] 38, Egg, -0.772, 0.971, -1.154, 0, 0, 0, 56 [SEP] 39, SaltShaker, -1.881, 0.550, 2.822, 0, 0, 0, 82 [SEP] 40, PepperShaker, 0.688, 0.907, -0.381, 0, 0, 0, 57 [SEP] 41, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 82 [SEP] 42, ButterKnife, -0.846, 0.933, -0.143, 0, 0, 0, 56 [SEP] 43, SoapBottle, 0.862, 0.121, 0.374, 0, 270, 0, 51 [SEP] 44, Vase, -1.355, 0.934, -1.167, 0, 0, 0, 56 [SEP] 45, Bowl, 0.966, 1.138, 0.967, 0, 270, 0, 79 [SEP] 46, DishSponge, -0.772, 0.933, -1.308, 0, 0, 0, 56 [SEP] 47, Spoon, 0.875, 0.495, -0.648, 0, 270, 0, 60 [SEP] 48, Cup, 1.029, 0.908, -0.555, 0, 0, 0, 57 [SEP] 49, Mug, 0.905, 1.129, 1.444, 0, 270, 0, 79 [SEP] 50, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 51, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 52, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 53, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 54, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 55, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 56, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 57, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 58, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 59, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 60, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 61, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 62, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 63, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 64, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 65, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 66, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 67, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 68, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 69, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 70, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 71, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 72, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 73, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 74, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 75, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 76, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 77, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 78, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 79, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 80, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 81, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 82, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 83, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 84, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 85, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 86, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 87, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 88, NorthWall, , , , , , , [SEP] 89, EastWall, , , , , , , [SEP] 90, SouthWall, , , , , , , [SEP] 91, WestWall, , , , , , , ", "output": ["STEP 1: Go into the kitchen, face the sink. | STEP 2: Pick the fork up out of the sink. | STEP 3: Turn around to face the counter to the left of the stove. | STEP 4: Place the fork into the green bin behind the statue. | STEP 5: Pick up the green bin with the fork in it. | STEP 6: Turn around and move to the sink. | STEP 7: Place the green bin and fork in to the sink. | END"]} +{"id": "trial_T20190907_144303_250492-2", "input": "Gathering the dirty dishes and putting them 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, -2.75, 0.900, 1.5, 0, 0, 0, [SEP] 1, Potato, 1.029, 0.941, -0.729, 0, 0, 0, 57 [SEP] 2, Potato, -0.846, 0.963, 0.239, 0, 0, 0, 56 [SEP] 3, CellPhone, 0.793, 0.150, -0.611, 0, 270, 0, 59 [SEP] 4, CellPhone, 1.199, 0.908, 0.139, 0, 0, 0, 57 [SEP] 5, DishSponge, 1.039, 2.207, -1.191, 0, 270, 0, 63 [SEP] 6, DishSponge, 0.754, 0.494, -0.607, 0, 270, 0, 60 [SEP] 7, ButterKnife, -0.624, 0.933, -1.231, 0, 0, 0, 56 [SEP] 8, ButterKnife, -1.167, 0.933, 0.144, 0, 0, 0, 56 [SEP] 9, Fork, -0.697, 0.777, -0.745, 0, 0, 0, 77 [SEP] 10, Fork, -1.104, 0.934, -0.118, 0, 0, 0, 56 [SEP] 11, Spoon, -0.753, 0.781, -0.573, 0, 90, 0, 77 [SEP] 12, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 52 [SEP] 13, Cup, -1.571, 0.879, 2.773, 0, 0, 0, 83 [SEP] 14, Tomato, -1.007, 0.217, 0.608, 0, 180, 0, 76 [SEP] 15, Tomato, -0.587, 0.821, -0.573, 0, 90, 0, 77 [SEP] 16, SoapBottle, 1.055, 1.666, -2.029, 0, 270, 0, 55 [SEP] 17, SoapBottle, 1.056, 1.666, -0.593, 0, 270, 0, 65 [SEP] 18, Bowl, 1.082, 2.211, -1.626, 0, 270, 0, 63 [SEP] 19, PepperShaker, 0.713, 0.150, -0.729, 0, 270, 0, 59 [SEP] 20, Lettuce, 0.905, 0.940, 1.349, 0, 270, 0, 79 [SEP] 21, Bread, -1.292, 1.014, -0.118, 0, 0, 0, 56 [SEP] 22, Statue, 0.773, 0.914, -0.555, 0, 180, 0, 57 [SEP] 23, Glassbottle, 1.055, 1.667, -2.302, 0, 270, 0, 55 [SEP] 24, Bread, 1.114, 0.992, -0.208, 0, 0, 0, 57 [SEP] 25, CreditCard, 0.773, 0.908, -0.208, 0, 0, 0, 57 [SEP] 26, CellPhone, -1.167, 0.930, -1.430, 0, 0, 0, 56 [SEP] 27, Potato, -0.912, 0.209, 0.510, 0, 180, 0, 76 [SEP] 28, Knife, 0.773, 0.934, -1.879, 0, 270, 0, 62 [SEP] 29, Fork, -0.624, 0.934, 0.315, 0, 0, 0, 56 [SEP] 30, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 50 [SEP] 31, Lettuce, 0.688, 0.988, -1.879, 0, 0, 0, 62 [SEP] 32, Plate, -1.881, 0.557, 2.667, 0, 0, 0, 82 [SEP] 33, Apple, 1.148, 1.452, 1.540, 0, 270, 0, 79 [SEP] 34, Pot, 0.859, 0.914, -0.034, 0, 0, 0, 57 [SEP] 35, Spatula, 0.944, 0.926, -0.729, 0, 90, 0, 57 [SEP] 36, PaperTowelRoll, -1.985, 0.658, 2.822, 0, 0, 0, 82 [SEP] 37, Tomato, -0.920, 0.974, -1.618, 0, 0, 0, 56 [SEP] 38, Egg, -0.772, 0.971, -1.154, 0, 0, 0, 56 [SEP] 39, SaltShaker, -1.881, 0.550, 2.822, 0, 0, 0, 82 [SEP] 40, PepperShaker, 0.688, 0.907, -0.381, 0, 0, 0, 57 [SEP] 41, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 82 [SEP] 42, ButterKnife, -0.846, 0.933, -0.143, 0, 0, 0, 56 [SEP] 43, SoapBottle, 0.862, 0.121, 0.374, 0, 270, 0, 51 [SEP] 44, Vase, -1.355, 0.934, -1.167, 0, 0, 0, 56 [SEP] 45, Bowl, 0.966, 1.138, 0.967, 0, 270, 0, 79 [SEP] 46, DishSponge, -0.772, 0.933, -1.308, 0, 0, 0, 56 [SEP] 47, Spoon, 0.875, 0.495, -0.648, 0, 270, 0, 60 [SEP] 48, Cup, 1.029, 0.908, -0.555, 0, 0, 0, 57 [SEP] 49, Mug, 0.905, 1.129, 1.444, 0, 270, 0, 79 [SEP] 50, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 51, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 52, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 53, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 54, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 55, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 56, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 57, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 58, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 59, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 60, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 61, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 62, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 63, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 64, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 65, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 66, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 67, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 68, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 69, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 70, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 71, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 72, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 73, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 74, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 75, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 76, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 77, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 78, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 79, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 80, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 81, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 82, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 83, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 84, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 85, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 86, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 87, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 88, NorthWall, , , , , , , [SEP] 89, EastWall, , , , , , , [SEP] 90, SouthWall, , , , , , , [SEP] 91, WestWall, , , , , , , ", "output": ["STEP 1: Walk straight and then make a turn to the right | STEP 2: Walk over to the sink | STEP 3: Grab the fork from the sink | STEP 4: Carry it over to the counter | STEP 5: Place the fork inside the green cup | STEP 6: Go back to the kitchen sink | STEP 7: Place the green cup and the fork in the sink | END"]} +{"id": "trial_T20190907_144303_250492-3", "input": "Put a fork in a glass, and put the glass 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, -2.75, 0.900, 1.5, 0, 0, 0, [SEP] 1, Potato, 1.029, 0.941, -0.729, 0, 0, 0, 57 [SEP] 2, Potato, -0.846, 0.963, 0.239, 0, 0, 0, 56 [SEP] 3, CellPhone, 0.793, 0.150, -0.611, 0, 270, 0, 59 [SEP] 4, CellPhone, 1.199, 0.908, 0.139, 0, 0, 0, 57 [SEP] 5, DishSponge, 1.039, 2.207, -1.191, 0, 270, 0, 63 [SEP] 6, DishSponge, 0.754, 0.494, -0.607, 0, 270, 0, 60 [SEP] 7, ButterKnife, -0.624, 0.933, -1.231, 0, 0, 0, 56 [SEP] 8, ButterKnife, -1.167, 0.933, 0.144, 0, 0, 0, 56 [SEP] 9, Fork, -0.697, 0.777, -0.745, 0, 0, 0, 77 [SEP] 10, Fork, -1.104, 0.934, -0.118, 0, 0, 0, 56 [SEP] 11, Spoon, -0.753, 0.781, -0.573, 0, 90, 0, 77 [SEP] 12, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 52 [SEP] 13, Cup, -1.571, 0.879, 2.773, 0, 0, 0, 83 [SEP] 14, Tomato, -1.007, 0.217, 0.608, 0, 180, 0, 76 [SEP] 15, Tomato, -0.587, 0.821, -0.573, 0, 90, 0, 77 [SEP] 16, SoapBottle, 1.055, 1.666, -2.029, 0, 270, 0, 55 [SEP] 17, SoapBottle, 1.056, 1.666, -0.593, 0, 270, 0, 65 [SEP] 18, Bowl, 1.082, 2.211, -1.626, 0, 270, 0, 63 [SEP] 19, PepperShaker, 0.713, 0.150, -0.729, 0, 270, 0, 59 [SEP] 20, Lettuce, 0.905, 0.940, 1.349, 0, 270, 0, 79 [SEP] 21, Bread, -1.292, 1.014, -0.118, 0, 0, 0, 56 [SEP] 22, Statue, 0.773, 0.914, -0.555, 0, 180, 0, 57 [SEP] 23, Glassbottle, 1.055, 1.667, -2.302, 0, 270, 0, 55 [SEP] 24, Bread, 1.114, 0.992, -0.208, 0, 0, 0, 57 [SEP] 25, CreditCard, 0.773, 0.908, -0.208, 0, 0, 0, 57 [SEP] 26, CellPhone, -1.167, 0.930, -1.430, 0, 0, 0, 56 [SEP] 27, Potato, -0.912, 0.209, 0.510, 0, 180, 0, 76 [SEP] 28, Knife, 0.773, 0.934, -1.879, 0, 270, 0, 62 [SEP] 29, Fork, -0.624, 0.934, 0.315, 0, 0, 0, 56 [SEP] 30, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 50 [SEP] 31, Lettuce, 0.688, 0.988, -1.879, 0, 0, 0, 62 [SEP] 32, Plate, -1.881, 0.557, 2.667, 0, 0, 0, 82 [SEP] 33, Apple, 1.148, 1.452, 1.540, 0, 270, 0, 79 [SEP] 34, Pot, 0.859, 0.914, -0.034, 0, 0, 0, 57 [SEP] 35, Spatula, 0.944, 0.926, -0.729, 0, 90, 0, 57 [SEP] 36, PaperTowelRoll, -1.985, 0.658, 2.822, 0, 0, 0, 82 [SEP] 37, Tomato, -0.920, 0.974, -1.618, 0, 0, 0, 56 [SEP] 38, Egg, -0.772, 0.971, -1.154, 0, 0, 0, 56 [SEP] 39, SaltShaker, -1.881, 0.550, 2.822, 0, 0, 0, 82 [SEP] 40, PepperShaker, 0.688, 0.907, -0.381, 0, 0, 0, 57 [SEP] 41, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 82 [SEP] 42, ButterKnife, -0.846, 0.933, -0.143, 0, 0, 0, 56 [SEP] 43, SoapBottle, 0.862, 0.121, 0.374, 0, 270, 0, 51 [SEP] 44, Vase, -1.355, 0.934, -1.167, 0, 0, 0, 56 [SEP] 45, Bowl, 0.966, 1.138, 0.967, 0, 270, 0, 79 [SEP] 46, DishSponge, -0.772, 0.933, -1.308, 0, 0, 0, 56 [SEP] 47, Spoon, 0.875, 0.495, -0.648, 0, 270, 0, 60 [SEP] 48, Cup, 1.029, 0.908, -0.555, 0, 0, 0, 57 [SEP] 49, Mug, 0.905, 1.129, 1.444, 0, 270, 0, 79 [SEP] 50, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 51, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 52, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 53, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 54, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 55, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 56, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 57, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 58, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 59, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 60, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 61, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 62, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 63, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 64, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 65, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 66, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 67, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 68, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 69, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 70, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 71, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 72, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 73, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 74, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 75, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 76, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 77, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 78, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 79, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 80, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 81, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 82, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 83, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 84, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 85, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 86, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 87, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 88, NorthWall, , , , , , , [SEP] 89, EastWall, , , , , , , [SEP] 90, SouthWall, , , , , , , [SEP] 91, WestWall, , , , , , , ", "output": ["STEP 1: Turn right, head to the fridge, turn right, head for the sink, and turn right. | STEP 2: Pick up the fork. | STEP 3: Turn around and face the trophy. | STEP 4: Put the fork in the glass. | STEP 5: Pick up the glass. | STEP 6: Turn around and face the sink. | STEP 7: Put the glass in the sink. | END"]} +{"id": "trial_T20190907_144303_250492-4", "input": "Place a green cup with a fork in it 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, -2.75, 0.900, 1.5, 0, 0, 0, [SEP] 1, Potato, 1.029, 0.941, -0.729, 0, 0, 0, 57 [SEP] 2, Potato, -0.846, 0.963, 0.239, 0, 0, 0, 56 [SEP] 3, CellPhone, 0.793, 0.150, -0.611, 0, 270, 0, 59 [SEP] 4, CellPhone, 1.199, 0.908, 0.139, 0, 0, 0, 57 [SEP] 5, DishSponge, 1.039, 2.207, -1.191, 0, 270, 0, 63 [SEP] 6, DishSponge, 0.754, 0.494, -0.607, 0, 270, 0, 60 [SEP] 7, ButterKnife, -0.624, 0.933, -1.231, 0, 0, 0, 56 [SEP] 8, ButterKnife, -1.167, 0.933, 0.144, 0, 0, 0, 56 [SEP] 9, Fork, -0.697, 0.777, -0.745, 0, 0, 0, 77 [SEP] 10, Fork, -1.104, 0.934, -0.118, 0, 0, 0, 56 [SEP] 11, Spoon, -0.753, 0.781, -0.573, 0, 90, 0, 77 [SEP] 12, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 52 [SEP] 13, Cup, -1.571, 0.879, 2.773, 0, 0, 0, 83 [SEP] 14, Tomato, -1.007, 0.217, 0.608, 0, 180, 0, 76 [SEP] 15, Tomato, -0.587, 0.821, -0.573, 0, 90, 0, 77 [SEP] 16, SoapBottle, 1.055, 1.666, -2.029, 0, 270, 0, 55 [SEP] 17, SoapBottle, 1.056, 1.666, -0.593, 0, 270, 0, 65 [SEP] 18, Bowl, 1.082, 2.211, -1.626, 0, 270, 0, 63 [SEP] 19, PepperShaker, 0.713, 0.150, -0.729, 0, 270, 0, 59 [SEP] 20, Lettuce, 0.905, 0.940, 1.349, 0, 270, 0, 79 [SEP] 21, Bread, -1.292, 1.014, -0.118, 0, 0, 0, 56 [SEP] 22, Statue, 0.773, 0.914, -0.555, 0, 180, 0, 57 [SEP] 23, Glassbottle, 1.055, 1.667, -2.302, 0, 270, 0, 55 [SEP] 24, Bread, 1.114, 0.992, -0.208, 0, 0, 0, 57 [SEP] 25, CreditCard, 0.773, 0.908, -0.208, 0, 0, 0, 57 [SEP] 26, CellPhone, -1.167, 0.930, -1.430, 0, 0, 0, 56 [SEP] 27, Potato, -0.912, 0.209, 0.510, 0, 180, 0, 76 [SEP] 28, Knife, 0.773, 0.934, -1.879, 0, 270, 0, 62 [SEP] 29, Fork, -0.624, 0.934, 0.315, 0, 0, 0, 56 [SEP] 30, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 50 [SEP] 31, Lettuce, 0.688, 0.988, -1.879, 0, 0, 0, 62 [SEP] 32, Plate, -1.881, 0.557, 2.667, 0, 0, 0, 82 [SEP] 33, Apple, 1.148, 1.452, 1.540, 0, 270, 0, 79 [SEP] 34, Pot, 0.859, 0.914, -0.034, 0, 0, 0, 57 [SEP] 35, Spatula, 0.944, 0.926, -0.729, 0, 90, 0, 57 [SEP] 36, PaperTowelRoll, -1.985, 0.658, 2.822, 0, 0, 0, 82 [SEP] 37, Tomato, -0.920, 0.974, -1.618, 0, 0, 0, 56 [SEP] 38, Egg, -0.772, 0.971, -1.154, 0, 0, 0, 56 [SEP] 39, SaltShaker, -1.881, 0.550, 2.822, 0, 0, 0, 82 [SEP] 40, PepperShaker, 0.688, 0.907, -0.381, 0, 0, 0, 57 [SEP] 41, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 82 [SEP] 42, ButterKnife, -0.846, 0.933, -0.143, 0, 0, 0, 56 [SEP] 43, SoapBottle, 0.862, 0.121, 0.374, 0, 270, 0, 51 [SEP] 44, Vase, -1.355, 0.934, -1.167, 0, 0, 0, 56 [SEP] 45, Bowl, 0.966, 1.138, 0.967, 0, 270, 0, 79 [SEP] 46, DishSponge, -0.772, 0.933, -1.308, 0, 0, 0, 56 [SEP] 47, Spoon, 0.875, 0.495, -0.648, 0, 270, 0, 60 [SEP] 48, Cup, 1.029, 0.908, -0.555, 0, 0, 0, 57 [SEP] 49, Mug, 0.905, 1.129, 1.444, 0, 270, 0, 79 [SEP] 50, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 51, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 52, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 53, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 54, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 55, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 56, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 57, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 58, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 59, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 60, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 61, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 62, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 63, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 64, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 65, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 66, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 67, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 68, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 69, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 70, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 71, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 72, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 73, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 74, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 75, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 76, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 77, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 78, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 79, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 80, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 81, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 82, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 83, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 84, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 85, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 86, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 87, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 88, NorthWall, , , , , , , [SEP] 89, EastWall, , , , , , , [SEP] 90, SouthWall, , , , , , , [SEP] 91, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and walk to the sink. | STEP 2: Pick up the fork from the sink. | STEP 3: Turn around and face the counter with a statue on it. | STEP 4: Place the fork in the green cup behind the statue. | STEP 5: Pick up the green cup from the counter. | STEP 6: Turn around and walk to the sink. | STEP 7: Place the green cup in the front left corner of the sink. | END"]} +{"id": "trial_T20190909_102710_795182-0", "input": "Place a chilled tomato 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, -3.0, 0.900, -1.75, 0, 90, 0, [SEP] 1, CreditCard, -1.570, 0.551, 2.874, 0, 0, 0, 81 [SEP] 2, DishSponge, 0.760, 0.120, 0.374, 0, 270, 0, 50 [SEP] 3, ButterKnife, 1.114, 0.911, -0.729, 0, 0, 0, 56 [SEP] 4, ButterKnife, -0.772, 0.933, 0.239, 0, 0, 0, 55 [SEP] 5, Fork, 0.834, 0.494, -0.648, 0, 270, 0, 59 [SEP] 6, Spatula, -0.697, 0.791, -0.745, 0, 90, 0, 76 [SEP] 7, Knife, 0.944, 0.934, -0.034, 0, 0, 0, 56 [SEP] 8, Egg, -0.808, 0.814, -0.573, 0, 90, 0, 76 [SEP] 9, Egg, -0.818, 0.216, 0.641, 0, 180, 0, 75 [SEP] 10, Cup, 0.773, 0.908, -0.034, 0, 0, 0, 56 [SEP] 11, Plate, 0.859, 0.914, -0.381, 0, 0, 0, 56 [SEP] 12, Tomato, 1.199, 0.952, -1.879, 0, 0, 0, 61 [SEP] 13, Tomato, -0.865, 0.217, 0.543, 0, 180, 0, 75 [SEP] 14, Bowl, 1.212, 2.211, -1.408, 0, 270, 0, 62 [SEP] 15, Bowl, 1.026, 0.866, 1.254, 0, 270, 0, 78 [SEP] 16, SaltShaker, 0.956, 0.698, -0.690, 0, 270, 0, 53 [SEP] 17, PepperShaker, 0.713, 0.491, -0.524, 0, 270, 0, 59 [SEP] 18, Lettuce, -0.550, 1.010, 0.239, 0, 0, 0, 55 [SEP] 19, Bread, -1.167, 1.014, -0.905, 0, 0, 0, 55 [SEP] 20, Apple, 0.844, 1.452, 1.540, 0, 270, 0, 78 [SEP] 21, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 55 [SEP] 22, Glassbottle, 1.147, 1.667, 0.216, 0, 270, 0, 63 [SEP] 23, Bread, 1.114, 0.992, 0.139, 0, 0, 0, 56 [SEP] 24, CreditCard, 0.754, 0.492, -0.648, 0, 270, 0, 59 [SEP] 25, CellPhone, 0.793, 0.150, -0.611, 0, 270, 0, 58 [SEP] 26, Potato, -0.698, 0.807, -0.400, 0, 90, 0, 76 [SEP] 27, Knife, -0.550, 0.957, -1.308, 0, 0, 0, 55 [SEP] 28, Fork, 0.773, 0.911, -0.729, 0, 0, 0, 56 [SEP] 29, Pan, 0.905, 1.132, 1.063, 0, 180, 0, 78 [SEP] 30, Lettuce, -1.229, 1.010, 0.144, 0, 0, 0, 55 [SEP] 31, Plate, 1.102, 1.669, -0.337, 0, 270, 0, 64 [SEP] 32, Apple, -1.054, 0.229, 0.641, 0, 180, 0, 75 [SEP] 33, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 51 [SEP] 34, Spatula, 0.915, 0.718, -0.524, 0, 0, 0, 53 [SEP] 35, PaperTowelRoll, 0.773, 1.015, 0.139, 0, 0, 0, 56 [SEP] 36, Tomato, -0.587, 0.821, -0.573, 0, 90, 0, 76 [SEP] 37, Egg, -1.054, 0.214, 0.543, 0, 180, 0, 75 [SEP] 38, SaltShaker, -0.698, 0.929, -1.618, 0, 0, 0, 55 [SEP] 39, PepperShaker, 0.688, 0.907, -1.965, 0, 0, 0, 61 [SEP] 40, Vase, 1.199, 0.911, -0.381, 0, 0, 0, 56 [SEP] 41, ButterKnife, -1.167, 0.933, -0.118, 0, 0, 0, 55 [SEP] 42, SoapBottle, 0.960, 0.108, -2.292, 0, 0, 0, 60 [SEP] 43, Vase, 0.811, 0.109, -2.132, 0, 0, 0, 60 [SEP] 44, Bowl, 0.965, 0.866, 1.444, 0, 270, 0, 78 [SEP] 45, DishSponge, 0.875, 0.701, -0.731, 0, 270, 0, 53 [SEP] 46, Spoon, 0.944, 0.912, 0.139, 0, 270, 0, 56 [SEP] 47, Cup, 1.026, 1.399, 1.540, 0, 270, 0, 78 [SEP] 48, Mug, 0.783, 1.129, 1.540, 0, 270, 0, 78 [SEP] 49, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 50, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 51, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 52, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 53, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 54, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 55, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 56, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 57, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 58, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 59, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 60, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 61, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 62, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 63, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 64, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 65, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 66, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 67, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 68, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 69, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 70, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 71, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 72, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 73, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 74, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 75, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 76, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 77, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 78, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 79, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 80, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 81, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 82, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 83, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 84, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 85, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 86, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 87, NorthWall, , , , , , , [SEP] 88, EastWall, , , , , , , [SEP] 89, SouthWall, , , , , , , [SEP] 90, WestWall, , , , , , , ", "output": ["STEP 1: Walk ahead and veer left after getting to the counter on the left, Walk to the sink on the left counter. | STEP 2: Pick up the tomato in the sink. | STEP 3: Turn right and walk to the fridge. | STEP 4: Place the tomato in the fridge, in front of the center brown bowl. Close the door, wait a moment, and take it out again. | STEP 5: Turn right and walk to the stove, facing it. | STEP 6: Place the tomato in the microwave above the stove. | END"]} +{"id": "trial_T20190909_102710_795182-1", "input": "To chill a tomato and put it inside 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, -3.0, 0.900, -1.75, 0, 90, 0, [SEP] 1, CreditCard, -1.570, 0.551, 2.874, 0, 0, 0, 81 [SEP] 2, DishSponge, 0.760, 0.120, 0.374, 0, 270, 0, 50 [SEP] 3, ButterKnife, 1.114, 0.911, -0.729, 0, 0, 0, 56 [SEP] 4, ButterKnife, -0.772, 0.933, 0.239, 0, 0, 0, 55 [SEP] 5, Fork, 0.834, 0.494, -0.648, 0, 270, 0, 59 [SEP] 6, Spatula, -0.697, 0.791, -0.745, 0, 90, 0, 76 [SEP] 7, Knife, 0.944, 0.934, -0.034, 0, 0, 0, 56 [SEP] 8, Egg, -0.808, 0.814, -0.573, 0, 90, 0, 76 [SEP] 9, Egg, -0.818, 0.216, 0.641, 0, 180, 0, 75 [SEP] 10, Cup, 0.773, 0.908, -0.034, 0, 0, 0, 56 [SEP] 11, Plate, 0.859, 0.914, -0.381, 0, 0, 0, 56 [SEP] 12, Tomato, 1.199, 0.952, -1.879, 0, 0, 0, 61 [SEP] 13, Tomato, -0.865, 0.217, 0.543, 0, 180, 0, 75 [SEP] 14, Bowl, 1.212, 2.211, -1.408, 0, 270, 0, 62 [SEP] 15, Bowl, 1.026, 0.866, 1.254, 0, 270, 0, 78 [SEP] 16, SaltShaker, 0.956, 0.698, -0.690, 0, 270, 0, 53 [SEP] 17, PepperShaker, 0.713, 0.491, -0.524, 0, 270, 0, 59 [SEP] 18, Lettuce, -0.550, 1.010, 0.239, 0, 0, 0, 55 [SEP] 19, Bread, -1.167, 1.014, -0.905, 0, 0, 0, 55 [SEP] 20, Apple, 0.844, 1.452, 1.540, 0, 270, 0, 78 [SEP] 21, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 55 [SEP] 22, Glassbottle, 1.147, 1.667, 0.216, 0, 270, 0, 63 [SEP] 23, Bread, 1.114, 0.992, 0.139, 0, 0, 0, 56 [SEP] 24, CreditCard, 0.754, 0.492, -0.648, 0, 270, 0, 59 [SEP] 25, CellPhone, 0.793, 0.150, -0.611, 0, 270, 0, 58 [SEP] 26, Potato, -0.698, 0.807, -0.400, 0, 90, 0, 76 [SEP] 27, Knife, -0.550, 0.957, -1.308, 0, 0, 0, 55 [SEP] 28, Fork, 0.773, 0.911, -0.729, 0, 0, 0, 56 [SEP] 29, Pan, 0.905, 1.132, 1.063, 0, 180, 0, 78 [SEP] 30, Lettuce, -1.229, 1.010, 0.144, 0, 0, 0, 55 [SEP] 31, Plate, 1.102, 1.669, -0.337, 0, 270, 0, 64 [SEP] 32, Apple, -1.054, 0.229, 0.641, 0, 180, 0, 75 [SEP] 33, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 51 [SEP] 34, Spatula, 0.915, 0.718, -0.524, 0, 0, 0, 53 [SEP] 35, PaperTowelRoll, 0.773, 1.015, 0.139, 0, 0, 0, 56 [SEP] 36, Tomato, -0.587, 0.821, -0.573, 0, 90, 0, 76 [SEP] 37, Egg, -1.054, 0.214, 0.543, 0, 180, 0, 75 [SEP] 38, SaltShaker, -0.698, 0.929, -1.618, 0, 0, 0, 55 [SEP] 39, PepperShaker, 0.688, 0.907, -1.965, 0, 0, 0, 61 [SEP] 40, Vase, 1.199, 0.911, -0.381, 0, 0, 0, 56 [SEP] 41, ButterKnife, -1.167, 0.933, -0.118, 0, 0, 0, 55 [SEP] 42, SoapBottle, 0.960, 0.108, -2.292, 0, 0, 0, 60 [SEP] 43, Vase, 0.811, 0.109, -2.132, 0, 0, 0, 60 [SEP] 44, Bowl, 0.965, 0.866, 1.444, 0, 270, 0, 78 [SEP] 45, DishSponge, 0.875, 0.701, -0.731, 0, 270, 0, 53 [SEP] 46, Spoon, 0.944, 0.912, 0.139, 0, 270, 0, 56 [SEP] 47, Cup, 1.026, 1.399, 1.540, 0, 270, 0, 78 [SEP] 48, Mug, 0.783, 1.129, 1.540, 0, 270, 0, 78 [SEP] 49, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 50, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 51, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 52, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 53, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 54, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 55, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 56, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 57, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 58, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 59, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 60, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 61, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 62, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 63, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 64, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 65, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 66, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 67, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 68, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 69, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 70, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 71, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 72, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 73, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 74, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 75, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 76, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 77, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 78, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 79, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 80, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 81, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 82, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 83, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 84, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 85, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 86, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 87, NorthWall, , , , , , , [SEP] 88, EastWall, , , , , , , [SEP] 89, SouthWall, , , , , , , [SEP] 90, WestWall, , , , , , , ", "output": ["STEP 1: Walk around the kitchen island and face the sink. | STEP 2: Pick up the tomato from the sink. | STEP 3: Turn right and walk over to the fridge on the right. | STEP 4: Open the fridge door, put the tomato inside of the fridge, close the door, open the door, take the tomato out, close the door. | STEP 5: Turn right and walk to the stove on the left and look up at the microwave. | STEP 6: Open the microwave door, put the tomato inside, close the door. | END"]} +{"id": "trial_T20190909_102710_795182-2", "input": "chill then warm a tomato 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, 0.900, -1.75, 0, 90, 0, [SEP] 1, CreditCard, -1.570, 0.551, 2.874, 0, 0, 0, 81 [SEP] 2, DishSponge, 0.760, 0.120, 0.374, 0, 270, 0, 50 [SEP] 3, ButterKnife, 1.114, 0.911, -0.729, 0, 0, 0, 56 [SEP] 4, ButterKnife, -0.772, 0.933, 0.239, 0, 0, 0, 55 [SEP] 5, Fork, 0.834, 0.494, -0.648, 0, 270, 0, 59 [SEP] 6, Spatula, -0.697, 0.791, -0.745, 0, 90, 0, 76 [SEP] 7, Knife, 0.944, 0.934, -0.034, 0, 0, 0, 56 [SEP] 8, Egg, -0.808, 0.814, -0.573, 0, 90, 0, 76 [SEP] 9, Egg, -0.818, 0.216, 0.641, 0, 180, 0, 75 [SEP] 10, Cup, 0.773, 0.908, -0.034, 0, 0, 0, 56 [SEP] 11, Plate, 0.859, 0.914, -0.381, 0, 0, 0, 56 [SEP] 12, Tomato, 1.199, 0.952, -1.879, 0, 0, 0, 61 [SEP] 13, Tomato, -0.865, 0.217, 0.543, 0, 180, 0, 75 [SEP] 14, Bowl, 1.212, 2.211, -1.408, 0, 270, 0, 62 [SEP] 15, Bowl, 1.026, 0.866, 1.254, 0, 270, 0, 78 [SEP] 16, SaltShaker, 0.956, 0.698, -0.690, 0, 270, 0, 53 [SEP] 17, PepperShaker, 0.713, 0.491, -0.524, 0, 270, 0, 59 [SEP] 18, Lettuce, -0.550, 1.010, 0.239, 0, 0, 0, 55 [SEP] 19, Bread, -1.167, 1.014, -0.905, 0, 0, 0, 55 [SEP] 20, Apple, 0.844, 1.452, 1.540, 0, 270, 0, 78 [SEP] 21, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 55 [SEP] 22, Glassbottle, 1.147, 1.667, 0.216, 0, 270, 0, 63 [SEP] 23, Bread, 1.114, 0.992, 0.139, 0, 0, 0, 56 [SEP] 24, CreditCard, 0.754, 0.492, -0.648, 0, 270, 0, 59 [SEP] 25, CellPhone, 0.793, 0.150, -0.611, 0, 270, 0, 58 [SEP] 26, Potato, -0.698, 0.807, -0.400, 0, 90, 0, 76 [SEP] 27, Knife, -0.550, 0.957, -1.308, 0, 0, 0, 55 [SEP] 28, Fork, 0.773, 0.911, -0.729, 0, 0, 0, 56 [SEP] 29, Pan, 0.905, 1.132, 1.063, 0, 180, 0, 78 [SEP] 30, Lettuce, -1.229, 1.010, 0.144, 0, 0, 0, 55 [SEP] 31, Plate, 1.102, 1.669, -0.337, 0, 270, 0, 64 [SEP] 32, Apple, -1.054, 0.229, 0.641, 0, 180, 0, 75 [SEP] 33, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 51 [SEP] 34, Spatula, 0.915, 0.718, -0.524, 0, 0, 0, 53 [SEP] 35, PaperTowelRoll, 0.773, 1.015, 0.139, 0, 0, 0, 56 [SEP] 36, Tomato, -0.587, 0.821, -0.573, 0, 90, 0, 76 [SEP] 37, Egg, -1.054, 0.214, 0.543, 0, 180, 0, 75 [SEP] 38, SaltShaker, -0.698, 0.929, -1.618, 0, 0, 0, 55 [SEP] 39, PepperShaker, 0.688, 0.907, -1.965, 0, 0, 0, 61 [SEP] 40, Vase, 1.199, 0.911, -0.381, 0, 0, 0, 56 [SEP] 41, ButterKnife, -1.167, 0.933, -0.118, 0, 0, 0, 55 [SEP] 42, SoapBottle, 0.960, 0.108, -2.292, 0, 0, 0, 60 [SEP] 43, Vase, 0.811, 0.109, -2.132, 0, 0, 0, 60 [SEP] 44, Bowl, 0.965, 0.866, 1.444, 0, 270, 0, 78 [SEP] 45, DishSponge, 0.875, 0.701, -0.731, 0, 270, 0, 53 [SEP] 46, Spoon, 0.944, 0.912, 0.139, 0, 270, 0, 56 [SEP] 47, Cup, 1.026, 1.399, 1.540, 0, 270, 0, 78 [SEP] 48, Mug, 0.783, 1.129, 1.540, 0, 270, 0, 78 [SEP] 49, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 50, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 51, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 52, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 53, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 54, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 55, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 56, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 57, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 58, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 59, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 60, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 61, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 62, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 63, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 64, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 65, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 66, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 67, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 68, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 69, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 70, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 71, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 72, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 73, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 74, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 75, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 76, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 77, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 78, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 79, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 80, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 81, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 82, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 83, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 84, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 85, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 86, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 87, NorthWall, , , , , , , [SEP] 88, EastWall, , , , , , , [SEP] 89, SouthWall, , , , , , , [SEP] 90, WestWall, , , , , , , ", "output": ["STEP 1: go to the sink | STEP 2: pick up the tomato from the sink | STEP 3: take the tomato to the fridge | STEP 4: chill the tomato in the fridge then remove | STEP 5: take the tomato to the microwave | STEP 6: warm the tomato in the microwave | END"]} +{"id": "trial_T20190908_203635_515565-0", "input": "grab the vase from the cabinet, 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, -5.25, 0.901, 3.75, 0, 180, 0, [SEP] 1, TissueBox, -5.534, 1.040, 0.239, 0, 0, 0, 37 [SEP] 2, Vase, -3.570, 0.207, 4.331, 0, 90, 0, 53 [SEP] 3, Vase, -4.673, 0.207, 4.459, 0, 90, 0, 58 [SEP] 4, Watch, -4.184, 1.111, 4.588, 0, 90, 0, 55 [SEP] 5, KeyChain, -2.298, 0.034, 0.369, 0, 90, 0, 38 [SEP] 6, CreditCard, -0.870, 0.622, 2.753, 0, 0, 0, 59 [SEP] 7, CreditCard, -4.826, 1.107, 4.885, 0, 90, 0, 55 [SEP] 8, Box, -0.324, 1.813, 1.006, 0, 270, 0, 43 [SEP] 9, Box, -4.223, 0.421, 4.404, 0, 180, 0, 52 [SEP] 10, Laptop, -3.863, 1.105, 4.589, 0, 90, 0, 55 [SEP] 11, Box, -4.505, 1.332, 4.490, 0, 270, 0, 55 [SEP] 12, Watch, -0.411, 0.074, 1.285, 0, 270, 0, 40 [SEP] 13, Pillow, -2.031, 0.668, 4.421, 0, 0, 0, 49 [SEP] 14, TissueBox, -4.184, 1.112, 4.687, 0, 90, 0, 55 [SEP] 15, Newspaper, -2.901, 1.114, 4.786, 0, 90, 0, 55 [SEP] 16, CreditCard, -4.625, 0.997, 4.313, 0, 90, 0, 55 [SEP] 17, KeyChain, -2.191, 0.034, 0.317, 0, 90, 0, 38 [SEP] 18, CellPhone, -2.404, 0.034, 0.265, 0, 90, 0, 38 [SEP] 19, Statue, -3.543, 1.113, 4.589, 0, 90, 0, 55 [SEP] 20, Laptop, -1.584, 0.588, 4.384, 0, 0, 0, 49 [SEP] 21, RemoteControl, -4.826, 1.110, 4.588, 0, 90, 0, 55 [SEP] 22, Vase, -3.222, 1.111, 4.391, 0, 90, 0, 55 [SEP] 23, DeskLamp, -4.649, 1.051, 0.268, 0, 0, 0, [SEP] 24, DeskLamp, -2.992, 1.107, 4.522, 0, 0, 0, [SEP] 25, FloorLamp, -0.650, 0.007, 4.431, 0, 0, 0, [SEP] 26, FloorLamp, -5.607, 0.007, 4.641, 0, 0, 0, [SEP] 27, Shelf, -5.237, 1.776, 0.070, 0, 0, 0, [SEP] 28, Shelf, -5.238, 1.968, 0.085, 0, 0, 0, [SEP] 29, Shelf, -5.242, 1.391, 0.086, 0, 0, 0, [SEP] 30, Shelf, -5.241, 1.582, 0.065, 0, 0, 0, [SEP] 31, LightSwitch, -6.002, 1.353, 3.404, 0, 90, 0, [SEP] 32, GarbageCan, -5.794, -0.033, 4.073, 0, 90, 0, [SEP] 33, Painting, -6.017, 1.802, 4.177, 90, 270, 0, [SEP] 34, HousePlant, -3.966, 1.625, 0.135, 0, 315, 0, [SEP] 35, Television, -3.355, 0.833, 0.027, 0, 0, 0, [SEP] 36, Drawer, -5.024, 0.903, 0.370, 0, 0, 0, [SEP] 37, SideTable, -5.024, 0.008, 0.267, 0, 0, 0, [SEP] 38, Safe, -2.298, 5.778, 0.268, 0, 90, 0, [SEP] 39, Shelf, -0.253, 0.781, 1.058, 0, 270, 0, [SEP] 40, Shelf, -0.283, 0.274, 1.066, 0, 270, 0, [SEP] 41, Shelf, -1.224, 1.288, 0.270, 0, 0, 0, [SEP] 42, Shelf, -1.218, 1.810, 0.275, 0, 0, 0, [SEP] 43, Shelf, -0.280, 1.810, 1.057, 0, 270, 0, [SEP] 44, Shelf, -1.218, 0.274, 0.262, 0, 0, 0, [SEP] 45, Shelf, -1.223, 0.782, 0.237, 0, 0, 0, [SEP] 46, Shelf, -0.280, 1.288, 1.055, 0, 270, 0, [SEP] 47, ShelvingUnit, -0.268, 0.004, 1.067, 0, 270, 0, [SEP] 48, ShelvingUnit, -1.218, 0.004, 0.244, 0, 0, 0, [SEP] 49, ArmChair, -2.027, 0.001, 4.422, 0, 178.692, 0, [SEP] 50, Drawer, -4.329, 1.014, 4.311, 0, 180, 0, [SEP] 51, Drawer, -3.750, 1.014, 4.311, 0, 180, 0, [SEP] 52, Cabinet, -4.049, 0.561, 4.212, 0, 180, 0, [SEP] 53, Cabinet, -4.032, 0.561, 4.212, 0, 180, 0, [SEP] 54, Cabinet, -2.884, 0.561, 4.212, 0, 180, 0, [SEP] 55, Dresser, -4.041, -0.000, 4.589, 0, 180, 0, [SEP] 56, Drawer, -4.916, 1.014, 4.311, 0, 180, 0, [SEP] 57, Drawer, -3.166, 1.014, 4.311, 0, 180, 0, [SEP] 58, Cabinet, -5.196, 0.561, 4.212, 0, 180, 0, [SEP] 59, Sofa, -0.705, -0.002, 2.753, 0, 270, 0, [SEP] 60, NorthWall, , , , , , , [SEP] 61, SouthWall, , , , , , , [SEP] 62, SouthWall, , , , , , , ", "output": ["STEP 1: turn left, walk to the cabinet | STEP 2: open the second door from the right, take the vase out | STEP 3: turn right walk to the corner | STEP 4: turn on the lamp on the end table | END"]} +{"id": "trial_T20190908_203635_515565-1", "input": "Turn on a lamp while holding a vase SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -5.25, 0.901, 3.75, 0, 180, 0, [SEP] 1, TissueBox, -5.534, 1.040, 0.239, 0, 0, 0, 37 [SEP] 2, Vase, -3.570, 0.207, 4.331, 0, 90, 0, 53 [SEP] 3, Vase, -4.673, 0.207, 4.459, 0, 90, 0, 58 [SEP] 4, Watch, -4.184, 1.111, 4.588, 0, 90, 0, 55 [SEP] 5, KeyChain, -2.298, 0.034, 0.369, 0, 90, 0, 38 [SEP] 6, CreditCard, -0.870, 0.622, 2.753, 0, 0, 0, 59 [SEP] 7, CreditCard, -4.826, 1.107, 4.885, 0, 90, 0, 55 [SEP] 8, Box, -0.324, 1.813, 1.006, 0, 270, 0, 43 [SEP] 9, Box, -4.223, 0.421, 4.404, 0, 180, 0, 52 [SEP] 10, Laptop, -3.863, 1.105, 4.589, 0, 90, 0, 55 [SEP] 11, Box, -4.505, 1.332, 4.490, 0, 270, 0, 55 [SEP] 12, Watch, -0.411, 0.074, 1.285, 0, 270, 0, 40 [SEP] 13, Pillow, -2.031, 0.668, 4.421, 0, 0, 0, 49 [SEP] 14, TissueBox, -4.184, 1.112, 4.687, 0, 90, 0, 55 [SEP] 15, Newspaper, -2.901, 1.114, 4.786, 0, 90, 0, 55 [SEP] 16, CreditCard, -4.625, 0.997, 4.313, 0, 90, 0, 55 [SEP] 17, KeyChain, -2.191, 0.034, 0.317, 0, 90, 0, 38 [SEP] 18, CellPhone, -2.404, 0.034, 0.265, 0, 90, 0, 38 [SEP] 19, Statue, -3.543, 1.113, 4.589, 0, 90, 0, 55 [SEP] 20, Laptop, -1.584, 0.588, 4.384, 0, 0, 0, 49 [SEP] 21, RemoteControl, -4.826, 1.110, 4.588, 0, 90, 0, 55 [SEP] 22, Vase, -3.222, 1.111, 4.391, 0, 90, 0, 55 [SEP] 23, DeskLamp, -4.649, 1.051, 0.268, 0, 0, 0, [SEP] 24, DeskLamp, -2.992, 1.107, 4.522, 0, 0, 0, [SEP] 25, FloorLamp, -0.650, 0.007, 4.431, 0, 0, 0, [SEP] 26, FloorLamp, -5.607, 0.007, 4.641, 0, 0, 0, [SEP] 27, Shelf, -5.237, 1.776, 0.070, 0, 0, 0, [SEP] 28, Shelf, -5.238, 1.968, 0.085, 0, 0, 0, [SEP] 29, Shelf, -5.242, 1.391, 0.086, 0, 0, 0, [SEP] 30, Shelf, -5.241, 1.582, 0.065, 0, 0, 0, [SEP] 31, LightSwitch, -6.002, 1.353, 3.404, 0, 90, 0, [SEP] 32, GarbageCan, -5.794, -0.033, 4.073, 0, 90, 0, [SEP] 33, Painting, -6.017, 1.802, 4.177, 90, 270, 0, [SEP] 34, HousePlant, -3.966, 1.625, 0.135, 0, 315, 0, [SEP] 35, Television, -3.355, 0.833, 0.027, 0, 0, 0, [SEP] 36, Drawer, -5.024, 0.903, 0.370, 0, 0, 0, [SEP] 37, SideTable, -5.024, 0.008, 0.267, 0, 0, 0, [SEP] 38, Safe, -2.298, 5.778, 0.268, 0, 90, 0, [SEP] 39, Shelf, -0.253, 0.781, 1.058, 0, 270, 0, [SEP] 40, Shelf, -0.283, 0.274, 1.066, 0, 270, 0, [SEP] 41, Shelf, -1.224, 1.288, 0.270, 0, 0, 0, [SEP] 42, Shelf, -1.218, 1.810, 0.275, 0, 0, 0, [SEP] 43, Shelf, -0.280, 1.810, 1.057, 0, 270, 0, [SEP] 44, Shelf, -1.218, 0.274, 0.262, 0, 0, 0, [SEP] 45, Shelf, -1.223, 0.782, 0.237, 0, 0, 0, [SEP] 46, Shelf, -0.280, 1.288, 1.055, 0, 270, 0, [SEP] 47, ShelvingUnit, -0.268, 0.004, 1.067, 0, 270, 0, [SEP] 48, ShelvingUnit, -1.218, 0.004, 0.244, 0, 0, 0, [SEP] 49, ArmChair, -2.027, 0.001, 4.422, 0, 178.692, 0, [SEP] 50, Drawer, -4.329, 1.014, 4.311, 0, 180, 0, [SEP] 51, Drawer, -3.750, 1.014, 4.311, 0, 180, 0, [SEP] 52, Cabinet, -4.049, 0.561, 4.212, 0, 180, 0, [SEP] 53, Cabinet, -4.032, 0.561, 4.212, 0, 180, 0, [SEP] 54, Cabinet, -2.884, 0.561, 4.212, 0, 180, 0, [SEP] 55, Dresser, -4.041, -0.000, 4.589, 0, 180, 0, [SEP] 56, Drawer, -4.916, 1.014, 4.311, 0, 180, 0, [SEP] 57, Drawer, -3.166, 1.014, 4.311, 0, 180, 0, [SEP] 58, Cabinet, -5.196, 0.561, 4.212, 0, 180, 0, [SEP] 59, Sofa, -0.705, -0.002, 2.753, 0, 270, 0, [SEP] 60, NorthWall, , , , , , , [SEP] 61, SouthWall, , , , , , , [SEP] 62, SouthWall, , , , , , , ", "output": ["STEP 1: Move to the middle wood cupboard of the wood table | STEP 2: Open the middle cupboard, remove the gold vase in the cupboard, shut the cupboard | STEP 3: Carry the gold vase to the floor lamp on the left | STEP 4: Turn on the lamp | END"]} +{"id": "trial_T20190908_203635_515565-2", "input": "Inspect a vase with a 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, 0.901, 3.75, 0, 180, 0, [SEP] 1, TissueBox, -5.534, 1.040, 0.239, 0, 0, 0, 37 [SEP] 2, Vase, -3.570, 0.207, 4.331, 0, 90, 0, 53 [SEP] 3, Vase, -4.673, 0.207, 4.459, 0, 90, 0, 58 [SEP] 4, Watch, -4.184, 1.111, 4.588, 0, 90, 0, 55 [SEP] 5, KeyChain, -2.298, 0.034, 0.369, 0, 90, 0, 38 [SEP] 6, CreditCard, -0.870, 0.622, 2.753, 0, 0, 0, 59 [SEP] 7, CreditCard, -4.826, 1.107, 4.885, 0, 90, 0, 55 [SEP] 8, Box, -0.324, 1.813, 1.006, 0, 270, 0, 43 [SEP] 9, Box, -4.223, 0.421, 4.404, 0, 180, 0, 52 [SEP] 10, Laptop, -3.863, 1.105, 4.589, 0, 90, 0, 55 [SEP] 11, Box, -4.505, 1.332, 4.490, 0, 270, 0, 55 [SEP] 12, Watch, -0.411, 0.074, 1.285, 0, 270, 0, 40 [SEP] 13, Pillow, -2.031, 0.668, 4.421, 0, 0, 0, 49 [SEP] 14, TissueBox, -4.184, 1.112, 4.687, 0, 90, 0, 55 [SEP] 15, Newspaper, -2.901, 1.114, 4.786, 0, 90, 0, 55 [SEP] 16, CreditCard, -4.625, 0.997, 4.313, 0, 90, 0, 55 [SEP] 17, KeyChain, -2.191, 0.034, 0.317, 0, 90, 0, 38 [SEP] 18, CellPhone, -2.404, 0.034, 0.265, 0, 90, 0, 38 [SEP] 19, Statue, -3.543, 1.113, 4.589, 0, 90, 0, 55 [SEP] 20, Laptop, -1.584, 0.588, 4.384, 0, 0, 0, 49 [SEP] 21, RemoteControl, -4.826, 1.110, 4.588, 0, 90, 0, 55 [SEP] 22, Vase, -3.222, 1.111, 4.391, 0, 90, 0, 55 [SEP] 23, DeskLamp, -4.649, 1.051, 0.268, 0, 0, 0, [SEP] 24, DeskLamp, -2.992, 1.107, 4.522, 0, 0, 0, [SEP] 25, FloorLamp, -0.650, 0.007, 4.431, 0, 0, 0, [SEP] 26, FloorLamp, -5.607, 0.007, 4.641, 0, 0, 0, [SEP] 27, Shelf, -5.237, 1.776, 0.070, 0, 0, 0, [SEP] 28, Shelf, -5.238, 1.968, 0.085, 0, 0, 0, [SEP] 29, Shelf, -5.242, 1.391, 0.086, 0, 0, 0, [SEP] 30, Shelf, -5.241, 1.582, 0.065, 0, 0, 0, [SEP] 31, LightSwitch, -6.002, 1.353, 3.404, 0, 90, 0, [SEP] 32, GarbageCan, -5.794, -0.033, 4.073, 0, 90, 0, [SEP] 33, Painting, -6.017, 1.802, 4.177, 90, 270, 0, [SEP] 34, HousePlant, -3.966, 1.625, 0.135, 0, 315, 0, [SEP] 35, Television, -3.355, 0.833, 0.027, 0, 0, 0, [SEP] 36, Drawer, -5.024, 0.903, 0.370, 0, 0, 0, [SEP] 37, SideTable, -5.024, 0.008, 0.267, 0, 0, 0, [SEP] 38, Safe, -2.298, 5.778, 0.268, 0, 90, 0, [SEP] 39, Shelf, -0.253, 0.781, 1.058, 0, 270, 0, [SEP] 40, Shelf, -0.283, 0.274, 1.066, 0, 270, 0, [SEP] 41, Shelf, -1.224, 1.288, 0.270, 0, 0, 0, [SEP] 42, Shelf, -1.218, 1.810, 0.275, 0, 0, 0, [SEP] 43, Shelf, -0.280, 1.810, 1.057, 0, 270, 0, [SEP] 44, Shelf, -1.218, 0.274, 0.262, 0, 0, 0, [SEP] 45, Shelf, -1.223, 0.782, 0.237, 0, 0, 0, [SEP] 46, Shelf, -0.280, 1.288, 1.055, 0, 270, 0, [SEP] 47, ShelvingUnit, -0.268, 0.004, 1.067, 0, 270, 0, [SEP] 48, ShelvingUnit, -1.218, 0.004, 0.244, 0, 0, 0, [SEP] 49, ArmChair, -2.027, 0.001, 4.422, 0, 178.692, 0, [SEP] 50, Drawer, -4.329, 1.014, 4.311, 0, 180, 0, [SEP] 51, Drawer, -3.750, 1.014, 4.311, 0, 180, 0, [SEP] 52, Cabinet, -4.049, 0.561, 4.212, 0, 180, 0, [SEP] 53, Cabinet, -4.032, 0.561, 4.212, 0, 180, 0, [SEP] 54, Cabinet, -2.884, 0.561, 4.212, 0, 180, 0, [SEP] 55, Dresser, -4.041, -0.000, 4.589, 0, 180, 0, [SEP] 56, Drawer, -4.916, 1.014, 4.311, 0, 180, 0, [SEP] 57, Drawer, -3.166, 1.014, 4.311, 0, 180, 0, [SEP] 58, Cabinet, -5.196, 0.561, 4.212, 0, 180, 0, [SEP] 59, Sofa, -0.705, -0.002, 2.753, 0, 270, 0, [SEP] 60, NorthWall, , , , , , , [SEP] 61, SouthWall, , , , , , , [SEP] 62, SouthWall, , , , , , , ", "output": ["STEP 1: move to the end table dresser to the left of the blue arm chair | STEP 2: pick up a vase from the cabinet | STEP 3: move to the lamp to the right | STEP 4: turn on the lamp | END"]} +{"id": "trial_T20190906_185515_986084-0", "input": "Move the bat in the corner 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, 0.25, 0.900, -1.0, 0, 270, 0, [SEP] 1, Bowl, -0.567, 0.861, -1.356, 0, 0, 0, 32 [SEP] 2, Bowl, -0.735, 0.861, -1.010, 0, 0, 0, 32 [SEP] 3, CD, -0.710, 0.202, -0.338, 0, 0, 0, 25 [SEP] 4, Pencil, -1.571, 0.882, 0.581, 0, 0, 0, 42 [SEP] 5, Book, -0.511, 0.364, -0.852, 0, 0, 0, 31 [SEP] 6, Laptop, 0.800, 0.781, 0.787, 0, 0, 0, 23 [SEP] 7, Laptop, 1.612, 0.781, 2.234, 0, 0, 0, 23 [SEP] 8, AlarmClock, -1.286, 1.724, 0.448, 0, 0, 0, 36 [SEP] 9, Book, -0.511, 0.083, -0.692, 0, 0, 0, 31 [SEP] 10, AlarmClock, -1.834, 1.724, 0.489, 0, 0, 0, 36 [SEP] 11, BasketBall, 1.976, 0.120, 0.211, 0, 331.076, 0, [SEP] 12, Pen, -0.819, 0.863, -0.836, 0, 0, 0, 32 [SEP] 13, Laptop, 1.206, 0.781, 1.945, 0, 0, 0, 23 [SEP] 14, BaseballBat, 1.953, 0.659, -1.81, 346.388, 0, 0, [SEP] 15, Bowl, -1.834, 0.886, 0.407, 0, 0, 0, 42 [SEP] 16, Pillow, 1.118, 0.867, 2.464, 0, 0, 0, 23 [SEP] 17, KeyChain, -1.834, 1.723, 0.366, 0, 0, 0, 37 [SEP] 18, CreditCard, -0.586, 0.649, -0.932, 0, 0, 0, 30 [SEP] 19, CellPhone, -2.187, 0.040, 2.629, 0, 180, 0, 47 [SEP] 20, CD, -2.155, 0.386, 0.646, 0, 0, 0, 44 [SEP] 21, Pencil, -0.567, 0.861, -0.663, 0, 0, 0, 32 [SEP] 22, Mug, -1.744, 0.876, 0.665, 0, 0, 0, 42 [SEP] 23, Bed, 1.227, -0.002, 1.664, 0, 0, 0, [SEP] 24, LightSwitch, 2.151, 1.233, -0.518, 0, 270, 0, [SEP] 25, GarbageCan, -0.747, 0.014, -0.327, 0, 0, 0, [SEP] 26, Mirror, -1.358, 1.427, 2.855, 0, 0, 0, [SEP] 27, DeskLamp, -2.296, 0.858, 0.750, 0, 0, 0, [SEP] 28, Window, -0.421, 1.534, -1.947, 90, 0, 0, [SEP] 29, Window, 0.579, 1.534, -1.947, 90, 0, 0, [SEP] 30, Drawer, -0.491, 0.739, -0.855, 0, 90, 0, [SEP] 31, Drawer, -0.491, 0.204, -0.855, 0, 90, 0, [SEP] 32, Desk, -0.639, 0.009, -1.187, 0, 90, 0, [SEP] 33, Drawer, -0.491, 0.487, -0.855, 0, 90, 0, [SEP] 34, Shelf, -1.965, 1.514, 0.416, 0, 0, 0, [SEP] 35, Shelf, -1.965, 1.092, 0.416, 0, 0, 0, [SEP] 36, Shelf, -1.312, 1.888, 0.416, 0, 0, 0, [SEP] 37, Shelf, -1.965, 1.888, 0.416, 0, 0, 0, [SEP] 38, Shelf, -1.312, 1.092, 0.416, 0, 0, 0, [SEP] 39, Shelf, -1.312, 1.514, 0.416, 0, 0, 0, [SEP] 40, Blinds, 0.601, 2.161, -1.916, 0, 0, 0, [SEP] 41, Blinds, -0.402, 2.161, -1.916, 0, 0, 0, [SEP] 42, Desk, -1.726, 0.001, 0.575, 0, 0, 0, [SEP] 43, Drawer, -2.058, 0.733, 0.734, 0, 0, 0, [SEP] 44, Drawer, -2.058, 0.482, 0.734, 0, 0, 0, [SEP] 45, Drawer, -2.058, 0.198, 0.735, 0, 0, 0, [SEP] 46, Chair, -0.137, 0.000, -1.587, 0, 315, 0, [SEP] 47, Safe, -2.183, -7.748, 2.576, 0, 180, 0, [SEP] 48, Chair, -1.433, 0.009, 0.780, 357.672, 206.726, 0, [SEP] 49, LaundryHamper, 0.163, 0.003, 2.635, 0, 86.390, 0, [SEP] 50, NorthWall, , , , , , , [SEP] 51, EastWall, , , , , , , [SEP] 52, SouthWall, , , , , , , [SEP] 53, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and walk to the door | STEP 2: Pick up the baseball bat in the corner | STEP 3: Turn around, walk around the bed | STEP 4: Put the bat on the bed | END"]} +{"id": "trial_T20190906_185515_986084-1", "input": "place a bat on top 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, -1.0, 0, 270, 0, [SEP] 1, Bowl, -0.567, 0.861, -1.356, 0, 0, 0, 32 [SEP] 2, Bowl, -0.735, 0.861, -1.010, 0, 0, 0, 32 [SEP] 3, CD, -0.710, 0.202, -0.338, 0, 0, 0, 25 [SEP] 4, Pencil, -1.571, 0.882, 0.581, 0, 0, 0, 42 [SEP] 5, Book, -0.511, 0.364, -0.852, 0, 0, 0, 31 [SEP] 6, Laptop, 0.800, 0.781, 0.787, 0, 0, 0, 23 [SEP] 7, Laptop, 1.612, 0.781, 2.234, 0, 0, 0, 23 [SEP] 8, AlarmClock, -1.286, 1.724, 0.448, 0, 0, 0, 36 [SEP] 9, Book, -0.511, 0.083, -0.692, 0, 0, 0, 31 [SEP] 10, AlarmClock, -1.834, 1.724, 0.489, 0, 0, 0, 36 [SEP] 11, BasketBall, 1.976, 0.120, 0.211, 0, 331.076, 0, [SEP] 12, Pen, -0.819, 0.863, -0.836, 0, 0, 0, 32 [SEP] 13, Laptop, 1.206, 0.781, 1.945, 0, 0, 0, 23 [SEP] 14, BaseballBat, 1.953, 0.659, -1.81, 346.388, 0, 0, [SEP] 15, Bowl, -1.834, 0.886, 0.407, 0, 0, 0, 42 [SEP] 16, Pillow, 1.118, 0.867, 2.464, 0, 0, 0, 23 [SEP] 17, KeyChain, -1.834, 1.723, 0.366, 0, 0, 0, 37 [SEP] 18, CreditCard, -0.586, 0.649, -0.932, 0, 0, 0, 30 [SEP] 19, CellPhone, -2.187, 0.040, 2.629, 0, 180, 0, 47 [SEP] 20, CD, -2.155, 0.386, 0.646, 0, 0, 0, 44 [SEP] 21, Pencil, -0.567, 0.861, -0.663, 0, 0, 0, 32 [SEP] 22, Mug, -1.744, 0.876, 0.665, 0, 0, 0, 42 [SEP] 23, Bed, 1.227, -0.002, 1.664, 0, 0, 0, [SEP] 24, LightSwitch, 2.151, 1.233, -0.518, 0, 270, 0, [SEP] 25, GarbageCan, -0.747, 0.014, -0.327, 0, 0, 0, [SEP] 26, Mirror, -1.358, 1.427, 2.855, 0, 0, 0, [SEP] 27, DeskLamp, -2.296, 0.858, 0.750, 0, 0, 0, [SEP] 28, Window, -0.421, 1.534, -1.947, 90, 0, 0, [SEP] 29, Window, 0.579, 1.534, -1.947, 90, 0, 0, [SEP] 30, Drawer, -0.491, 0.739, -0.855, 0, 90, 0, [SEP] 31, Drawer, -0.491, 0.204, -0.855, 0, 90, 0, [SEP] 32, Desk, -0.639, 0.009, -1.187, 0, 90, 0, [SEP] 33, Drawer, -0.491, 0.487, -0.855, 0, 90, 0, [SEP] 34, Shelf, -1.965, 1.514, 0.416, 0, 0, 0, [SEP] 35, Shelf, -1.965, 1.092, 0.416, 0, 0, 0, [SEP] 36, Shelf, -1.312, 1.888, 0.416, 0, 0, 0, [SEP] 37, Shelf, -1.965, 1.888, 0.416, 0, 0, 0, [SEP] 38, Shelf, -1.312, 1.092, 0.416, 0, 0, 0, [SEP] 39, Shelf, -1.312, 1.514, 0.416, 0, 0, 0, [SEP] 40, Blinds, 0.601, 2.161, -1.916, 0, 0, 0, [SEP] 41, Blinds, -0.402, 2.161, -1.916, 0, 0, 0, [SEP] 42, Desk, -1.726, 0.001, 0.575, 0, 0, 0, [SEP] 43, Drawer, -2.058, 0.733, 0.734, 0, 0, 0, [SEP] 44, Drawer, -2.058, 0.482, 0.734, 0, 0, 0, [SEP] 45, Drawer, -2.058, 0.198, 0.735, 0, 0, 0, [SEP] 46, Chair, -0.137, 0.000, -1.587, 0, 315, 0, [SEP] 47, Safe, -2.183, -7.748, 2.576, 0, 180, 0, [SEP] 48, Chair, -1.433, 0.009, 0.780, 357.672, 206.726, 0, [SEP] 49, LaundryHamper, 0.163, 0.003, 2.635, 0, 86.390, 0, [SEP] 50, NorthWall, , , , , , , [SEP] 51, EastWall, , , , , , , [SEP] 52, SouthWall, , , , , , , [SEP] 53, WestWall, , , , , , , ", "output": ["STEP 1: turn around and walk over to the bat leaning against the wall | STEP 2: pick up the bat leaning against the wall | STEP 3: turn around and walk over to the left side of the bed | STEP 4: place the bat on top of the bed | END"]} +{"id": "trial_T20190906_185515_986084-2", "input": "Place the bat 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, 0.25, 0.900, -1.0, 0, 270, 0, [SEP] 1, Bowl, -0.567, 0.861, -1.356, 0, 0, 0, 32 [SEP] 2, Bowl, -0.735, 0.861, -1.010, 0, 0, 0, 32 [SEP] 3, CD, -0.710, 0.202, -0.338, 0, 0, 0, 25 [SEP] 4, Pencil, -1.571, 0.882, 0.581, 0, 0, 0, 42 [SEP] 5, Book, -0.511, 0.364, -0.852, 0, 0, 0, 31 [SEP] 6, Laptop, 0.800, 0.781, 0.787, 0, 0, 0, 23 [SEP] 7, Laptop, 1.612, 0.781, 2.234, 0, 0, 0, 23 [SEP] 8, AlarmClock, -1.286, 1.724, 0.448, 0, 0, 0, 36 [SEP] 9, Book, -0.511, 0.083, -0.692, 0, 0, 0, 31 [SEP] 10, AlarmClock, -1.834, 1.724, 0.489, 0, 0, 0, 36 [SEP] 11, BasketBall, 1.976, 0.120, 0.211, 0, 331.076, 0, [SEP] 12, Pen, -0.819, 0.863, -0.836, 0, 0, 0, 32 [SEP] 13, Laptop, 1.206, 0.781, 1.945, 0, 0, 0, 23 [SEP] 14, BaseballBat, 1.953, 0.659, -1.81, 346.388, 0, 0, [SEP] 15, Bowl, -1.834, 0.886, 0.407, 0, 0, 0, 42 [SEP] 16, Pillow, 1.118, 0.867, 2.464, 0, 0, 0, 23 [SEP] 17, KeyChain, -1.834, 1.723, 0.366, 0, 0, 0, 37 [SEP] 18, CreditCard, -0.586, 0.649, -0.932, 0, 0, 0, 30 [SEP] 19, CellPhone, -2.187, 0.040, 2.629, 0, 180, 0, 47 [SEP] 20, CD, -2.155, 0.386, 0.646, 0, 0, 0, 44 [SEP] 21, Pencil, -0.567, 0.861, -0.663, 0, 0, 0, 32 [SEP] 22, Mug, -1.744, 0.876, 0.665, 0, 0, 0, 42 [SEP] 23, Bed, 1.227, -0.002, 1.664, 0, 0, 0, [SEP] 24, LightSwitch, 2.151, 1.233, -0.518, 0, 270, 0, [SEP] 25, GarbageCan, -0.747, 0.014, -0.327, 0, 0, 0, [SEP] 26, Mirror, -1.358, 1.427, 2.855, 0, 0, 0, [SEP] 27, DeskLamp, -2.296, 0.858, 0.750, 0, 0, 0, [SEP] 28, Window, -0.421, 1.534, -1.947, 90, 0, 0, [SEP] 29, Window, 0.579, 1.534, -1.947, 90, 0, 0, [SEP] 30, Drawer, -0.491, 0.739, -0.855, 0, 90, 0, [SEP] 31, Drawer, -0.491, 0.204, -0.855, 0, 90, 0, [SEP] 32, Desk, -0.639, 0.009, -1.187, 0, 90, 0, [SEP] 33, Drawer, -0.491, 0.487, -0.855, 0, 90, 0, [SEP] 34, Shelf, -1.965, 1.514, 0.416, 0, 0, 0, [SEP] 35, Shelf, -1.965, 1.092, 0.416, 0, 0, 0, [SEP] 36, Shelf, -1.312, 1.888, 0.416, 0, 0, 0, [SEP] 37, Shelf, -1.965, 1.888, 0.416, 0, 0, 0, [SEP] 38, Shelf, -1.312, 1.092, 0.416, 0, 0, 0, [SEP] 39, Shelf, -1.312, 1.514, 0.416, 0, 0, 0, [SEP] 40, Blinds, 0.601, 2.161, -1.916, 0, 0, 0, [SEP] 41, Blinds, -0.402, 2.161, -1.916, 0, 0, 0, [SEP] 42, Desk, -1.726, 0.001, 0.575, 0, 0, 0, [SEP] 43, Drawer, -2.058, 0.733, 0.734, 0, 0, 0, [SEP] 44, Drawer, -2.058, 0.482, 0.734, 0, 0, 0, [SEP] 45, Drawer, -2.058, 0.198, 0.735, 0, 0, 0, [SEP] 46, Chair, -0.137, 0.000, -1.587, 0, 315, 0, [SEP] 47, Safe, -2.183, -7.748, 2.576, 0, 180, 0, [SEP] 48, Chair, -1.433, 0.009, 0.780, 357.672, 206.726, 0, [SEP] 49, LaundryHamper, 0.163, 0.003, 2.635, 0, 86.390, 0, [SEP] 50, NorthWall, , , , , , , [SEP] 51, EastWall, , , , , , , [SEP] 52, SouthWall, , , , , , , [SEP] 53, WestWall, , , , , , , ", "output": ["STEP 1: Turn around, walk towards the door, turn right and walk towards the bat on the floor. | STEP 2: Pick up the bat from the floor. | STEP 3: Turn right, head towards the desk, turn right head towards the bed. | STEP 4: Place the bat on the bed. | END"]} +{"id": "trial_T20190906_203003_627271-0", "input": "Place the toilet paper 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, -2.0, 0.901, 1.5, 0, 90, 0, [SEP] 1, Cloth, -0.279, 0.075, 2.291, 0, 0, 0, 25 [SEP] 2, SprayBottle, -0.331, 0.077, 2.698, 0, 0, 0, 20 [SEP] 3, SprayBottle, -0.330, 0.076, 3.011, 0, 0, 0, 20 [SEP] 4, SoapBar, -0.388, 0.954, 2.913, 0, 0, 0, 23 [SEP] 5, HandTowel, -0.038, 1.619, 1.887, 0, 90, 0, 29 [SEP] 6, HandTowel, -0.038, 1.619, 3.799, 0, 90, 0, 30 [SEP] 7, Towel, -1.082, 1.326, 1.302, 0, 0, 0, 26 [SEP] 8, SoapBar, -2.251, 0.017, 3.807, 0, 0, 0, 32 [SEP] 9, ToiletPaper, -0.117, 0.945, 1.629, 0, 0, 0, 31 [SEP] 10, Plunger, -0.112, -0.000, 1.848, 0, 0, 0, [SEP] 11, Candle, -0.079, 0.954, 2.878, 0, 0, 0, 23 [SEP] 12, ToiletPaper, -0.280, 0.654, 1.985, 0, 180, 90, 28 [SEP] 13, SprayBottle, -0.185, 0.954, 1.544, 0, 90, 0, 31 [SEP] 14, Cloth, -0.230, 0.076, 3.417, 0, 0, 0, 24 [SEP] 15, ScrubBrush, -0.322, 3.109, 1.950, 0, 0, 0, [SEP] 16, SoapBottle, -0.326, 0.955, 2.772, 0, 0, 0, 23 [SEP] 17, Mirror, -0.030, 1.544, 2.864, 0, 0, 0, [SEP] 18, Sink, -0.302, 0.799, 3.263, 0, 270, 0, [SEP] 19, Cabinet, -0.491, 0.404, 2.863, 0, 0, 0, [SEP] 20, Cabinet, -0.495, 0.384, 2.842, 0, 0, 0, [SEP] 21, ShowerDoor, -1.647, 1.017, 1.180, 0, 0, 0, [SEP] 22, ShowerGlass, -0.909, 0.788, 0.485, 0, 0, 0, [SEP] 23, CounterTop, -0.261, 0.927, 2.843, 0, 0, 0, [SEP] 24, Cabinet, -0.495, 0.384, 3.650, 0, 0, 0, [SEP] 25, Cabinet, -0.491, 0.404, 2.055, 0, 0, 0, [SEP] 26, TowelHolder, -1.082, 1.312, 1.195, 0, 0, 0, [SEP] 27, LightSwitch, -2.424, 1.447, 3.338, 0, 90, 0, [SEP] 28, ToiletPaperHanger, -0.266, 0.786, 2.043, 0, 180, 0, [SEP] 29, HandTowelHolder, 0.000, 1.721, 1.887, 0, 180, 0, [SEP] 30, HandTowelHolder, 0.000, 1.721, 3.799, 0, 180, 0, [SEP] 31, Toilet, -0.542, 3.109, 1.493, 0, 270, 0, [SEP] 32, GarbageCan, -2.159, -0.000, 3.756, 0, 0, 0, [SEP] 33, SinkBasin, -0.308, 0.820, 3.266, 0, 0, 0, [SEP] 34, ShowerHead, -0.134, 1.888, 0.564, 0, 90, 0, [SEP] 35, Faucet, 0.0, 1.009, 3.265, 0, 0, 0, [SEP] 36, Faucet, 0.0, 1.009, 2.421, 0, 0, 0, [SEP] 37, SinkBasin, -0.308, 0.820, 2.422, 0, 0, 0, [SEP] 38, Sink, -0.302, 0.799, 2.419, 0, 270, 0, [SEP] 39, NorthWall, , , , , , , [SEP] 40, SouthWall, , , , , , , [SEP] 41, SouthWall, , , , , , , ", "output": ["STEP 1: Turn left, walk a few steps, and then turn right to face the toilet. | STEP 2: Pick up the toilet paper on top of the toilet. | STEP 3: Turn left to find the sink. | STEP 4: Open the left cabinet door below the sink and place the toilet paper in it. | STEP 5: Turn right and spot the paper toilet roll on the floor. | STEP 6: Pick up the paper roll from the floor. | STEP 7: Turn left and face the cabinet below the sink. | STEP 8: Open the cabinet and place the roll in the cabinet. | END"]} +{"id": "trial_T20190906_203003_627271-1", "input": "Placing a toilet paper roll, a toilet paper 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, -2.0, 0.901, 1.5, 0, 90, 0, [SEP] 1, Cloth, -0.279, 0.075, 2.291, 0, 0, 0, 25 [SEP] 2, SprayBottle, -0.331, 0.077, 2.698, 0, 0, 0, 20 [SEP] 3, SprayBottle, -0.330, 0.076, 3.011, 0, 0, 0, 20 [SEP] 4, SoapBar, -0.388, 0.954, 2.913, 0, 0, 0, 23 [SEP] 5, HandTowel, -0.038, 1.619, 1.887, 0, 90, 0, 29 [SEP] 6, HandTowel, -0.038, 1.619, 3.799, 0, 90, 0, 30 [SEP] 7, Towel, -1.082, 1.326, 1.302, 0, 0, 0, 26 [SEP] 8, SoapBar, -2.251, 0.017, 3.807, 0, 0, 0, 32 [SEP] 9, ToiletPaper, -0.117, 0.945, 1.629, 0, 0, 0, 31 [SEP] 10, Plunger, -0.112, -0.000, 1.848, 0, 0, 0, [SEP] 11, Candle, -0.079, 0.954, 2.878, 0, 0, 0, 23 [SEP] 12, ToiletPaper, -0.280, 0.654, 1.985, 0, 180, 90, 28 [SEP] 13, SprayBottle, -0.185, 0.954, 1.544, 0, 90, 0, 31 [SEP] 14, Cloth, -0.230, 0.076, 3.417, 0, 0, 0, 24 [SEP] 15, ScrubBrush, -0.322, 3.109, 1.950, 0, 0, 0, [SEP] 16, SoapBottle, -0.326, 0.955, 2.772, 0, 0, 0, 23 [SEP] 17, Mirror, -0.030, 1.544, 2.864, 0, 0, 0, [SEP] 18, Sink, -0.302, 0.799, 3.263, 0, 270, 0, [SEP] 19, Cabinet, -0.491, 0.404, 2.863, 0, 0, 0, [SEP] 20, Cabinet, -0.495, 0.384, 2.842, 0, 0, 0, [SEP] 21, ShowerDoor, -1.647, 1.017, 1.180, 0, 0, 0, [SEP] 22, ShowerGlass, -0.909, 0.788, 0.485, 0, 0, 0, [SEP] 23, CounterTop, -0.261, 0.927, 2.843, 0, 0, 0, [SEP] 24, Cabinet, -0.495, 0.384, 3.650, 0, 0, 0, [SEP] 25, Cabinet, -0.491, 0.404, 2.055, 0, 0, 0, [SEP] 26, TowelHolder, -1.082, 1.312, 1.195, 0, 0, 0, [SEP] 27, LightSwitch, -2.424, 1.447, 3.338, 0, 90, 0, [SEP] 28, ToiletPaperHanger, -0.266, 0.786, 2.043, 0, 180, 0, [SEP] 29, HandTowelHolder, 0.000, 1.721, 1.887, 0, 180, 0, [SEP] 30, HandTowelHolder, 0.000, 1.721, 3.799, 0, 180, 0, [SEP] 31, Toilet, -0.542, 3.109, 1.493, 0, 270, 0, [SEP] 32, GarbageCan, -2.159, -0.000, 3.756, 0, 0, 0, [SEP] 33, SinkBasin, -0.308, 0.820, 3.266, 0, 0, 0, [SEP] 34, ShowerHead, -0.134, 1.888, 0.564, 0, 90, 0, [SEP] 35, Faucet, 0.0, 1.009, 3.265, 0, 0, 0, [SEP] 36, Faucet, 0.0, 1.009, 2.421, 0, 0, 0, [SEP] 37, SinkBasin, -0.308, 0.820, 2.422, 0, 0, 0, [SEP] 38, Sink, -0.302, 0.799, 2.419, 0, 270, 0, [SEP] 39, NorthWall, , , , , , , [SEP] 40, SouthWall, , , , , , , [SEP] 41, SouthWall, , , , , , , ", "output": ["STEP 1: Walk forward to the toilet in front of you | STEP 2: Pick up the toilet paper that's on the toilet | STEP 3: Turn to your left, standing in between the toilet and sink | STEP 4: Open the left cabinet door and place the toilet paper inside | STEP 5: Move forward to where the plunger is on the ground | STEP 6: Pick up the object toilet paper roll that is on the left side of the plunger | STEP 7: Step back so that you are standing between the toilet and sink | STEP 8: Open the left cabinet and place the toilet paper roll behind the toilet paper | END"]} +{"id": "trial_T20190906_203003_627271-2", "input": "Put the toilet paper in the cabinet. Put the empty toilet paper roll in 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, -2.0, 0.901, 1.5, 0, 90, 0, [SEP] 1, Cloth, -0.279, 0.075, 2.291, 0, 0, 0, 25 [SEP] 2, SprayBottle, -0.331, 0.077, 2.698, 0, 0, 0, 20 [SEP] 3, SprayBottle, -0.330, 0.076, 3.011, 0, 0, 0, 20 [SEP] 4, SoapBar, -0.388, 0.954, 2.913, 0, 0, 0, 23 [SEP] 5, HandTowel, -0.038, 1.619, 1.887, 0, 90, 0, 29 [SEP] 6, HandTowel, -0.038, 1.619, 3.799, 0, 90, 0, 30 [SEP] 7, Towel, -1.082, 1.326, 1.302, 0, 0, 0, 26 [SEP] 8, SoapBar, -2.251, 0.017, 3.807, 0, 0, 0, 32 [SEP] 9, ToiletPaper, -0.117, 0.945, 1.629, 0, 0, 0, 31 [SEP] 10, Plunger, -0.112, -0.000, 1.848, 0, 0, 0, [SEP] 11, Candle, -0.079, 0.954, 2.878, 0, 0, 0, 23 [SEP] 12, ToiletPaper, -0.280, 0.654, 1.985, 0, 180, 90, 28 [SEP] 13, SprayBottle, -0.185, 0.954, 1.544, 0, 90, 0, 31 [SEP] 14, Cloth, -0.230, 0.076, 3.417, 0, 0, 0, 24 [SEP] 15, ScrubBrush, -0.322, 3.109, 1.950, 0, 0, 0, [SEP] 16, SoapBottle, -0.326, 0.955, 2.772, 0, 0, 0, 23 [SEP] 17, Mirror, -0.030, 1.544, 2.864, 0, 0, 0, [SEP] 18, Sink, -0.302, 0.799, 3.263, 0, 270, 0, [SEP] 19, Cabinet, -0.491, 0.404, 2.863, 0, 0, 0, [SEP] 20, Cabinet, -0.495, 0.384, 2.842, 0, 0, 0, [SEP] 21, ShowerDoor, -1.647, 1.017, 1.180, 0, 0, 0, [SEP] 22, ShowerGlass, -0.909, 0.788, 0.485, 0, 0, 0, [SEP] 23, CounterTop, -0.261, 0.927, 2.843, 0, 0, 0, [SEP] 24, Cabinet, -0.495, 0.384, 3.650, 0, 0, 0, [SEP] 25, Cabinet, -0.491, 0.404, 2.055, 0, 0, 0, [SEP] 26, TowelHolder, -1.082, 1.312, 1.195, 0, 0, 0, [SEP] 27, LightSwitch, -2.424, 1.447, 3.338, 0, 90, 0, [SEP] 28, ToiletPaperHanger, -0.266, 0.786, 2.043, 0, 180, 0, [SEP] 29, HandTowelHolder, 0.000, 1.721, 1.887, 0, 180, 0, [SEP] 30, HandTowelHolder, 0.000, 1.721, 3.799, 0, 180, 0, [SEP] 31, Toilet, -0.542, 3.109, 1.493, 0, 270, 0, [SEP] 32, GarbageCan, -2.159, -0.000, 3.756, 0, 0, 0, [SEP] 33, SinkBasin, -0.308, 0.820, 3.266, 0, 0, 0, [SEP] 34, ShowerHead, -0.134, 1.888, 0.564, 0, 90, 0, [SEP] 35, Faucet, 0.0, 1.009, 3.265, 0, 0, 0, [SEP] 36, Faucet, 0.0, 1.009, 2.421, 0, 0, 0, [SEP] 37, SinkBasin, -0.308, 0.820, 2.422, 0, 0, 0, [SEP] 38, Sink, -0.302, 0.799, 2.419, 0, 270, 0, [SEP] 39, NorthWall, , , , , , , [SEP] 40, SouthWall, , , , , , , [SEP] 41, SouthWall, , , , , , , ", "output": ["STEP 1: Go to the sink | STEP 2: pick up toilet paper on toilet | STEP 3: go to the cabinet under the sink | STEP 4: put toilet paper in cabinet | STEP 5: go to empty toilet paper roll. | STEP 6: pick up the empty toilet paper roll on floor | STEP 7: take empty toilet paper roll to cabinet | STEP 8: put empty toilet paper roll in cabinet | END"]} +{"id": "trial_T20190908_022436_073995-0", "input": "wash the cloth from the cabinet, put it back 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, 2.0, 0, 180, 0, [SEP] 1, Cloth, -0.382, 0.076, 2.609, 0, 90, 0, 20 [SEP] 2, SprayBottle, -0.141, 0.955, 2.843, 0, 0, 0, 23 [SEP] 3, SoapBottle, -0.229, 0.076, 2.966, 0, 0, 0, 19 [SEP] 4, HandTowel, -0.038, 1.619, 1.887, 0, 90, 0, 29 [SEP] 5, ToiletPaper, -0.331, 0.073, 3.507, 0, 0, 0, 24 [SEP] 6, HandTowel, -0.038, 1.619, 3.799, 0, 90, 0, 30 [SEP] 7, Towel, -1.082, 1.326, 1.302, 0, 0, 0, 26 [SEP] 8, SoapBar, -2.177, 0.017, 3.782, 0, 0, 0, 32 [SEP] 9, ToiletPaper, -0.117, 0.945, 1.629, 0, 0, 0, 31 [SEP] 10, Plunger, -0.112, -0.000, 1.848, 0, 0, 0, [SEP] 11, Candle, -0.450, 0.954, 2.878, 0, 0, 0, 23 [SEP] 12, ToiletPaper, -0.280, 0.654, 1.985, 0, 180, 90, 28 [SEP] 13, SprayBottle, -0.326, 0.955, 2.948, 0, 0, 0, 23 [SEP] 14, Cloth, -0.229, 0.075, 2.247, 0, 0, 0, 25 [SEP] 15, ScrubBrush, -0.322, 3.109, 1.950, 0, 0, 0, [SEP] 16, SoapBottle, -0.141, 0.955, 2.737, 0, 0, 0, 23 [SEP] 17, Mirror, -0.030, 1.544, 2.864, 0, 0, 0, [SEP] 18, Sink, -0.302, 0.799, 3.263, 0, 270, 0, [SEP] 19, Cabinet, -0.491, 0.404, 2.863, 0, 0, 0, [SEP] 20, Cabinet, -0.495, 0.384, 2.842, 0, 0, 0, [SEP] 21, ShowerDoor, -1.647, 1.017, 1.180, 0, 0, 0, [SEP] 22, ShowerGlass, -0.909, 0.788, 0.485, 0, 0, 0, [SEP] 23, CounterTop, -0.261, 0.927, 2.843, 0, 0, 0, [SEP] 24, Cabinet, -0.495, 0.384, 3.650, 0, 0, 0, [SEP] 25, Cabinet, -0.491, 0.404, 2.055, 0, 0, 0, [SEP] 26, TowelHolder, -1.082, 1.312, 1.195, 0, 0, 0, [SEP] 27, LightSwitch, -2.424, 1.447, 3.338, 0, 90, 0, [SEP] 28, ToiletPaperHanger, -0.266, 0.786, 2.043, 0, 180, 0, [SEP] 29, HandTowelHolder, 0.000, 1.721, 1.887, 0, 180, 0, [SEP] 30, HandTowelHolder, 0.000, 1.721, 3.799, 0, 180, 0, [SEP] 31, Toilet, -0.542, 3.109, 1.493, 0, 270, 0, [SEP] 32, GarbageCan, -2.159, -0.000, 3.756, 0, 0, 0, [SEP] 33, SinkBasin, -0.308, 0.820, 3.266, 0, 0, 0, [SEP] 34, ShowerHead, -0.134, 1.888, 0.564, 0, 90, 0, [SEP] 35, Faucet, 0.0, 1.009, 3.265, 0, 0, 0, [SEP] 36, Faucet, 0.0, 1.009, 2.421, 0, 0, 0, [SEP] 37, SinkBasin, -0.308, 0.820, 2.422, 0, 0, 0, [SEP] 38, Sink, -0.302, 0.799, 2.419, 0, 270, 0, [SEP] 39, NorthWall, , , , , , , [SEP] 40, SouthWall, , , , , , , [SEP] 41, SouthWall, , , , , , , ", "output": ["STEP 1: turn around, walk to the vanity on the right | STEP 2: open the second from the right cabinet door, take the green cloth out | STEP 3: turn right, turn left to the counter | STEP 4: put the cloth in the sink, wash the cloth, take the cloth out | STEP 5: turn around, turn around | STEP 6: open the second from the right cabinet door, put the cloth in, close the cabinet | END"]} +{"id": "trial_T20190908_022436_073995-1", "input": "Place the clean cloth back in the original 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, 0.901, 2.0, 0, 180, 0, [SEP] 1, Cloth, -0.382, 0.076, 2.609, 0, 90, 0, 20 [SEP] 2, SprayBottle, -0.141, 0.955, 2.843, 0, 0, 0, 23 [SEP] 3, SoapBottle, -0.229, 0.076, 2.966, 0, 0, 0, 19 [SEP] 4, HandTowel, -0.038, 1.619, 1.887, 0, 90, 0, 29 [SEP] 5, ToiletPaper, -0.331, 0.073, 3.507, 0, 0, 0, 24 [SEP] 6, HandTowel, -0.038, 1.619, 3.799, 0, 90, 0, 30 [SEP] 7, Towel, -1.082, 1.326, 1.302, 0, 0, 0, 26 [SEP] 8, SoapBar, -2.177, 0.017, 3.782, 0, 0, 0, 32 [SEP] 9, ToiletPaper, -0.117, 0.945, 1.629, 0, 0, 0, 31 [SEP] 10, Plunger, -0.112, -0.000, 1.848, 0, 0, 0, [SEP] 11, Candle, -0.450, 0.954, 2.878, 0, 0, 0, 23 [SEP] 12, ToiletPaper, -0.280, 0.654, 1.985, 0, 180, 90, 28 [SEP] 13, SprayBottle, -0.326, 0.955, 2.948, 0, 0, 0, 23 [SEP] 14, Cloth, -0.229, 0.075, 2.247, 0, 0, 0, 25 [SEP] 15, ScrubBrush, -0.322, 3.109, 1.950, 0, 0, 0, [SEP] 16, SoapBottle, -0.141, 0.955, 2.737, 0, 0, 0, 23 [SEP] 17, Mirror, -0.030, 1.544, 2.864, 0, 0, 0, [SEP] 18, Sink, -0.302, 0.799, 3.263, 0, 270, 0, [SEP] 19, Cabinet, -0.491, 0.404, 2.863, 0, 0, 0, [SEP] 20, Cabinet, -0.495, 0.384, 2.842, 0, 0, 0, [SEP] 21, ShowerDoor, -1.647, 1.017, 1.180, 0, 0, 0, [SEP] 22, ShowerGlass, -0.909, 0.788, 0.485, 0, 0, 0, [SEP] 23, CounterTop, -0.261, 0.927, 2.843, 0, 0, 0, [SEP] 24, Cabinet, -0.495, 0.384, 3.650, 0, 0, 0, [SEP] 25, Cabinet, -0.491, 0.404, 2.055, 0, 0, 0, [SEP] 26, TowelHolder, -1.082, 1.312, 1.195, 0, 0, 0, [SEP] 27, LightSwitch, -2.424, 1.447, 3.338, 0, 90, 0, [SEP] 28, ToiletPaperHanger, -0.266, 0.786, 2.043, 0, 180, 0, [SEP] 29, HandTowelHolder, 0.000, 1.721, 1.887, 0, 180, 0, [SEP] 30, HandTowelHolder, 0.000, 1.721, 3.799, 0, 180, 0, [SEP] 31, Toilet, -0.542, 3.109, 1.493, 0, 270, 0, [SEP] 32, GarbageCan, -2.159, -0.000, 3.756, 0, 0, 0, [SEP] 33, SinkBasin, -0.308, 0.820, 3.266, 0, 0, 0, [SEP] 34, ShowerHead, -0.134, 1.888, 0.564, 0, 90, 0, [SEP] 35, Faucet, 0.0, 1.009, 3.265, 0, 0, 0, [SEP] 36, Faucet, 0.0, 1.009, 2.421, 0, 0, 0, [SEP] 37, SinkBasin, -0.308, 0.820, 2.422, 0, 0, 0, [SEP] 38, Sink, -0.302, 0.799, 2.419, 0, 270, 0, [SEP] 39, NorthWall, , , , , , , [SEP] 40, SouthWall, , , , , , , [SEP] 41, SouthWall, , , , , , , ", "output": ["STEP 1: Turn left and face the sink. | STEP 2: Take the green cloth from the cabinet below the sink. | STEP 3: Place the green cloth in the sink. | STEP 4: Rinse the green cloth in the sink. | STEP 5: Back up from the sink. | STEP 6: Place the cloth back in the cabinet. | END"]} +{"id": "trial_T20190908_022436_073995-2", "input": "Get a towel out of the drawer to soak it, then put it back 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, 0.901, 2.0, 0, 180, 0, [SEP] 1, Cloth, -0.382, 0.076, 2.609, 0, 90, 0, 20 [SEP] 2, SprayBottle, -0.141, 0.955, 2.843, 0, 0, 0, 23 [SEP] 3, SoapBottle, -0.229, 0.076, 2.966, 0, 0, 0, 19 [SEP] 4, HandTowel, -0.038, 1.619, 1.887, 0, 90, 0, 29 [SEP] 5, ToiletPaper, -0.331, 0.073, 3.507, 0, 0, 0, 24 [SEP] 6, HandTowel, -0.038, 1.619, 3.799, 0, 90, 0, 30 [SEP] 7, Towel, -1.082, 1.326, 1.302, 0, 0, 0, 26 [SEP] 8, SoapBar, -2.177, 0.017, 3.782, 0, 0, 0, 32 [SEP] 9, ToiletPaper, -0.117, 0.945, 1.629, 0, 0, 0, 31 [SEP] 10, Plunger, -0.112, -0.000, 1.848, 0, 0, 0, [SEP] 11, Candle, -0.450, 0.954, 2.878, 0, 0, 0, 23 [SEP] 12, ToiletPaper, -0.280, 0.654, 1.985, 0, 180, 90, 28 [SEP] 13, SprayBottle, -0.326, 0.955, 2.948, 0, 0, 0, 23 [SEP] 14, Cloth, -0.229, 0.075, 2.247, 0, 0, 0, 25 [SEP] 15, ScrubBrush, -0.322, 3.109, 1.950, 0, 0, 0, [SEP] 16, SoapBottle, -0.141, 0.955, 2.737, 0, 0, 0, 23 [SEP] 17, Mirror, -0.030, 1.544, 2.864, 0, 0, 0, [SEP] 18, Sink, -0.302, 0.799, 3.263, 0, 270, 0, [SEP] 19, Cabinet, -0.491, 0.404, 2.863, 0, 0, 0, [SEP] 20, Cabinet, -0.495, 0.384, 2.842, 0, 0, 0, [SEP] 21, ShowerDoor, -1.647, 1.017, 1.180, 0, 0, 0, [SEP] 22, ShowerGlass, -0.909, 0.788, 0.485, 0, 0, 0, [SEP] 23, CounterTop, -0.261, 0.927, 2.843, 0, 0, 0, [SEP] 24, Cabinet, -0.495, 0.384, 3.650, 0, 0, 0, [SEP] 25, Cabinet, -0.491, 0.404, 2.055, 0, 0, 0, [SEP] 26, TowelHolder, -1.082, 1.312, 1.195, 0, 0, 0, [SEP] 27, LightSwitch, -2.424, 1.447, 3.338, 0, 90, 0, [SEP] 28, ToiletPaperHanger, -0.266, 0.786, 2.043, 0, 180, 0, [SEP] 29, HandTowelHolder, 0.000, 1.721, 1.887, 0, 180, 0, [SEP] 30, HandTowelHolder, 0.000, 1.721, 3.799, 0, 180, 0, [SEP] 31, Toilet, -0.542, 3.109, 1.493, 0, 270, 0, [SEP] 32, GarbageCan, -2.159, -0.000, 3.756, 0, 0, 0, [SEP] 33, SinkBasin, -0.308, 0.820, 3.266, 0, 0, 0, [SEP] 34, ShowerHead, -0.134, 1.888, 0.564, 0, 90, 0, [SEP] 35, Faucet, 0.0, 1.009, 3.265, 0, 0, 0, [SEP] 36, Faucet, 0.0, 1.009, 2.421, 0, 0, 0, [SEP] 37, SinkBasin, -0.308, 0.820, 2.422, 0, 0, 0, [SEP] 38, Sink, -0.302, 0.799, 2.419, 0, 270, 0, [SEP] 39, NorthWall, , , , , , , [SEP] 40, SouthWall, , , , , , , [SEP] 41, SouthWall, , , , , , , ", "output": ["STEP 1: Walk to the sink on the right. | STEP 2: Open the lower left drawer, and take the green towel out. | STEP 3: Position yourself in front of the sink. | STEP 4: Place the towel under the faucet to soak it. | STEP 5: Go back to the drawer that you got the towel out of. | STEP 6: Place the wet towel back in the drawer. | END"]} +{"id": "trial_T20190908_044113_026049-0", "input": "Pick up the cell phone and look at it 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, -4.75, 0.901, 2.0, 0, 0, 0, [SEP] 1, TissueBox, -0.312, 0.075, 1.102, 0, 270, 0, 40 [SEP] 2, TissueBox, -3.543, 1.112, 4.786, 0, 90, 0, 55 [SEP] 3, Newspaper, -4.809, 0.210, 4.523, 0, 90, 0, 58 [SEP] 4, Newspaper, -0.870, 0.628, 2.753, 0, 0, 0, 59 [SEP] 5, CellPhone, -2.191, 0.034, 0.369, 0, 90, 0, 38 [SEP] 6, Statue, -0.265, 1.107, 1.192, 0, 270, 0, 46 [SEP] 7, Statue, -3.863, 1.113, 4.589, 0, 90, 0, 55 [SEP] 8, RemoteControl, -2.901, 1.110, 4.786, 0, 90, 0, 55 [SEP] 9, RemoteControl, -0.787, 0.611, 1.960, 0, 0, 0, 59 [SEP] 10, Box, -4.085, 0.421, 4.589, 0, 0, 0, 52 [SEP] 11, Box, -3.543, 1.329, 4.490, 0, 90, 0, 55 [SEP] 12, Watch, -3.863, 1.108, 4.391, 0, 90, 0, 51 [SEP] 13, Pillow, -2.031, 0.668, 4.421, 0, 0, 0, 49 [SEP] 14, TissueBox, -4.605, 0.205, 4.395, 0, 90, 0, 52 [SEP] 15, Newspaper, -3.222, 1.117, 4.391, 0, 90, 0, 55 [SEP] 16, CreditCard, -4.514, 1.038, 0.504, 0, 0, 0, 37 [SEP] 17, KeyChain, -1.002, 0.593, 0.112, 0, 0, 0, 45 [SEP] 18, CellPhone, -4.826, 1.108, 4.292, 0, 90, 0, 56 [SEP] 19, Statue, -5.534, 1.044, 0.438, 0, 0, 0, 37 [SEP] 20, Laptop, -4.184, 1.109, 4.588, 0, 90, 0, 55 [SEP] 21, RemoteControl, -3.222, 1.110, 4.885, 0, 90, 0, 55 [SEP] 22, Vase, -3.570, 0.207, 4.331, 0, 90, 0, 53 [SEP] 23, DeskLamp, -4.649, 1.051, 0.268, 0, 0, 0, [SEP] 24, DeskLamp, -2.992, 1.107, 4.522, 0, 0, 0, [SEP] 25, FloorLamp, -0.650, 0.007, 4.431, 0, 0, 0, [SEP] 26, FloorLamp, -5.607, 0.007, 4.641, 0, 0, 0, [SEP] 27, Shelf, -5.237, 1.776, 0.070, 0, 0, 0, [SEP] 28, Shelf, -5.238, 1.968, 0.085, 0, 0, 0, [SEP] 29, Shelf, -5.242, 1.391, 0.086, 0, 0, 0, [SEP] 30, Shelf, -5.241, 1.582, 0.065, 0, 0, 0, [SEP] 31, LightSwitch, -6.002, 1.353, 3.404, 0, 90, 0, [SEP] 32, GarbageCan, -5.794, -0.033, 4.073, 0, 90, 0, [SEP] 33, Painting, -6.017, 1.802, 4.177, 90, 270, 0, [SEP] 34, HousePlant, -3.966, 1.625, 0.135, 0, 315, 0, [SEP] 35, Television, -3.355, 0.833, 0.027, 0, 0, 0, [SEP] 36, Drawer, -5.024, 0.903, 0.370, 0, 0, 0, [SEP] 37, SideTable, -5.024, 0.008, 0.267, 0, 0, 0, [SEP] 38, Safe, -2.298, 5.778, 0.268, 0, 90, 0, [SEP] 39, Shelf, -0.253, 0.781, 1.058, 0, 270, 0, [SEP] 40, Shelf, -0.283, 0.274, 1.066, 0, 270, 0, [SEP] 41, Shelf, -1.224, 1.288, 0.270, 0, 0, 0, [SEP] 42, Shelf, -1.218, 1.810, 0.275, 0, 0, 0, [SEP] 43, Shelf, -0.280, 1.810, 1.057, 0, 270, 0, [SEP] 44, Shelf, -1.218, 0.274, 0.262, 0, 0, 0, [SEP] 45, Shelf, -1.223, 0.782, 0.237, 0, 0, 0, [SEP] 46, Shelf, -0.280, 1.288, 1.055, 0, 270, 0, [SEP] 47, ShelvingUnit, -0.268, 0.004, 1.067, 0, 270, 0, [SEP] 48, ShelvingUnit, -1.218, 0.004, 0.244, 0, 0, 0, [SEP] 49, ArmChair, -2.027, 0.001, 4.422, 0, 178.692, 0, [SEP] 50, Drawer, -4.329, 1.014, 4.311, 0, 180, 0, [SEP] 51, Drawer, -3.750, 1.014, 4.311, 0, 180, 0, [SEP] 52, Cabinet, -4.049, 0.561, 4.212, 0, 180, 0, [SEP] 53, Cabinet, -4.032, 0.561, 4.212, 0, 180, 0, [SEP] 54, Cabinet, -2.884, 0.561, 4.212, 0, 180, 0, [SEP] 55, Dresser, -4.041, -0.000, 4.589, 0, 180, 0, [SEP] 56, Drawer, -4.916, 1.014, 4.311, 0, 180, 0, [SEP] 57, Drawer, -3.166, 1.014, 4.311, 0, 180, 0, [SEP] 58, Cabinet, -5.196, 0.561, 4.212, 0, 180, 0, [SEP] 59, Sofa, -0.705, -0.002, 2.753, 0, 270, 0, [SEP] 60, NorthWall, , , , , , , [SEP] 61, SouthWall, , , , , , , [SEP] 62, SouthWall, , , , , , , ", "output": ["STEP 1: Walk forward to the dresser | STEP 2: Pick up the cell phone from the dresser | STEP 3: Turn left and go to the lamp | STEP 4: Hold the cell phone and turn the lamp on | END"]} +{"id": "trial_T20190908_044113_026049-1", "input": "Turn on the bedroom lamp. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -4.75, 0.901, 2.0, 0, 0, 0, [SEP] 1, TissueBox, -0.312, 0.075, 1.102, 0, 270, 0, 40 [SEP] 2, TissueBox, -3.543, 1.112, 4.786, 0, 90, 0, 55 [SEP] 3, Newspaper, -4.809, 0.210, 4.523, 0, 90, 0, 58 [SEP] 4, Newspaper, -0.870, 0.628, 2.753, 0, 0, 0, 59 [SEP] 5, CellPhone, -2.191, 0.034, 0.369, 0, 90, 0, 38 [SEP] 6, Statue, -0.265, 1.107, 1.192, 0, 270, 0, 46 [SEP] 7, Statue, -3.863, 1.113, 4.589, 0, 90, 0, 55 [SEP] 8, RemoteControl, -2.901, 1.110, 4.786, 0, 90, 0, 55 [SEP] 9, RemoteControl, -0.787, 0.611, 1.960, 0, 0, 0, 59 [SEP] 10, Box, -4.085, 0.421, 4.589, 0, 0, 0, 52 [SEP] 11, Box, -3.543, 1.329, 4.490, 0, 90, 0, 55 [SEP] 12, Watch, -3.863, 1.108, 4.391, 0, 90, 0, 51 [SEP] 13, Pillow, -2.031, 0.668, 4.421, 0, 0, 0, 49 [SEP] 14, TissueBox, -4.605, 0.205, 4.395, 0, 90, 0, 52 [SEP] 15, Newspaper, -3.222, 1.117, 4.391, 0, 90, 0, 55 [SEP] 16, CreditCard, -4.514, 1.038, 0.504, 0, 0, 0, 37 [SEP] 17, KeyChain, -1.002, 0.593, 0.112, 0, 0, 0, 45 [SEP] 18, CellPhone, -4.826, 1.108, 4.292, 0, 90, 0, 56 [SEP] 19, Statue, -5.534, 1.044, 0.438, 0, 0, 0, 37 [SEP] 20, Laptop, -4.184, 1.109, 4.588, 0, 90, 0, 55 [SEP] 21, RemoteControl, -3.222, 1.110, 4.885, 0, 90, 0, 55 [SEP] 22, Vase, -3.570, 0.207, 4.331, 0, 90, 0, 53 [SEP] 23, DeskLamp, -4.649, 1.051, 0.268, 0, 0, 0, [SEP] 24, DeskLamp, -2.992, 1.107, 4.522, 0, 0, 0, [SEP] 25, FloorLamp, -0.650, 0.007, 4.431, 0, 0, 0, [SEP] 26, FloorLamp, -5.607, 0.007, 4.641, 0, 0, 0, [SEP] 27, Shelf, -5.237, 1.776, 0.070, 0, 0, 0, [SEP] 28, Shelf, -5.238, 1.968, 0.085, 0, 0, 0, [SEP] 29, Shelf, -5.242, 1.391, 0.086, 0, 0, 0, [SEP] 30, Shelf, -5.241, 1.582, 0.065, 0, 0, 0, [SEP] 31, LightSwitch, -6.002, 1.353, 3.404, 0, 90, 0, [SEP] 32, GarbageCan, -5.794, -0.033, 4.073, 0, 90, 0, [SEP] 33, Painting, -6.017, 1.802, 4.177, 90, 270, 0, [SEP] 34, HousePlant, -3.966, 1.625, 0.135, 0, 315, 0, [SEP] 35, Television, -3.355, 0.833, 0.027, 0, 0, 0, [SEP] 36, Drawer, -5.024, 0.903, 0.370, 0, 0, 0, [SEP] 37, SideTable, -5.024, 0.008, 0.267, 0, 0, 0, [SEP] 38, Safe, -2.298, 5.778, 0.268, 0, 90, 0, [SEP] 39, Shelf, -0.253, 0.781, 1.058, 0, 270, 0, [SEP] 40, Shelf, -0.283, 0.274, 1.066, 0, 270, 0, [SEP] 41, Shelf, -1.224, 1.288, 0.270, 0, 0, 0, [SEP] 42, Shelf, -1.218, 1.810, 0.275, 0, 0, 0, [SEP] 43, Shelf, -0.280, 1.810, 1.057, 0, 270, 0, [SEP] 44, Shelf, -1.218, 0.274, 0.262, 0, 0, 0, [SEP] 45, Shelf, -1.223, 0.782, 0.237, 0, 0, 0, [SEP] 46, Shelf, -0.280, 1.288, 1.055, 0, 270, 0, [SEP] 47, ShelvingUnit, -0.268, 0.004, 1.067, 0, 270, 0, [SEP] 48, ShelvingUnit, -1.218, 0.004, 0.244, 0, 0, 0, [SEP] 49, ArmChair, -2.027, 0.001, 4.422, 0, 178.692, 0, [SEP] 50, Drawer, -4.329, 1.014, 4.311, 0, 180, 0, [SEP] 51, Drawer, -3.750, 1.014, 4.311, 0, 180, 0, [SEP] 52, Cabinet, -4.049, 0.561, 4.212, 0, 180, 0, [SEP] 53, Cabinet, -4.032, 0.561, 4.212, 0, 180, 0, [SEP] 54, Cabinet, -2.884, 0.561, 4.212, 0, 180, 0, [SEP] 55, Dresser, -4.041, -0.000, 4.589, 0, 180, 0, [SEP] 56, Drawer, -4.916, 1.014, 4.311, 0, 180, 0, [SEP] 57, Drawer, -3.166, 1.014, 4.311, 0, 180, 0, [SEP] 58, Cabinet, -5.196, 0.561, 4.212, 0, 180, 0, [SEP] 59, Sofa, -0.705, -0.002, 2.753, 0, 270, 0, [SEP] 60, NorthWall, , , , , , , [SEP] 61, SouthWall, , , , , , , [SEP] 62, SouthWall, , , , , , , ", "output": ["STEP 1: Walk to the dresser in front of you. | STEP 2: Pick up the cell phone, above the left, top drawer, on the dresser. | STEP 3: Go to the lamp to your left, in the corner of the room. | STEP 4: Turn on the lamp. | END"]} +{"id": "trial_T20190908_044113_026049-2", "input": "examine a phone with a lamp SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -4.75, 0.901, 2.0, 0, 0, 0, [SEP] 1, TissueBox, -0.312, 0.075, 1.102, 0, 270, 0, 40 [SEP] 2, TissueBox, -3.543, 1.112, 4.786, 0, 90, 0, 55 [SEP] 3, Newspaper, -4.809, 0.210, 4.523, 0, 90, 0, 58 [SEP] 4, Newspaper, -0.870, 0.628, 2.753, 0, 0, 0, 59 [SEP] 5, CellPhone, -2.191, 0.034, 0.369, 0, 90, 0, 38 [SEP] 6, Statue, -0.265, 1.107, 1.192, 0, 270, 0, 46 [SEP] 7, Statue, -3.863, 1.113, 4.589, 0, 90, 0, 55 [SEP] 8, RemoteControl, -2.901, 1.110, 4.786, 0, 90, 0, 55 [SEP] 9, RemoteControl, -0.787, 0.611, 1.960, 0, 0, 0, 59 [SEP] 10, Box, -4.085, 0.421, 4.589, 0, 0, 0, 52 [SEP] 11, Box, -3.543, 1.329, 4.490, 0, 90, 0, 55 [SEP] 12, Watch, -3.863, 1.108, 4.391, 0, 90, 0, 51 [SEP] 13, Pillow, -2.031, 0.668, 4.421, 0, 0, 0, 49 [SEP] 14, TissueBox, -4.605, 0.205, 4.395, 0, 90, 0, 52 [SEP] 15, Newspaper, -3.222, 1.117, 4.391, 0, 90, 0, 55 [SEP] 16, CreditCard, -4.514, 1.038, 0.504, 0, 0, 0, 37 [SEP] 17, KeyChain, -1.002, 0.593, 0.112, 0, 0, 0, 45 [SEP] 18, CellPhone, -4.826, 1.108, 4.292, 0, 90, 0, 56 [SEP] 19, Statue, -5.534, 1.044, 0.438, 0, 0, 0, 37 [SEP] 20, Laptop, -4.184, 1.109, 4.588, 0, 90, 0, 55 [SEP] 21, RemoteControl, -3.222, 1.110, 4.885, 0, 90, 0, 55 [SEP] 22, Vase, -3.570, 0.207, 4.331, 0, 90, 0, 53 [SEP] 23, DeskLamp, -4.649, 1.051, 0.268, 0, 0, 0, [SEP] 24, DeskLamp, -2.992, 1.107, 4.522, 0, 0, 0, [SEP] 25, FloorLamp, -0.650, 0.007, 4.431, 0, 0, 0, [SEP] 26, FloorLamp, -5.607, 0.007, 4.641, 0, 0, 0, [SEP] 27, Shelf, -5.237, 1.776, 0.070, 0, 0, 0, [SEP] 28, Shelf, -5.238, 1.968, 0.085, 0, 0, 0, [SEP] 29, Shelf, -5.242, 1.391, 0.086, 0, 0, 0, [SEP] 30, Shelf, -5.241, 1.582, 0.065, 0, 0, 0, [SEP] 31, LightSwitch, -6.002, 1.353, 3.404, 0, 90, 0, [SEP] 32, GarbageCan, -5.794, -0.033, 4.073, 0, 90, 0, [SEP] 33, Painting, -6.017, 1.802, 4.177, 90, 270, 0, [SEP] 34, HousePlant, -3.966, 1.625, 0.135, 0, 315, 0, [SEP] 35, Television, -3.355, 0.833, 0.027, 0, 0, 0, [SEP] 36, Drawer, -5.024, 0.903, 0.370, 0, 0, 0, [SEP] 37, SideTable, -5.024, 0.008, 0.267, 0, 0, 0, [SEP] 38, Safe, -2.298, 5.778, 0.268, 0, 90, 0, [SEP] 39, Shelf, -0.253, 0.781, 1.058, 0, 270, 0, [SEP] 40, Shelf, -0.283, 0.274, 1.066, 0, 270, 0, [SEP] 41, Shelf, -1.224, 1.288, 0.270, 0, 0, 0, [SEP] 42, Shelf, -1.218, 1.810, 0.275, 0, 0, 0, [SEP] 43, Shelf, -0.280, 1.810, 1.057, 0, 270, 0, [SEP] 44, Shelf, -1.218, 0.274, 0.262, 0, 0, 0, [SEP] 45, Shelf, -1.223, 0.782, 0.237, 0, 0, 0, [SEP] 46, Shelf, -0.280, 1.288, 1.055, 0, 270, 0, [SEP] 47, ShelvingUnit, -0.268, 0.004, 1.067, 0, 270, 0, [SEP] 48, ShelvingUnit, -1.218, 0.004, 0.244, 0, 0, 0, [SEP] 49, ArmChair, -2.027, 0.001, 4.422, 0, 178.692, 0, [SEP] 50, Drawer, -4.329, 1.014, 4.311, 0, 180, 0, [SEP] 51, Drawer, -3.750, 1.014, 4.311, 0, 180, 0, [SEP] 52, Cabinet, -4.049, 0.561, 4.212, 0, 180, 0, [SEP] 53, Cabinet, -4.032, 0.561, 4.212, 0, 180, 0, [SEP] 54, Cabinet, -2.884, 0.561, 4.212, 0, 180, 0, [SEP] 55, Dresser, -4.041, -0.000, 4.589, 0, 180, 0, [SEP] 56, Drawer, -4.916, 1.014, 4.311, 0, 180, 0, [SEP] 57, Drawer, -3.166, 1.014, 4.311, 0, 180, 0, [SEP] 58, Cabinet, -5.196, 0.561, 4.212, 0, 180, 0, [SEP] 59, Sofa, -0.705, -0.002, 2.753, 0, 270, 0, [SEP] 60, NorthWall, , , , , , , [SEP] 61, SouthWall, , , , , , , [SEP] 62, SouthWall, , , , , , , ", "output": ["STEP 1: walk forward to the dresser | STEP 2: pick up the phone that is on the dresser | STEP 3: take a couple step to the left to face lamp, hold phone up | STEP 4: turn the lamp on | END"]} +{"id": "trial_T20190907_155006_533262-0", "input": "Put a spoon in a mug 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, 0.0, 0.900, 1.75, 0, 90, 0, [SEP] 1, Pan, 1.026, 1.132, 1.349, 0, 90, 0, 82 [SEP] 2, Vase, 1.101, 1.667, -1.961, 0, 270, 0, 58 [SEP] 3, CreditCard, 0.915, 0.492, -0.648, 0, 270, 0, 63 [SEP] 4, CreditCard, -1.985, 0.551, 2.770, 0, 0, 0, 85 [SEP] 5, CellPhone, -0.846, 0.930, -1.231, 0, 0, 0, 59 [SEP] 6, CellPhone, 0.875, 0.700, -0.690, 0, 270, 0, 57 [SEP] 7, ButterKnife, -0.772, 0.933, 0.086, 0, 0, 0, 59 [SEP] 8, Fork, 0.875, 0.702, -0.524, 0, 0, 0, 57 [SEP] 9, Spoon, 0.944, 0.912, -0.729, 0, 0, 0, 60 [SEP] 10, Spoon, 1.114, 0.912, -0.555, 0, 0, 0, 60 [SEP] 11, Spatula, 1.029, 0.926, -0.381, 0, 0, 0, 60 [SEP] 12, Knife, 0.773, 0.934, -0.208, 0, 180, 0, 60 [SEP] 13, Knife, 0.944, 0.934, -0.034, 0, 0, 0, 60 [SEP] 14, Egg, 1.060, 1.833, -1.339, 0, 270, 0, 81 [SEP] 15, Cup, 1.256, 2.205, -1.082, 0, 270, 0, 66 [SEP] 16, Plate, 1.102, 1.669, -0.401, 0, 270, 0, 68 [SEP] 17, Tomato, 0.905, 1.683, 1.254, 0, 270, 0, 82 [SEP] 18, Tomato, 0.688, 0.952, -1.965, 0, 0, 0, 65 [SEP] 19, SoapBottle, 0.859, 0.911, -1.793, 0, 0, 0, 65 [SEP] 20, Bowl, 1.101, 1.669, 0.025, 0, 270, 0, 67 [SEP] 21, PepperShaker, -1.674, 0.878, 2.665, 0, 0, 0, 86 [SEP] 22, Lettuce, 0.773, 0.988, 0.139, 0, 0, 0, 60 [SEP] 23, Lettuce, 0.905, 1.479, 1.349, 0, 270, 0, 82 [SEP] 24, Bread, -0.624, 1.014, -1.231, 0, 0, 0, 59 [SEP] 25, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 59 [SEP] 26, Glassbottle, 1.199, 0.912, 0.139, 0, 0, 0, 60 [SEP] 27, Bread, 1.029, 0.992, -0.034, 0, 0, 0, 60 [SEP] 28, CreditCard, 0.773, 0.908, -1.793, 0, 0, 0, 65 [SEP] 29, CellPhone, 1.199, 0.908, -0.729, 0, 0, 0, 60 [SEP] 30, Potato, -0.808, 0.811, -0.659, 0, 90, 0, 80 [SEP] 31, Knife, -0.698, 0.957, 0.315, 0, 0, 0, 59 [SEP] 32, Fork, 1.114, 0.911, -0.381, 0, 180, 0, 60 [SEP] 33, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 53 [SEP] 34, Lettuce, 0.688, 0.988, -0.381, 0, 0, 0, 60 [SEP] 35, Plate, 0.966, 1.405, 1.063, 0, 270, 0, 82 [SEP] 36, Apple, 0.844, 1.693, 0.967, 0, 270, 0, 82 [SEP] 37, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 55 [SEP] 38, Spatula, -1.229, 0.948, -1.167, 0, 0, 0, 59 [SEP] 39, PaperTowelRoll, 0.944, 1.015, 0.139, 0, 90, 0, 60 [SEP] 40, Tomato, -0.587, 0.821, -0.573, 0, 90, 0, 80 [SEP] 41, Egg, -0.818, 0.214, 0.641, 0, 180, 0, 79 [SEP] 42, SaltShaker, 0.753, 0.150, -0.729, 0, 270, 0, 62 [SEP] 43, PepperShaker, 0.875, 0.491, -0.731, 0, 270, 0, 63 [SEP] 44, Vase, 1.126, 2.207, -1.517, 0, 270, 0, 66 [SEP] 45, ButterKnife, -1.325, 0.919, -0.884, 0, 10.678, 0, 59 [SEP] 46, SoapBottle, -0.960, 0.177, 0.543, 0, 180, 0, 79 [SEP] 47, Vase, 1.082, 2.209, -1.299, 0, 270, 0, 66 [SEP] 48, Bowl, 0.910, 0.111, -1.972, 0, 0, 0, 64 [SEP] 49, DishSponge, 0.859, 0.910, -0.555, 0, 0, 0, 60 [SEP] 50, Spoon, 0.773, 0.912, -1.965, 0, 90, 0, 65 [SEP] 51, Cup, -0.808, 0.777, -0.745, 0, 90, 0, 80 [SEP] 52, Mug, -1.469, 0.876, 2.719, 0, 0, 0, 86 [SEP] 53, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 54, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 55, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 56, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 57, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 58, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 59, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 60, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 61, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 62, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 63, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 64, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 65, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 66, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 67, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 68, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 69, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 70, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 71, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 72, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 73, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 74, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 75, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 76, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 77, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 78, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 79, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 80, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 81, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 82, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 83, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 84, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 85, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 86, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 87, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 88, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 89, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 90, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 91, NorthWall, , , , , , , [SEP] 92, EastWall, , , , , , , [SEP] 93, SouthWall, , , , , , , [SEP] 94, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and go forward to the counter to the left of the stove. | STEP 2: Take the left spoon that is on the counter. | STEP 3: Turn left and go forward and to the brown shelf on the wall straight ahead. | STEP 4: Place the spoon in the white mug on the shelf. | STEP 5: Pick up the mug off the shelf. | STEP 6: Turn right and go to the counter left of the stove. | STEP 7: Place the mug on the counter under the spoon. | END"]} +{"id": "trial_T20190907_155006_533262-1", "input": "Put a white mug with a spoon inside 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, 0.0, 0.900, 1.75, 0, 90, 0, [SEP] 1, Pan, 1.026, 1.132, 1.349, 0, 90, 0, 82 [SEP] 2, Vase, 1.101, 1.667, -1.961, 0, 270, 0, 58 [SEP] 3, CreditCard, 0.915, 0.492, -0.648, 0, 270, 0, 63 [SEP] 4, CreditCard, -1.985, 0.551, 2.770, 0, 0, 0, 85 [SEP] 5, CellPhone, -0.846, 0.930, -1.231, 0, 0, 0, 59 [SEP] 6, CellPhone, 0.875, 0.700, -0.690, 0, 270, 0, 57 [SEP] 7, ButterKnife, -0.772, 0.933, 0.086, 0, 0, 0, 59 [SEP] 8, Fork, 0.875, 0.702, -0.524, 0, 0, 0, 57 [SEP] 9, Spoon, 0.944, 0.912, -0.729, 0, 0, 0, 60 [SEP] 10, Spoon, 1.114, 0.912, -0.555, 0, 0, 0, 60 [SEP] 11, Spatula, 1.029, 0.926, -0.381, 0, 0, 0, 60 [SEP] 12, Knife, 0.773, 0.934, -0.208, 0, 180, 0, 60 [SEP] 13, Knife, 0.944, 0.934, -0.034, 0, 0, 0, 60 [SEP] 14, Egg, 1.060, 1.833, -1.339, 0, 270, 0, 81 [SEP] 15, Cup, 1.256, 2.205, -1.082, 0, 270, 0, 66 [SEP] 16, Plate, 1.102, 1.669, -0.401, 0, 270, 0, 68 [SEP] 17, Tomato, 0.905, 1.683, 1.254, 0, 270, 0, 82 [SEP] 18, Tomato, 0.688, 0.952, -1.965, 0, 0, 0, 65 [SEP] 19, SoapBottle, 0.859, 0.911, -1.793, 0, 0, 0, 65 [SEP] 20, Bowl, 1.101, 1.669, 0.025, 0, 270, 0, 67 [SEP] 21, PepperShaker, -1.674, 0.878, 2.665, 0, 0, 0, 86 [SEP] 22, Lettuce, 0.773, 0.988, 0.139, 0, 0, 0, 60 [SEP] 23, Lettuce, 0.905, 1.479, 1.349, 0, 270, 0, 82 [SEP] 24, Bread, -0.624, 1.014, -1.231, 0, 0, 0, 59 [SEP] 25, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 59 [SEP] 26, Glassbottle, 1.199, 0.912, 0.139, 0, 0, 0, 60 [SEP] 27, Bread, 1.029, 0.992, -0.034, 0, 0, 0, 60 [SEP] 28, CreditCard, 0.773, 0.908, -1.793, 0, 0, 0, 65 [SEP] 29, CellPhone, 1.199, 0.908, -0.729, 0, 0, 0, 60 [SEP] 30, Potato, -0.808, 0.811, -0.659, 0, 90, 0, 80 [SEP] 31, Knife, -0.698, 0.957, 0.315, 0, 0, 0, 59 [SEP] 32, Fork, 1.114, 0.911, -0.381, 0, 180, 0, 60 [SEP] 33, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 53 [SEP] 34, Lettuce, 0.688, 0.988, -0.381, 0, 0, 0, 60 [SEP] 35, Plate, 0.966, 1.405, 1.063, 0, 270, 0, 82 [SEP] 36, Apple, 0.844, 1.693, 0.967, 0, 270, 0, 82 [SEP] 37, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 55 [SEP] 38, Spatula, -1.229, 0.948, -1.167, 0, 0, 0, 59 [SEP] 39, PaperTowelRoll, 0.944, 1.015, 0.139, 0, 90, 0, 60 [SEP] 40, Tomato, -0.587, 0.821, -0.573, 0, 90, 0, 80 [SEP] 41, Egg, -0.818, 0.214, 0.641, 0, 180, 0, 79 [SEP] 42, SaltShaker, 0.753, 0.150, -0.729, 0, 270, 0, 62 [SEP] 43, PepperShaker, 0.875, 0.491, -0.731, 0, 270, 0, 63 [SEP] 44, Vase, 1.126, 2.207, -1.517, 0, 270, 0, 66 [SEP] 45, ButterKnife, -1.325, 0.919, -0.884, 0, 10.678, 0, 59 [SEP] 46, SoapBottle, -0.960, 0.177, 0.543, 0, 180, 0, 79 [SEP] 47, Vase, 1.082, 2.209, -1.299, 0, 270, 0, 66 [SEP] 48, Bowl, 0.910, 0.111, -1.972, 0, 0, 0, 64 [SEP] 49, DishSponge, 0.859, 0.910, -0.555, 0, 0, 0, 60 [SEP] 50, Spoon, 0.773, 0.912, -1.965, 0, 90, 0, 65 [SEP] 51, Cup, -0.808, 0.777, -0.745, 0, 90, 0, 80 [SEP] 52, Mug, -1.469, 0.876, 2.719, 0, 0, 0, 86 [SEP] 53, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 54, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 55, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 56, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 57, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 58, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 59, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 60, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 61, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 62, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 63, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 64, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 65, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 66, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 67, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 68, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 69, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 70, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 71, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 72, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 73, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 74, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 75, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 76, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 77, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 78, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 79, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 80, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 81, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 82, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 83, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 84, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 85, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 86, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 87, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 88, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 89, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 90, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 91, NorthWall, , , , , , , [SEP] 92, EastWall, , , , , , , [SEP] 93, SouthWall, , , , , , , [SEP] 94, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and begin walking across the room, hang a left before the oven and walk up to the counter. | STEP 2: Pick up the metal spoon that is to the left of the phone on the counter. | STEP 3: Turn left and walk over to the wooden shelving unit against the far wall. | STEP 4: Put the metal spoon into the white mug that is on the top shelf of the wooden shelving unit. | STEP 5: Pick up the white mug with the metal spoon inside it. | STEP 6: Turn around and walk back over to the kitchen counter to the left of the oven. | STEP 7: Place the white mug with the spoon inside onto the counter just below of the metal spoon that is already on the counter. | END"]} +{"id": "trial_T20190907_155006_533262-2", "input": "Put a cup with a spoon 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, 1.75, 0, 90, 0, [SEP] 1, Pan, 1.026, 1.132, 1.349, 0, 90, 0, 82 [SEP] 2, Vase, 1.101, 1.667, -1.961, 0, 270, 0, 58 [SEP] 3, CreditCard, 0.915, 0.492, -0.648, 0, 270, 0, 63 [SEP] 4, CreditCard, -1.985, 0.551, 2.770, 0, 0, 0, 85 [SEP] 5, CellPhone, -0.846, 0.930, -1.231, 0, 0, 0, 59 [SEP] 6, CellPhone, 0.875, 0.700, -0.690, 0, 270, 0, 57 [SEP] 7, ButterKnife, -0.772, 0.933, 0.086, 0, 0, 0, 59 [SEP] 8, Fork, 0.875, 0.702, -0.524, 0, 0, 0, 57 [SEP] 9, Spoon, 0.944, 0.912, -0.729, 0, 0, 0, 60 [SEP] 10, Spoon, 1.114, 0.912, -0.555, 0, 0, 0, 60 [SEP] 11, Spatula, 1.029, 0.926, -0.381, 0, 0, 0, 60 [SEP] 12, Knife, 0.773, 0.934, -0.208, 0, 180, 0, 60 [SEP] 13, Knife, 0.944, 0.934, -0.034, 0, 0, 0, 60 [SEP] 14, Egg, 1.060, 1.833, -1.339, 0, 270, 0, 81 [SEP] 15, Cup, 1.256, 2.205, -1.082, 0, 270, 0, 66 [SEP] 16, Plate, 1.102, 1.669, -0.401, 0, 270, 0, 68 [SEP] 17, Tomato, 0.905, 1.683, 1.254, 0, 270, 0, 82 [SEP] 18, Tomato, 0.688, 0.952, -1.965, 0, 0, 0, 65 [SEP] 19, SoapBottle, 0.859, 0.911, -1.793, 0, 0, 0, 65 [SEP] 20, Bowl, 1.101, 1.669, 0.025, 0, 270, 0, 67 [SEP] 21, PepperShaker, -1.674, 0.878, 2.665, 0, 0, 0, 86 [SEP] 22, Lettuce, 0.773, 0.988, 0.139, 0, 0, 0, 60 [SEP] 23, Lettuce, 0.905, 1.479, 1.349, 0, 270, 0, 82 [SEP] 24, Bread, -0.624, 1.014, -1.231, 0, 0, 0, 59 [SEP] 25, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 59 [SEP] 26, Glassbottle, 1.199, 0.912, 0.139, 0, 0, 0, 60 [SEP] 27, Bread, 1.029, 0.992, -0.034, 0, 0, 0, 60 [SEP] 28, CreditCard, 0.773, 0.908, -1.793, 0, 0, 0, 65 [SEP] 29, CellPhone, 1.199, 0.908, -0.729, 0, 0, 0, 60 [SEP] 30, Potato, -0.808, 0.811, -0.659, 0, 90, 0, 80 [SEP] 31, Knife, -0.698, 0.957, 0.315, 0, 0, 0, 59 [SEP] 32, Fork, 1.114, 0.911, -0.381, 0, 180, 0, 60 [SEP] 33, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 53 [SEP] 34, Lettuce, 0.688, 0.988, -0.381, 0, 0, 0, 60 [SEP] 35, Plate, 0.966, 1.405, 1.063, 0, 270, 0, 82 [SEP] 36, Apple, 0.844, 1.693, 0.967, 0, 270, 0, 82 [SEP] 37, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 55 [SEP] 38, Spatula, -1.229, 0.948, -1.167, 0, 0, 0, 59 [SEP] 39, PaperTowelRoll, 0.944, 1.015, 0.139, 0, 90, 0, 60 [SEP] 40, Tomato, -0.587, 0.821, -0.573, 0, 90, 0, 80 [SEP] 41, Egg, -0.818, 0.214, 0.641, 0, 180, 0, 79 [SEP] 42, SaltShaker, 0.753, 0.150, -0.729, 0, 270, 0, 62 [SEP] 43, PepperShaker, 0.875, 0.491, -0.731, 0, 270, 0, 63 [SEP] 44, Vase, 1.126, 2.207, -1.517, 0, 270, 0, 66 [SEP] 45, ButterKnife, -1.325, 0.919, -0.884, 0, 10.678, 0, 59 [SEP] 46, SoapBottle, -0.960, 0.177, 0.543, 0, 180, 0, 79 [SEP] 47, Vase, 1.082, 2.209, -1.299, 0, 270, 0, 66 [SEP] 48, Bowl, 0.910, 0.111, -1.972, 0, 0, 0, 64 [SEP] 49, DishSponge, 0.859, 0.910, -0.555, 0, 0, 0, 60 [SEP] 50, Spoon, 0.773, 0.912, -1.965, 0, 90, 0, 65 [SEP] 51, Cup, -0.808, 0.777, -0.745, 0, 90, 0, 80 [SEP] 52, Mug, -1.469, 0.876, 2.719, 0, 0, 0, 86 [SEP] 53, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 54, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 55, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 56, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 57, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 58, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 59, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 60, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 61, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 62, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 63, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 64, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 65, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 66, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 67, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 68, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 69, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 70, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 71, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 72, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 73, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 74, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 75, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 76, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 77, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 78, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 79, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 80, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 81, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 82, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 83, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 84, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 85, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 86, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 87, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 88, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 89, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 90, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 91, NorthWall, , , , , , , [SEP] 92, EastWall, , , , , , , [SEP] 93, SouthWall, , , , , , , [SEP] 94, WestWall, , , , , , , ", "output": ["STEP 1: Go right and stand in front of the counter to the left of the stove. | STEP 2: Pick up the spoon from the counter. | STEP 3: GO to the left and stand in front of the brown shelves. | STEP 4: Put the spoon in the white cup on the shelf. | STEP 5: Pick the white cup up from the shelf. | STEP 6: Go right and then right again to stand in front of the counter to the left of the stove. | STEP 7: Put the cup down on the right side of the counter, close to the stove. | END"]} +{"id": "trial_T20190907_194052_908074-0", "input": "Put a pan 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, -2.25, 0.900, -0.75, 0, 270, 0, [SEP] 1, Vase, 0.861, 0.109, -1.892, 0, 0, 0, 64 [SEP] 2, ButterKnife, -0.846, 0.933, 0.162, 0, 0, 0, 59 [SEP] 3, Glassbottle, 1.055, 1.667, -0.038, 0, 270, 0, 67 [SEP] 4, Glassbottle, 1.240, 1.667, -2.029, 0, 270, 0, 58 [SEP] 5, Fork, 1.199, 0.911, 0.139, 0, 90, 0, 60 [SEP] 6, Fork, 0.874, 0.154, -0.531, 0, 0, 0, 62 [SEP] 7, Spoon, -1.104, 0.934, -1.167, 0, 0, 0, 59 [SEP] 8, Knife, -0.772, 0.957, 0.009, 0, 0, 0, 59 [SEP] 9, Knife, 0.944, 0.934, -0.208, 0, 180, 0, 60 [SEP] 10, Cup, 1.256, 2.205, -1.299, 0, 270, 0, 66 [SEP] 11, Cup, 1.028, 1.792, -1.339, 0, 270, 0, 81 [SEP] 12, Plate, 0.859, 0.914, -0.208, 0, 0, 0, 60 [SEP] 13, Tomato, -0.624, 0.974, 0.086, 0, 0, 0, 59 [SEP] 14, SoapBottle, 0.859, 0.911, -0.729, 0, 0, 0, 60 [SEP] 15, Bowl, 0.905, 1.405, 1.349, 0, 270, 0, 82 [SEP] 16, SaltShaker, 1.256, 2.204, -0.973, 0, 270, 0, 66 [SEP] 17, PepperShaker, -1.167, 0.929, -0.118, 0, 0, 0, 59 [SEP] 18, PepperShaker, -1.469, 0.878, 2.773, 0, 0, 0, 86 [SEP] 19, Lettuce, 0.905, 0.940, 1.349, 0, 270, 0, 82 [SEP] 20, Bread, 0.905, 1.482, 1.158, 0, 270, 0, 82 [SEP] 21, Mug, -0.550, 0.928, 0.315, 0, 0, 0, 59 [SEP] 22, Mug, 1.193, 1.661, 0.216, 0, 270, 0, 67 [SEP] 23, Apple, -1.355, 0.983, -0.905, 0, 0, 0, 59 [SEP] 24, Apple, -0.865, 0.227, 0.575, 0, 180, 0, 79 [SEP] 25, Statue, -1.167, 0.936, -0.905, 0, 0, 0, 59 [SEP] 26, Glassbottle, 0.811, 0.121, 0.398, 0, 270, 0, 54 [SEP] 27, Bread, 1.114, 0.992, -0.208, 0, 0, 0, 60 [SEP] 28, CreditCard, 1.199, 0.908, -1.793, 0, 0, 0, 65 [SEP] 29, CellPhone, -1.229, 0.930, -0.380, 0, 0, 0, 59 [SEP] 30, Potato, -0.642, 0.811, -0.832, 0, 90, 0, 80 [SEP] 31, Knife, 1.029, 0.934, -0.034, 0, 0, 0, 60 [SEP] 32, Fork, 0.794, 0.494, -0.690, 0, 180, 0, 63 [SEP] 33, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 53 [SEP] 34, Lettuce, 0.866, 1.688, 1.209, 9.746, 11.116, 0, 82 [SEP] 35, Plate, 1.082, 2.211, -1.082, 0, 270, 0, 66 [SEP] 36, Apple, 1.093, 1.833, -1.236, 0, 270, 0, 81 [SEP] 37, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 55 [SEP] 38, Spatula, 0.914, 0.168, -0.650, 0, 0, 0, 62 [SEP] 39, PaperTowelRoll, 0.944, 1.015, -1.793, 0, 0, 0, 65 [SEP] 40, Tomato, 1.114, 0.952, 0.139, 0, 0, 0, 60 [SEP] 41, Egg, 0.783, 1.172, 1.349, 0, 270, 0, 82 [SEP] 42, SaltShaker, 1.009, 1.662, -2.302, 0, 270, 0, 58 [SEP] 43, PepperShaker, 0.688, 0.907, -1.879, 0, 0, 0, 65 [SEP] 44, Vase, -0.624, 0.933, -1.463, 0, 0, 0, 59 [SEP] 45, ButterKnife, -1.229, 0.933, 0.144, 0, 0, 0, 59 [SEP] 46, SoapBottle, 1.082, 2.208, -1.626, 0, 270, 0, 66 [SEP] 47, Vase, -1.355, 0.934, -0.643, 0, 0, 0, 59 [SEP] 48, Bowl, -1.292, 0.936, -0.118, 0, 0, 0, 59 [SEP] 49, DishSponge, -1.007, 0.176, 0.608, 0, 180, 0, 79 [SEP] 50, Spoon, 0.834, 0.703, -0.607, 0, 270, 0, 57 [SEP] 51, Cup, 0.966, 1.640, 1.444, 0, 270, 0, 82 [SEP] 52, Mug, 1.055, 1.661, -2.097, 0, 270, 0, 58 [SEP] 53, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 54, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 55, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 56, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 57, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 58, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 59, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 60, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 61, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 62, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 63, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 64, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 65, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 66, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 67, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 68, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 69, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 70, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 71, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 72, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 73, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 74, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 75, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 76, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 77, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 78, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 79, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 80, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 81, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 82, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 83, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 84, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 85, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 86, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 87, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 88, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 89, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 90, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 91, NorthWall, , , , , , , [SEP] 92, EastWall, , , , , , , [SEP] 93, SouthWall, , , , , , , [SEP] 94, WestWall, , , , , , , ", "output": ["STEP 1: Go right, right again and then right to face the counter with the tomato on it. | STEP 2: Pick the knife up from the counter. | STEP 3: Go to the left and then turn left to face the stove. | STEP 4: Put the knife in the pan. | STEP 5: Pick the pan up from the stove. | STEP 6: Turn around and face the sink. | STEP 7: Put the pan in the sink. | END"]} +{"id": "trial_T20190907_194052_908074-1", "input": "Put a frying pan with a knife in it 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, -2.25, 0.900, -0.75, 0, 270, 0, [SEP] 1, Vase, 0.861, 0.109, -1.892, 0, 0, 0, 64 [SEP] 2, ButterKnife, -0.846, 0.933, 0.162, 0, 0, 0, 59 [SEP] 3, Glassbottle, 1.055, 1.667, -0.038, 0, 270, 0, 67 [SEP] 4, Glassbottle, 1.240, 1.667, -2.029, 0, 270, 0, 58 [SEP] 5, Fork, 1.199, 0.911, 0.139, 0, 90, 0, 60 [SEP] 6, Fork, 0.874, 0.154, -0.531, 0, 0, 0, 62 [SEP] 7, Spoon, -1.104, 0.934, -1.167, 0, 0, 0, 59 [SEP] 8, Knife, -0.772, 0.957, 0.009, 0, 0, 0, 59 [SEP] 9, Knife, 0.944, 0.934, -0.208, 0, 180, 0, 60 [SEP] 10, Cup, 1.256, 2.205, -1.299, 0, 270, 0, 66 [SEP] 11, Cup, 1.028, 1.792, -1.339, 0, 270, 0, 81 [SEP] 12, Plate, 0.859, 0.914, -0.208, 0, 0, 0, 60 [SEP] 13, Tomato, -0.624, 0.974, 0.086, 0, 0, 0, 59 [SEP] 14, SoapBottle, 0.859, 0.911, -0.729, 0, 0, 0, 60 [SEP] 15, Bowl, 0.905, 1.405, 1.349, 0, 270, 0, 82 [SEP] 16, SaltShaker, 1.256, 2.204, -0.973, 0, 270, 0, 66 [SEP] 17, PepperShaker, -1.167, 0.929, -0.118, 0, 0, 0, 59 [SEP] 18, PepperShaker, -1.469, 0.878, 2.773, 0, 0, 0, 86 [SEP] 19, Lettuce, 0.905, 0.940, 1.349, 0, 270, 0, 82 [SEP] 20, Bread, 0.905, 1.482, 1.158, 0, 270, 0, 82 [SEP] 21, Mug, -0.550, 0.928, 0.315, 0, 0, 0, 59 [SEP] 22, Mug, 1.193, 1.661, 0.216, 0, 270, 0, 67 [SEP] 23, Apple, -1.355, 0.983, -0.905, 0, 0, 0, 59 [SEP] 24, Apple, -0.865, 0.227, 0.575, 0, 180, 0, 79 [SEP] 25, Statue, -1.167, 0.936, -0.905, 0, 0, 0, 59 [SEP] 26, Glassbottle, 0.811, 0.121, 0.398, 0, 270, 0, 54 [SEP] 27, Bread, 1.114, 0.992, -0.208, 0, 0, 0, 60 [SEP] 28, CreditCard, 1.199, 0.908, -1.793, 0, 0, 0, 65 [SEP] 29, CellPhone, -1.229, 0.930, -0.380, 0, 0, 0, 59 [SEP] 30, Potato, -0.642, 0.811, -0.832, 0, 90, 0, 80 [SEP] 31, Knife, 1.029, 0.934, -0.034, 0, 0, 0, 60 [SEP] 32, Fork, 0.794, 0.494, -0.690, 0, 180, 0, 63 [SEP] 33, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 53 [SEP] 34, Lettuce, 0.866, 1.688, 1.209, 9.746, 11.116, 0, 82 [SEP] 35, Plate, 1.082, 2.211, -1.082, 0, 270, 0, 66 [SEP] 36, Apple, 1.093, 1.833, -1.236, 0, 270, 0, 81 [SEP] 37, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 55 [SEP] 38, Spatula, 0.914, 0.168, -0.650, 0, 0, 0, 62 [SEP] 39, PaperTowelRoll, 0.944, 1.015, -1.793, 0, 0, 0, 65 [SEP] 40, Tomato, 1.114, 0.952, 0.139, 0, 0, 0, 60 [SEP] 41, Egg, 0.783, 1.172, 1.349, 0, 270, 0, 82 [SEP] 42, SaltShaker, 1.009, 1.662, -2.302, 0, 270, 0, 58 [SEP] 43, PepperShaker, 0.688, 0.907, -1.879, 0, 0, 0, 65 [SEP] 44, Vase, -0.624, 0.933, -1.463, 0, 0, 0, 59 [SEP] 45, ButterKnife, -1.229, 0.933, 0.144, 0, 0, 0, 59 [SEP] 46, SoapBottle, 1.082, 2.208, -1.626, 0, 270, 0, 66 [SEP] 47, Vase, -1.355, 0.934, -0.643, 0, 0, 0, 59 [SEP] 48, Bowl, -1.292, 0.936, -0.118, 0, 0, 0, 59 [SEP] 49, DishSponge, -1.007, 0.176, 0.608, 0, 180, 0, 79 [SEP] 50, Spoon, 0.834, 0.703, -0.607, 0, 270, 0, 57 [SEP] 51, Cup, 0.966, 1.640, 1.444, 0, 270, 0, 82 [SEP] 52, Mug, 1.055, 1.661, -2.097, 0, 270, 0, 58 [SEP] 53, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 54, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 55, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 56, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 57, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 58, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 59, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 60, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 61, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 62, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 63, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 64, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 65, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 66, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 67, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 68, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 69, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 70, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 71, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 72, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 73, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 74, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 75, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 76, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 77, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 78, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 79, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 80, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 81, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 82, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 83, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 84, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 85, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 86, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 87, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 88, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 89, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 90, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 91, NorthWall, , , , , , , [SEP] 92, EastWall, , , , , , , [SEP] 93, SouthWall, , , , , , , [SEP] 94, WestWall, , , , , , , ", "output": ["STEP 1: Take a step forward, then turn right and walk towards the door, hang a right and walk around the kitchen island to to the far side. | STEP 2: Pick up the butter knife off of the right side of the kitchen island. | STEP 3: Turn left and walk forward, then hang a left and walk up to the stove. | STEP 4: Put the knife handle down in the frying pan that is on the front left burner of the stove. | STEP 5: Pick up the frying pan with the knife in it off of the stove. | STEP 6: Turn left and take a step forward, then turn left again and walk up to the sink. | STEP 7: Put the frying pan with the knife in it into the sink basin to the right of the potato. | END"]} +{"id": "trial_T20190907_194052_908074-2", "input": "put the fork in the pan, move the pan 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, -2.25, 0.900, -0.75, 0, 270, 0, [SEP] 1, Vase, 0.861, 0.109, -1.892, 0, 0, 0, 64 [SEP] 2, ButterKnife, -0.846, 0.933, 0.162, 0, 0, 0, 59 [SEP] 3, Glassbottle, 1.055, 1.667, -0.038, 0, 270, 0, 67 [SEP] 4, Glassbottle, 1.240, 1.667, -2.029, 0, 270, 0, 58 [SEP] 5, Fork, 1.199, 0.911, 0.139, 0, 90, 0, 60 [SEP] 6, Fork, 0.874, 0.154, -0.531, 0, 0, 0, 62 [SEP] 7, Spoon, -1.104, 0.934, -1.167, 0, 0, 0, 59 [SEP] 8, Knife, -0.772, 0.957, 0.009, 0, 0, 0, 59 [SEP] 9, Knife, 0.944, 0.934, -0.208, 0, 180, 0, 60 [SEP] 10, Cup, 1.256, 2.205, -1.299, 0, 270, 0, 66 [SEP] 11, Cup, 1.028, 1.792, -1.339, 0, 270, 0, 81 [SEP] 12, Plate, 0.859, 0.914, -0.208, 0, 0, 0, 60 [SEP] 13, Tomato, -0.624, 0.974, 0.086, 0, 0, 0, 59 [SEP] 14, SoapBottle, 0.859, 0.911, -0.729, 0, 0, 0, 60 [SEP] 15, Bowl, 0.905, 1.405, 1.349, 0, 270, 0, 82 [SEP] 16, SaltShaker, 1.256, 2.204, -0.973, 0, 270, 0, 66 [SEP] 17, PepperShaker, -1.167, 0.929, -0.118, 0, 0, 0, 59 [SEP] 18, PepperShaker, -1.469, 0.878, 2.773, 0, 0, 0, 86 [SEP] 19, Lettuce, 0.905, 0.940, 1.349, 0, 270, 0, 82 [SEP] 20, Bread, 0.905, 1.482, 1.158, 0, 270, 0, 82 [SEP] 21, Mug, -0.550, 0.928, 0.315, 0, 0, 0, 59 [SEP] 22, Mug, 1.193, 1.661, 0.216, 0, 270, 0, 67 [SEP] 23, Apple, -1.355, 0.983, -0.905, 0, 0, 0, 59 [SEP] 24, Apple, -0.865, 0.227, 0.575, 0, 180, 0, 79 [SEP] 25, Statue, -1.167, 0.936, -0.905, 0, 0, 0, 59 [SEP] 26, Glassbottle, 0.811, 0.121, 0.398, 0, 270, 0, 54 [SEP] 27, Bread, 1.114, 0.992, -0.208, 0, 0, 0, 60 [SEP] 28, CreditCard, 1.199, 0.908, -1.793, 0, 0, 0, 65 [SEP] 29, CellPhone, -1.229, 0.930, -0.380, 0, 0, 0, 59 [SEP] 30, Potato, -0.642, 0.811, -0.832, 0, 90, 0, 80 [SEP] 31, Knife, 1.029, 0.934, -0.034, 0, 0, 0, 60 [SEP] 32, Fork, 0.794, 0.494, -0.690, 0, 180, 0, 63 [SEP] 33, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 53 [SEP] 34, Lettuce, 0.866, 1.688, 1.209, 9.746, 11.116, 0, 82 [SEP] 35, Plate, 1.082, 2.211, -1.082, 0, 270, 0, 66 [SEP] 36, Apple, 1.093, 1.833, -1.236, 0, 270, 0, 81 [SEP] 37, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 55 [SEP] 38, Spatula, 0.914, 0.168, -0.650, 0, 0, 0, 62 [SEP] 39, PaperTowelRoll, 0.944, 1.015, -1.793, 0, 0, 0, 65 [SEP] 40, Tomato, 1.114, 0.952, 0.139, 0, 0, 0, 60 [SEP] 41, Egg, 0.783, 1.172, 1.349, 0, 270, 0, 82 [SEP] 42, SaltShaker, 1.009, 1.662, -2.302, 0, 270, 0, 58 [SEP] 43, PepperShaker, 0.688, 0.907, -1.879, 0, 0, 0, 65 [SEP] 44, Vase, -0.624, 0.933, -1.463, 0, 0, 0, 59 [SEP] 45, ButterKnife, -1.229, 0.933, 0.144, 0, 0, 0, 59 [SEP] 46, SoapBottle, 1.082, 2.208, -1.626, 0, 270, 0, 66 [SEP] 47, Vase, -1.355, 0.934, -0.643, 0, 0, 0, 59 [SEP] 48, Bowl, -1.292, 0.936, -0.118, 0, 0, 0, 59 [SEP] 49, DishSponge, -1.007, 0.176, 0.608, 0, 180, 0, 79 [SEP] 50, Spoon, 0.834, 0.703, -0.607, 0, 270, 0, 57 [SEP] 51, Cup, 0.966, 1.640, 1.444, 0, 270, 0, 82 [SEP] 52, Mug, 1.055, 1.661, -2.097, 0, 270, 0, 58 [SEP] 53, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 54, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 55, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 56, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 57, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 58, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 59, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 60, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 61, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 62, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 63, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 64, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 65, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 66, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 67, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 68, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 69, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 70, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 71, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 72, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 73, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 74, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 75, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 76, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 77, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 78, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 79, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 80, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 81, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 82, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 83, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 84, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 85, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 86, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 87, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 88, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 89, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 90, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 91, NorthWall, , , , , , , [SEP] 92, EastWall, , , , , , , [SEP] 93, SouthWall, , , , , , , [SEP] 94, WestWall, , , , , , , ", "output": ["STEP 1: turn right, turn right, walk to the refrigerator, turn around | STEP 2: grab the knife on the counter | STEP 3: turn around, walk to the stove, | STEP 4: put the knife in the pan on the stove | STEP 5: grab the pan from the stove | STEP 6: turn around to the sink | STEP 7: put the pan in the sink | END"]} +{"id": "trial_T20190906_180922_517529-0", "input": "Pick up laptop and 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, -3.75, 0.901, 2.5, 0, 90, 0, [SEP] 1, TissueBox, -3.121, 0.201, 4.466, 0, 90, 0, 58 [SEP] 2, TissueBox, -5.024, 1.040, 0.239, 0, 0, 0, 41 [SEP] 3, Newspaper, -3.638, 0.210, 4.395, 0, 90, 0, 57 [SEP] 4, Newspaper, -2.901, 1.114, 4.786, 0, 90, 0, 59 [SEP] 5, CellPhone, -0.787, 0.609, 2.224, 0, 0, 0, 63 [SEP] 6, Vase, -4.184, 1.111, 4.490, 0, 90, 0, 59 [SEP] 7, Watch, -1.551, 0.593, 0.258, 0, 0, 0, 49 [SEP] 8, KeyChain, -2.210, 0.590, 4.384, 0, 0, 0, 53 [SEP] 9, KeyChain, -0.787, 0.609, 3.545, 0, 0, 0, 63 [SEP] 10, RemoteControl, -0.952, 0.611, 3.545, 0, 0, 0, 63 [SEP] 11, RemoteControl, -1.584, 0.592, 4.211, 0, 0, 0, 53 [SEP] 12, Box, -4.154, 0.421, 4.342, 0, 180, 0, 56 [SEP] 13, Box, -1.584, 0.811, 4.470, 0, 0, 0, 53 [SEP] 14, Laptop, -3.864, 1.109, 4.687, 0, 90, 0, 59 [SEP] 15, Box, -0.952, 0.843, 2.753, 0, 0, 0, 63 [SEP] 16, Watch, -4.272, 0.997, 4.359, 0, 90, 0, 54 [SEP] 17, Pillow, -2.031, 0.668, 4.421, 0, 0, 0, 53 [SEP] 18, TissueBox, -4.184, 1.109, 4.786, 0, 90, 0, 59 [SEP] 19, Newspaper, -5.534, 1.045, 0.239, 0, 0, 0, 41 [SEP] 20, CreditCard, -3.863, 1.107, 4.292, 0, 90, 0, 55 [SEP] 21, KeyChain, -5.194, 1.039, 0.504, 0, 0, 0, 41 [SEP] 22, CellPhone, -2.404, 0.034, 0.160, 0, 90, 0, 42 [SEP] 23, Statue, -5.024, 1.044, 0.438, 0, 0, 0, 41 [SEP] 24, Laptop, -3.393, 1.104, 4.492, 0, 191.867, 0, 59 [SEP] 25, RemoteControl, -1.117, 0.611, 3.281, 0, 0, 0, 63 [SEP] 26, Vase, -2.297, 0.037, 0.265, 0, 90, 0, 42 [SEP] 27, DeskLamp, -4.649, 1.051, 0.268, 0, 0, 0, [SEP] 28, DeskLamp, -2.992, 1.107, 4.522, 0, 0, 0, [SEP] 29, FloorLamp, -0.650, 0.007, 4.431, 0, 0, 0, [SEP] 30, FloorLamp, -5.607, 0.007, 4.641, 0, 0, 0, [SEP] 31, Shelf, -5.237, 1.776, 0.070, 0, 0, 0, [SEP] 32, Shelf, -5.238, 1.968, 0.085, 0, 0, 0, [SEP] 33, Shelf, -5.242, 1.391, 0.086, 0, 0, 0, [SEP] 34, Shelf, -5.241, 1.582, 0.065, 0, 0, 0, [SEP] 35, LightSwitch, -6.002, 1.353, 3.404, 0, 90, 0, [SEP] 36, GarbageCan, -5.794, -0.033, 4.073, 0, 90, 0, [SEP] 37, Painting, -6.017, 1.802, 4.177, 90, 270, 0, [SEP] 38, HousePlant, -3.966, 1.625, 0.135, 0, 315, 0, [SEP] 39, Television, -3.355, 0.833, 0.027, 0, 0, 0, [SEP] 40, Drawer, -5.024, 0.903, 0.370, 0, 0, 0, [SEP] 41, SideTable, -5.024, 0.008, 0.267, 0, 0, 0, [SEP] 42, Safe, -2.298, 5.778, 0.268, 0, 90, 0, [SEP] 43, Shelf, -0.253, 0.781, 1.058, 0, 270, 0, [SEP] 44, Shelf, -0.283, 0.274, 1.066, 0, 270, 0, [SEP] 45, Shelf, -1.224, 1.288, 0.270, 0, 0, 0, [SEP] 46, Shelf, -1.218, 1.810, 0.275, 0, 0, 0, [SEP] 47, Shelf, -0.280, 1.810, 1.057, 0, 270, 0, [SEP] 48, Shelf, -1.218, 0.274, 0.262, 0, 0, 0, [SEP] 49, Shelf, -1.223, 0.782, 0.237, 0, 0, 0, [SEP] 50, Shelf, -0.280, 1.288, 1.055, 0, 270, 0, [SEP] 51, ShelvingUnit, -0.268, 0.004, 1.067, 0, 270, 0, [SEP] 52, ShelvingUnit, -1.218, 0.004, 0.244, 0, 0, 0, [SEP] 53, ArmChair, -2.027, 0.001, 4.422, 0, 178.692, 0, [SEP] 54, Drawer, -4.329, 1.014, 4.311, 0, 180, 0, [SEP] 55, Drawer, -3.750, 1.014, 4.311, 0, 180, 0, [SEP] 56, Cabinet, -4.049, 0.561, 4.212, 0, 180, 0, [SEP] 57, Cabinet, -4.032, 0.561, 4.212, 0, 180, 0, [SEP] 58, Cabinet, -2.884, 0.561, 4.212, 0, 180, 0, [SEP] 59, Dresser, -4.041, -0.000, 4.589, 0, 180, 0, [SEP] 60, Drawer, -4.916, 1.014, 4.311, 0, 180, 0, [SEP] 61, Drawer, -3.166, 1.014, 4.311, 0, 180, 0, [SEP] 62, Cabinet, -5.196, 0.561, 4.212, 0, 180, 0, [SEP] 63, Sofa, -0.705, -0.002, 2.753, 0, 270, 0, [SEP] 64, NorthWall, , , , , , , [SEP] 65, SouthWall, , , , , , , [SEP] 66, SouthWall, , , , , , , ", "output": ["STEP 1: turn to left then find the desk | STEP 2: close the laptop then pick it up | STEP 3: turn to the right then stand in front of the couch | STEP 4: turn on the lamp on your left | END"]} +{"id": "trial_T20190906_180922_517529-1", "input": "Examine a laptop 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, -3.75, 0.901, 2.5, 0, 90, 0, [SEP] 1, TissueBox, -3.121, 0.201, 4.466, 0, 90, 0, 58 [SEP] 2, TissueBox, -5.024, 1.040, 0.239, 0, 0, 0, 41 [SEP] 3, Newspaper, -3.638, 0.210, 4.395, 0, 90, 0, 57 [SEP] 4, Newspaper, -2.901, 1.114, 4.786, 0, 90, 0, 59 [SEP] 5, CellPhone, -0.787, 0.609, 2.224, 0, 0, 0, 63 [SEP] 6, Vase, -4.184, 1.111, 4.490, 0, 90, 0, 59 [SEP] 7, Watch, -1.551, 0.593, 0.258, 0, 0, 0, 49 [SEP] 8, KeyChain, -2.210, 0.590, 4.384, 0, 0, 0, 53 [SEP] 9, KeyChain, -0.787, 0.609, 3.545, 0, 0, 0, 63 [SEP] 10, RemoteControl, -0.952, 0.611, 3.545, 0, 0, 0, 63 [SEP] 11, RemoteControl, -1.584, 0.592, 4.211, 0, 0, 0, 53 [SEP] 12, Box, -4.154, 0.421, 4.342, 0, 180, 0, 56 [SEP] 13, Box, -1.584, 0.811, 4.470, 0, 0, 0, 53 [SEP] 14, Laptop, -3.864, 1.109, 4.687, 0, 90, 0, 59 [SEP] 15, Box, -0.952, 0.843, 2.753, 0, 0, 0, 63 [SEP] 16, Watch, -4.272, 0.997, 4.359, 0, 90, 0, 54 [SEP] 17, Pillow, -2.031, 0.668, 4.421, 0, 0, 0, 53 [SEP] 18, TissueBox, -4.184, 1.109, 4.786, 0, 90, 0, 59 [SEP] 19, Newspaper, -5.534, 1.045, 0.239, 0, 0, 0, 41 [SEP] 20, CreditCard, -3.863, 1.107, 4.292, 0, 90, 0, 55 [SEP] 21, KeyChain, -5.194, 1.039, 0.504, 0, 0, 0, 41 [SEP] 22, CellPhone, -2.404, 0.034, 0.160, 0, 90, 0, 42 [SEP] 23, Statue, -5.024, 1.044, 0.438, 0, 0, 0, 41 [SEP] 24, Laptop, -3.393, 1.104, 4.492, 0, 191.867, 0, 59 [SEP] 25, RemoteControl, -1.117, 0.611, 3.281, 0, 0, 0, 63 [SEP] 26, Vase, -2.297, 0.037, 0.265, 0, 90, 0, 42 [SEP] 27, DeskLamp, -4.649, 1.051, 0.268, 0, 0, 0, [SEP] 28, DeskLamp, -2.992, 1.107, 4.522, 0, 0, 0, [SEP] 29, FloorLamp, -0.650, 0.007, 4.431, 0, 0, 0, [SEP] 30, FloorLamp, -5.607, 0.007, 4.641, 0, 0, 0, [SEP] 31, Shelf, -5.237, 1.776, 0.070, 0, 0, 0, [SEP] 32, Shelf, -5.238, 1.968, 0.085, 0, 0, 0, [SEP] 33, Shelf, -5.242, 1.391, 0.086, 0, 0, 0, [SEP] 34, Shelf, -5.241, 1.582, 0.065, 0, 0, 0, [SEP] 35, LightSwitch, -6.002, 1.353, 3.404, 0, 90, 0, [SEP] 36, GarbageCan, -5.794, -0.033, 4.073, 0, 90, 0, [SEP] 37, Painting, -6.017, 1.802, 4.177, 90, 270, 0, [SEP] 38, HousePlant, -3.966, 1.625, 0.135, 0, 315, 0, [SEP] 39, Television, -3.355, 0.833, 0.027, 0, 0, 0, [SEP] 40, Drawer, -5.024, 0.903, 0.370, 0, 0, 0, [SEP] 41, SideTable, -5.024, 0.008, 0.267, 0, 0, 0, [SEP] 42, Safe, -2.298, 5.778, 0.268, 0, 90, 0, [SEP] 43, Shelf, -0.253, 0.781, 1.058, 0, 270, 0, [SEP] 44, Shelf, -0.283, 0.274, 1.066, 0, 270, 0, [SEP] 45, Shelf, -1.224, 1.288, 0.270, 0, 0, 0, [SEP] 46, Shelf, -1.218, 1.810, 0.275, 0, 0, 0, [SEP] 47, Shelf, -0.280, 1.810, 1.057, 0, 270, 0, [SEP] 48, Shelf, -1.218, 0.274, 0.262, 0, 0, 0, [SEP] 49, Shelf, -1.223, 0.782, 0.237, 0, 0, 0, [SEP] 50, Shelf, -0.280, 1.288, 1.055, 0, 270, 0, [SEP] 51, ShelvingUnit, -0.268, 0.004, 1.067, 0, 270, 0, [SEP] 52, ShelvingUnit, -1.218, 0.004, 0.244, 0, 0, 0, [SEP] 53, ArmChair, -2.027, 0.001, 4.422, 0, 178.692, 0, [SEP] 54, Drawer, -4.329, 1.014, 4.311, 0, 180, 0, [SEP] 55, Drawer, -3.750, 1.014, 4.311, 0, 180, 0, [SEP] 56, Cabinet, -4.049, 0.561, 4.212, 0, 180, 0, [SEP] 57, Cabinet, -4.032, 0.561, 4.212, 0, 180, 0, [SEP] 58, Cabinet, -2.884, 0.561, 4.212, 0, 180, 0, [SEP] 59, Dresser, -4.041, -0.000, 4.589, 0, 180, 0, [SEP] 60, Drawer, -4.916, 1.014, 4.311, 0, 180, 0, [SEP] 61, Drawer, -3.166, 1.014, 4.311, 0, 180, 0, [SEP] 62, Cabinet, -5.196, 0.561, 4.212, 0, 180, 0, [SEP] 63, Sofa, -0.705, -0.002, 2.753, 0, 270, 0, [SEP] 64, NorthWall, , , , , , , [SEP] 65, SouthWall, , , , , , , [SEP] 66, SouthWall, , , , , , , ", "output": ["STEP 1: Turn left and head towards the dresser. | STEP 2: Close the lid of the laptop on the right and pick it up. | STEP 3: Turn right and head towards the white sofa. | STEP 4: Turn on the lamp to the left of the sofa. | END"]} +{"id": "trial_T20190906_180922_517529-2", "input": "Examine a laptop using 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, -3.75, 0.901, 2.5, 0, 90, 0, [SEP] 1, TissueBox, -3.121, 0.201, 4.466, 0, 90, 0, 58 [SEP] 2, TissueBox, -5.024, 1.040, 0.239, 0, 0, 0, 41 [SEP] 3, Newspaper, -3.638, 0.210, 4.395, 0, 90, 0, 57 [SEP] 4, Newspaper, -2.901, 1.114, 4.786, 0, 90, 0, 59 [SEP] 5, CellPhone, -0.787, 0.609, 2.224, 0, 0, 0, 63 [SEP] 6, Vase, -4.184, 1.111, 4.490, 0, 90, 0, 59 [SEP] 7, Watch, -1.551, 0.593, 0.258, 0, 0, 0, 49 [SEP] 8, KeyChain, -2.210, 0.590, 4.384, 0, 0, 0, 53 [SEP] 9, KeyChain, -0.787, 0.609, 3.545, 0, 0, 0, 63 [SEP] 10, RemoteControl, -0.952, 0.611, 3.545, 0, 0, 0, 63 [SEP] 11, RemoteControl, -1.584, 0.592, 4.211, 0, 0, 0, 53 [SEP] 12, Box, -4.154, 0.421, 4.342, 0, 180, 0, 56 [SEP] 13, Box, -1.584, 0.811, 4.470, 0, 0, 0, 53 [SEP] 14, Laptop, -3.864, 1.109, 4.687, 0, 90, 0, 59 [SEP] 15, Box, -0.952, 0.843, 2.753, 0, 0, 0, 63 [SEP] 16, Watch, -4.272, 0.997, 4.359, 0, 90, 0, 54 [SEP] 17, Pillow, -2.031, 0.668, 4.421, 0, 0, 0, 53 [SEP] 18, TissueBox, -4.184, 1.109, 4.786, 0, 90, 0, 59 [SEP] 19, Newspaper, -5.534, 1.045, 0.239, 0, 0, 0, 41 [SEP] 20, CreditCard, -3.863, 1.107, 4.292, 0, 90, 0, 55 [SEP] 21, KeyChain, -5.194, 1.039, 0.504, 0, 0, 0, 41 [SEP] 22, CellPhone, -2.404, 0.034, 0.160, 0, 90, 0, 42 [SEP] 23, Statue, -5.024, 1.044, 0.438, 0, 0, 0, 41 [SEP] 24, Laptop, -3.393, 1.104, 4.492, 0, 191.867, 0, 59 [SEP] 25, RemoteControl, -1.117, 0.611, 3.281, 0, 0, 0, 63 [SEP] 26, Vase, -2.297, 0.037, 0.265, 0, 90, 0, 42 [SEP] 27, DeskLamp, -4.649, 1.051, 0.268, 0, 0, 0, [SEP] 28, DeskLamp, -2.992, 1.107, 4.522, 0, 0, 0, [SEP] 29, FloorLamp, -0.650, 0.007, 4.431, 0, 0, 0, [SEP] 30, FloorLamp, -5.607, 0.007, 4.641, 0, 0, 0, [SEP] 31, Shelf, -5.237, 1.776, 0.070, 0, 0, 0, [SEP] 32, Shelf, -5.238, 1.968, 0.085, 0, 0, 0, [SEP] 33, Shelf, -5.242, 1.391, 0.086, 0, 0, 0, [SEP] 34, Shelf, -5.241, 1.582, 0.065, 0, 0, 0, [SEP] 35, LightSwitch, -6.002, 1.353, 3.404, 0, 90, 0, [SEP] 36, GarbageCan, -5.794, -0.033, 4.073, 0, 90, 0, [SEP] 37, Painting, -6.017, 1.802, 4.177, 90, 270, 0, [SEP] 38, HousePlant, -3.966, 1.625, 0.135, 0, 315, 0, [SEP] 39, Television, -3.355, 0.833, 0.027, 0, 0, 0, [SEP] 40, Drawer, -5.024, 0.903, 0.370, 0, 0, 0, [SEP] 41, SideTable, -5.024, 0.008, 0.267, 0, 0, 0, [SEP] 42, Safe, -2.298, 5.778, 0.268, 0, 90, 0, [SEP] 43, Shelf, -0.253, 0.781, 1.058, 0, 270, 0, [SEP] 44, Shelf, -0.283, 0.274, 1.066, 0, 270, 0, [SEP] 45, Shelf, -1.224, 1.288, 0.270, 0, 0, 0, [SEP] 46, Shelf, -1.218, 1.810, 0.275, 0, 0, 0, [SEP] 47, Shelf, -0.280, 1.810, 1.057, 0, 270, 0, [SEP] 48, Shelf, -1.218, 0.274, 0.262, 0, 0, 0, [SEP] 49, Shelf, -1.223, 0.782, 0.237, 0, 0, 0, [SEP] 50, Shelf, -0.280, 1.288, 1.055, 0, 270, 0, [SEP] 51, ShelvingUnit, -0.268, 0.004, 1.067, 0, 270, 0, [SEP] 52, ShelvingUnit, -1.218, 0.004, 0.244, 0, 0, 0, [SEP] 53, ArmChair, -2.027, 0.001, 4.422, 0, 178.692, 0, [SEP] 54, Drawer, -4.329, 1.014, 4.311, 0, 180, 0, [SEP] 55, Drawer, -3.750, 1.014, 4.311, 0, 180, 0, [SEP] 56, Cabinet, -4.049, 0.561, 4.212, 0, 180, 0, [SEP] 57, Cabinet, -4.032, 0.561, 4.212, 0, 180, 0, [SEP] 58, Cabinet, -2.884, 0.561, 4.212, 0, 180, 0, [SEP] 59, Dresser, -4.041, -0.000, 4.589, 0, 180, 0, [SEP] 60, Drawer, -4.916, 1.014, 4.311, 0, 180, 0, [SEP] 61, Drawer, -3.166, 1.014, 4.311, 0, 180, 0, [SEP] 62, Cabinet, -5.196, 0.561, 4.212, 0, 180, 0, [SEP] 63, Sofa, -0.705, -0.002, 2.753, 0, 270, 0, [SEP] 64, NorthWall, , , , , , , [SEP] 65, SouthWall, , , , , , , [SEP] 66, SouthWall, , , , , , , ", "output": ["STEP 1: Turn to your left and walk over to the cabinets where the laptops are. | STEP 2: Pick up the laptop on the right after closing it. | STEP 3: Turn to your right and walk up to the floor lamp between the two chairs. | STEP 4: Turn on the floor lamp. | END"]} +{"id": "trial_T20190906_180922_517529-3", "input": "Examine a computer by the light from a lamp. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.75, 0.901, 2.5, 0, 90, 0, [SEP] 1, TissueBox, -3.121, 0.201, 4.466, 0, 90, 0, 58 [SEP] 2, TissueBox, -5.024, 1.040, 0.239, 0, 0, 0, 41 [SEP] 3, Newspaper, -3.638, 0.210, 4.395, 0, 90, 0, 57 [SEP] 4, Newspaper, -2.901, 1.114, 4.786, 0, 90, 0, 59 [SEP] 5, CellPhone, -0.787, 0.609, 2.224, 0, 0, 0, 63 [SEP] 6, Vase, -4.184, 1.111, 4.490, 0, 90, 0, 59 [SEP] 7, Watch, -1.551, 0.593, 0.258, 0, 0, 0, 49 [SEP] 8, KeyChain, -2.210, 0.590, 4.384, 0, 0, 0, 53 [SEP] 9, KeyChain, -0.787, 0.609, 3.545, 0, 0, 0, 63 [SEP] 10, RemoteControl, -0.952, 0.611, 3.545, 0, 0, 0, 63 [SEP] 11, RemoteControl, -1.584, 0.592, 4.211, 0, 0, 0, 53 [SEP] 12, Box, -4.154, 0.421, 4.342, 0, 180, 0, 56 [SEP] 13, Box, -1.584, 0.811, 4.470, 0, 0, 0, 53 [SEP] 14, Laptop, -3.864, 1.109, 4.687, 0, 90, 0, 59 [SEP] 15, Box, -0.952, 0.843, 2.753, 0, 0, 0, 63 [SEP] 16, Watch, -4.272, 0.997, 4.359, 0, 90, 0, 54 [SEP] 17, Pillow, -2.031, 0.668, 4.421, 0, 0, 0, 53 [SEP] 18, TissueBox, -4.184, 1.109, 4.786, 0, 90, 0, 59 [SEP] 19, Newspaper, -5.534, 1.045, 0.239, 0, 0, 0, 41 [SEP] 20, CreditCard, -3.863, 1.107, 4.292, 0, 90, 0, 55 [SEP] 21, KeyChain, -5.194, 1.039, 0.504, 0, 0, 0, 41 [SEP] 22, CellPhone, -2.404, 0.034, 0.160, 0, 90, 0, 42 [SEP] 23, Statue, -5.024, 1.044, 0.438, 0, 0, 0, 41 [SEP] 24, Laptop, -3.393, 1.104, 4.492, 0, 191.867, 0, 59 [SEP] 25, RemoteControl, -1.117, 0.611, 3.281, 0, 0, 0, 63 [SEP] 26, Vase, -2.297, 0.037, 0.265, 0, 90, 0, 42 [SEP] 27, DeskLamp, -4.649, 1.051, 0.268, 0, 0, 0, [SEP] 28, DeskLamp, -2.992, 1.107, 4.522, 0, 0, 0, [SEP] 29, FloorLamp, -0.650, 0.007, 4.431, 0, 0, 0, [SEP] 30, FloorLamp, -5.607, 0.007, 4.641, 0, 0, 0, [SEP] 31, Shelf, -5.237, 1.776, 0.070, 0, 0, 0, [SEP] 32, Shelf, -5.238, 1.968, 0.085, 0, 0, 0, [SEP] 33, Shelf, -5.242, 1.391, 0.086, 0, 0, 0, [SEP] 34, Shelf, -5.241, 1.582, 0.065, 0, 0, 0, [SEP] 35, LightSwitch, -6.002, 1.353, 3.404, 0, 90, 0, [SEP] 36, GarbageCan, -5.794, -0.033, 4.073, 0, 90, 0, [SEP] 37, Painting, -6.017, 1.802, 4.177, 90, 270, 0, [SEP] 38, HousePlant, -3.966, 1.625, 0.135, 0, 315, 0, [SEP] 39, Television, -3.355, 0.833, 0.027, 0, 0, 0, [SEP] 40, Drawer, -5.024, 0.903, 0.370, 0, 0, 0, [SEP] 41, SideTable, -5.024, 0.008, 0.267, 0, 0, 0, [SEP] 42, Safe, -2.298, 5.778, 0.268, 0, 90, 0, [SEP] 43, Shelf, -0.253, 0.781, 1.058, 0, 270, 0, [SEP] 44, Shelf, -0.283, 0.274, 1.066, 0, 270, 0, [SEP] 45, Shelf, -1.224, 1.288, 0.270, 0, 0, 0, [SEP] 46, Shelf, -1.218, 1.810, 0.275, 0, 0, 0, [SEP] 47, Shelf, -0.280, 1.810, 1.057, 0, 270, 0, [SEP] 48, Shelf, -1.218, 0.274, 0.262, 0, 0, 0, [SEP] 49, Shelf, -1.223, 0.782, 0.237, 0, 0, 0, [SEP] 50, Shelf, -0.280, 1.288, 1.055, 0, 270, 0, [SEP] 51, ShelvingUnit, -0.268, 0.004, 1.067, 0, 270, 0, [SEP] 52, ShelvingUnit, -1.218, 0.004, 0.244, 0, 0, 0, [SEP] 53, ArmChair, -2.027, 0.001, 4.422, 0, 178.692, 0, [SEP] 54, Drawer, -4.329, 1.014, 4.311, 0, 180, 0, [SEP] 55, Drawer, -3.750, 1.014, 4.311, 0, 180, 0, [SEP] 56, Cabinet, -4.049, 0.561, 4.212, 0, 180, 0, [SEP] 57, Cabinet, -4.032, 0.561, 4.212, 0, 180, 0, [SEP] 58, Cabinet, -2.884, 0.561, 4.212, 0, 180, 0, [SEP] 59, Dresser, -4.041, -0.000, 4.589, 0, 180, 0, [SEP] 60, Drawer, -4.916, 1.014, 4.311, 0, 180, 0, [SEP] 61, Drawer, -3.166, 1.014, 4.311, 0, 180, 0, [SEP] 62, Cabinet, -5.196, 0.561, 4.212, 0, 180, 0, [SEP] 63, Sofa, -0.705, -0.002, 2.753, 0, 270, 0, [SEP] 64, NorthWall, , , , , , , [SEP] 65, SouthWall, , , , , , , [SEP] 66, SouthWall, , , , , , , ", "output": ["STEP 1: Turn left and move to the brown cabinet with two computers on top. | STEP 2: Close the computer on the right and pick it up. | STEP 3: Turn right and carry the computer to the sofa. | STEP 4: Turn on the light in the corner to the left of the sofa to look at the computer. | END"]} +{"id": "trial_T20190906_180922_517529-4", "input": "Turn on the light while holding a laptop. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -3.75, 0.901, 2.5, 0, 90, 0, [SEP] 1, TissueBox, -3.121, 0.201, 4.466, 0, 90, 0, 58 [SEP] 2, TissueBox, -5.024, 1.040, 0.239, 0, 0, 0, 41 [SEP] 3, Newspaper, -3.638, 0.210, 4.395, 0, 90, 0, 57 [SEP] 4, Newspaper, -2.901, 1.114, 4.786, 0, 90, 0, 59 [SEP] 5, CellPhone, -0.787, 0.609, 2.224, 0, 0, 0, 63 [SEP] 6, Vase, -4.184, 1.111, 4.490, 0, 90, 0, 59 [SEP] 7, Watch, -1.551, 0.593, 0.258, 0, 0, 0, 49 [SEP] 8, KeyChain, -2.210, 0.590, 4.384, 0, 0, 0, 53 [SEP] 9, KeyChain, -0.787, 0.609, 3.545, 0, 0, 0, 63 [SEP] 10, RemoteControl, -0.952, 0.611, 3.545, 0, 0, 0, 63 [SEP] 11, RemoteControl, -1.584, 0.592, 4.211, 0, 0, 0, 53 [SEP] 12, Box, -4.154, 0.421, 4.342, 0, 180, 0, 56 [SEP] 13, Box, -1.584, 0.811, 4.470, 0, 0, 0, 53 [SEP] 14, Laptop, -3.864, 1.109, 4.687, 0, 90, 0, 59 [SEP] 15, Box, -0.952, 0.843, 2.753, 0, 0, 0, 63 [SEP] 16, Watch, -4.272, 0.997, 4.359, 0, 90, 0, 54 [SEP] 17, Pillow, -2.031, 0.668, 4.421, 0, 0, 0, 53 [SEP] 18, TissueBox, -4.184, 1.109, 4.786, 0, 90, 0, 59 [SEP] 19, Newspaper, -5.534, 1.045, 0.239, 0, 0, 0, 41 [SEP] 20, CreditCard, -3.863, 1.107, 4.292, 0, 90, 0, 55 [SEP] 21, KeyChain, -5.194, 1.039, 0.504, 0, 0, 0, 41 [SEP] 22, CellPhone, -2.404, 0.034, 0.160, 0, 90, 0, 42 [SEP] 23, Statue, -5.024, 1.044, 0.438, 0, 0, 0, 41 [SEP] 24, Laptop, -3.393, 1.104, 4.492, 0, 191.867, 0, 59 [SEP] 25, RemoteControl, -1.117, 0.611, 3.281, 0, 0, 0, 63 [SEP] 26, Vase, -2.297, 0.037, 0.265, 0, 90, 0, 42 [SEP] 27, DeskLamp, -4.649, 1.051, 0.268, 0, 0, 0, [SEP] 28, DeskLamp, -2.992, 1.107, 4.522, 0, 0, 0, [SEP] 29, FloorLamp, -0.650, 0.007, 4.431, 0, 0, 0, [SEP] 30, FloorLamp, -5.607, 0.007, 4.641, 0, 0, 0, [SEP] 31, Shelf, -5.237, 1.776, 0.070, 0, 0, 0, [SEP] 32, Shelf, -5.238, 1.968, 0.085, 0, 0, 0, [SEP] 33, Shelf, -5.242, 1.391, 0.086, 0, 0, 0, [SEP] 34, Shelf, -5.241, 1.582, 0.065, 0, 0, 0, [SEP] 35, LightSwitch, -6.002, 1.353, 3.404, 0, 90, 0, [SEP] 36, GarbageCan, -5.794, -0.033, 4.073, 0, 90, 0, [SEP] 37, Painting, -6.017, 1.802, 4.177, 90, 270, 0, [SEP] 38, HousePlant, -3.966, 1.625, 0.135, 0, 315, 0, [SEP] 39, Television, -3.355, 0.833, 0.027, 0, 0, 0, [SEP] 40, Drawer, -5.024, 0.903, 0.370, 0, 0, 0, [SEP] 41, SideTable, -5.024, 0.008, 0.267, 0, 0, 0, [SEP] 42, Safe, -2.298, 5.778, 0.268, 0, 90, 0, [SEP] 43, Shelf, -0.253, 0.781, 1.058, 0, 270, 0, [SEP] 44, Shelf, -0.283, 0.274, 1.066, 0, 270, 0, [SEP] 45, Shelf, -1.224, 1.288, 0.270, 0, 0, 0, [SEP] 46, Shelf, -1.218, 1.810, 0.275, 0, 0, 0, [SEP] 47, Shelf, -0.280, 1.810, 1.057, 0, 270, 0, [SEP] 48, Shelf, -1.218, 0.274, 0.262, 0, 0, 0, [SEP] 49, Shelf, -1.223, 0.782, 0.237, 0, 0, 0, [SEP] 50, Shelf, -0.280, 1.288, 1.055, 0, 270, 0, [SEP] 51, ShelvingUnit, -0.268, 0.004, 1.067, 0, 270, 0, [SEP] 52, ShelvingUnit, -1.218, 0.004, 0.244, 0, 0, 0, [SEP] 53, ArmChair, -2.027, 0.001, 4.422, 0, 178.692, 0, [SEP] 54, Drawer, -4.329, 1.014, 4.311, 0, 180, 0, [SEP] 55, Drawer, -3.750, 1.014, 4.311, 0, 180, 0, [SEP] 56, Cabinet, -4.049, 0.561, 4.212, 0, 180, 0, [SEP] 57, Cabinet, -4.032, 0.561, 4.212, 0, 180, 0, [SEP] 58, Cabinet, -2.884, 0.561, 4.212, 0, 180, 0, [SEP] 59, Dresser, -4.041, -0.000, 4.589, 0, 180, 0, [SEP] 60, Drawer, -4.916, 1.014, 4.311, 0, 180, 0, [SEP] 61, Drawer, -3.166, 1.014, 4.311, 0, 180, 0, [SEP] 62, Cabinet, -5.196, 0.561, 4.212, 0, 180, 0, [SEP] 63, Sofa, -0.705, -0.002, 2.753, 0, 270, 0, [SEP] 64, NorthWall, , , , , , , [SEP] 65, SouthWall, , , , , , , [SEP] 66, SouthWall, , , , , , , ", "output": ["STEP 1: Turn left and walk to the dresser. | STEP 2: Close the laptop in front and pick it up. | STEP 3: Turn right and walk to the beige couch. | STEP 4: Turn on the light next to the beige couch. | END"]} +{"id": "trial_T20190906_180922_517529-5", "input": "Carry a laptop 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, -3.75, 0.901, 2.5, 0, 90, 0, [SEP] 1, TissueBox, -3.121, 0.201, 4.466, 0, 90, 0, 58 [SEP] 2, TissueBox, -5.024, 1.040, 0.239, 0, 0, 0, 41 [SEP] 3, Newspaper, -3.638, 0.210, 4.395, 0, 90, 0, 57 [SEP] 4, Newspaper, -2.901, 1.114, 4.786, 0, 90, 0, 59 [SEP] 5, CellPhone, -0.787, 0.609, 2.224, 0, 0, 0, 63 [SEP] 6, Vase, -4.184, 1.111, 4.490, 0, 90, 0, 59 [SEP] 7, Watch, -1.551, 0.593, 0.258, 0, 0, 0, 49 [SEP] 8, KeyChain, -2.210, 0.590, 4.384, 0, 0, 0, 53 [SEP] 9, KeyChain, -0.787, 0.609, 3.545, 0, 0, 0, 63 [SEP] 10, RemoteControl, -0.952, 0.611, 3.545, 0, 0, 0, 63 [SEP] 11, RemoteControl, -1.584, 0.592, 4.211, 0, 0, 0, 53 [SEP] 12, Box, -4.154, 0.421, 4.342, 0, 180, 0, 56 [SEP] 13, Box, -1.584, 0.811, 4.470, 0, 0, 0, 53 [SEP] 14, Laptop, -3.864, 1.109, 4.687, 0, 90, 0, 59 [SEP] 15, Box, -0.952, 0.843, 2.753, 0, 0, 0, 63 [SEP] 16, Watch, -4.272, 0.997, 4.359, 0, 90, 0, 54 [SEP] 17, Pillow, -2.031, 0.668, 4.421, 0, 0, 0, 53 [SEP] 18, TissueBox, -4.184, 1.109, 4.786, 0, 90, 0, 59 [SEP] 19, Newspaper, -5.534, 1.045, 0.239, 0, 0, 0, 41 [SEP] 20, CreditCard, -3.863, 1.107, 4.292, 0, 90, 0, 55 [SEP] 21, KeyChain, -5.194, 1.039, 0.504, 0, 0, 0, 41 [SEP] 22, CellPhone, -2.404, 0.034, 0.160, 0, 90, 0, 42 [SEP] 23, Statue, -5.024, 1.044, 0.438, 0, 0, 0, 41 [SEP] 24, Laptop, -3.393, 1.104, 4.492, 0, 191.867, 0, 59 [SEP] 25, RemoteControl, -1.117, 0.611, 3.281, 0, 0, 0, 63 [SEP] 26, Vase, -2.297, 0.037, 0.265, 0, 90, 0, 42 [SEP] 27, DeskLamp, -4.649, 1.051, 0.268, 0, 0, 0, [SEP] 28, DeskLamp, -2.992, 1.107, 4.522, 0, 0, 0, [SEP] 29, FloorLamp, -0.650, 0.007, 4.431, 0, 0, 0, [SEP] 30, FloorLamp, -5.607, 0.007, 4.641, 0, 0, 0, [SEP] 31, Shelf, -5.237, 1.776, 0.070, 0, 0, 0, [SEP] 32, Shelf, -5.238, 1.968, 0.085, 0, 0, 0, [SEP] 33, Shelf, -5.242, 1.391, 0.086, 0, 0, 0, [SEP] 34, Shelf, -5.241, 1.582, 0.065, 0, 0, 0, [SEP] 35, LightSwitch, -6.002, 1.353, 3.404, 0, 90, 0, [SEP] 36, GarbageCan, -5.794, -0.033, 4.073, 0, 90, 0, [SEP] 37, Painting, -6.017, 1.802, 4.177, 90, 270, 0, [SEP] 38, HousePlant, -3.966, 1.625, 0.135, 0, 315, 0, [SEP] 39, Television, -3.355, 0.833, 0.027, 0, 0, 0, [SEP] 40, Drawer, -5.024, 0.903, 0.370, 0, 0, 0, [SEP] 41, SideTable, -5.024, 0.008, 0.267, 0, 0, 0, [SEP] 42, Safe, -2.298, 5.778, 0.268, 0, 90, 0, [SEP] 43, Shelf, -0.253, 0.781, 1.058, 0, 270, 0, [SEP] 44, Shelf, -0.283, 0.274, 1.066, 0, 270, 0, [SEP] 45, Shelf, -1.224, 1.288, 0.270, 0, 0, 0, [SEP] 46, Shelf, -1.218, 1.810, 0.275, 0, 0, 0, [SEP] 47, Shelf, -0.280, 1.810, 1.057, 0, 270, 0, [SEP] 48, Shelf, -1.218, 0.274, 0.262, 0, 0, 0, [SEP] 49, Shelf, -1.223, 0.782, 0.237, 0, 0, 0, [SEP] 50, Shelf, -0.280, 1.288, 1.055, 0, 270, 0, [SEP] 51, ShelvingUnit, -0.268, 0.004, 1.067, 0, 270, 0, [SEP] 52, ShelvingUnit, -1.218, 0.004, 0.244, 0, 0, 0, [SEP] 53, ArmChair, -2.027, 0.001, 4.422, 0, 178.692, 0, [SEP] 54, Drawer, -4.329, 1.014, 4.311, 0, 180, 0, [SEP] 55, Drawer, -3.750, 1.014, 4.311, 0, 180, 0, [SEP] 56, Cabinet, -4.049, 0.561, 4.212, 0, 180, 0, [SEP] 57, Cabinet, -4.032, 0.561, 4.212, 0, 180, 0, [SEP] 58, Cabinet, -2.884, 0.561, 4.212, 0, 180, 0, [SEP] 59, Dresser, -4.041, -0.000, 4.589, 0, 180, 0, [SEP] 60, Drawer, -4.916, 1.014, 4.311, 0, 180, 0, [SEP] 61, Drawer, -3.166, 1.014, 4.311, 0, 180, 0, [SEP] 62, Cabinet, -5.196, 0.561, 4.212, 0, 180, 0, [SEP] 63, Sofa, -0.705, -0.002, 2.753, 0, 270, 0, [SEP] 64, NorthWall, , , , , , , [SEP] 65, SouthWall, , , , , , , [SEP] 66, SouthWall, , , , , , , ", "output": ["STEP 1: Move to the left facing the large brown cabinet where the laptop is | STEP 2: Pick up the laptop on the far left side on top of the cabinet | STEP 3: Carry the laptop to the large floor lamp to the left of the tan sofa | STEP 4: Turn on the lamp | END"]} +{"id": "trial_T20190907_103041_110705-0", "input": "Examine the box in the light of the tall lamp. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -4.0, 0.901, 3.5, 0, 90, 0, [SEP] 1, TissueBox, -1.280, 1.593, 0.324, 0, 0, 0, 43 [SEP] 2, TissueBox, -4.505, 1.112, 4.391, 0, 90, 0, 56 [SEP] 3, CellPhone, -4.717, 0.861, 0.364, 0, 0, 0, 37 [SEP] 4, Statue, -5.534, 1.044, 0.239, 0, 90, 0, 38 [SEP] 5, Statue, -3.222, 1.117, 4.687, 0, 90, 0, 56 [SEP] 6, Vase, -5.534, 1.043, 0.438, 0, 0, 0, 38 [SEP] 7, Vase, -2.351, 0.037, 0.317, 0, 90, 0, 39 [SEP] 8, Watch, -1.551, 0.593, 0.258, 0, 0, 0, 46 [SEP] 9, Watch, -4.184, 1.111, 4.687, 0, 90, 0, 56 [SEP] 10, CreditCard, -3.684, 0.997, 4.267, 0, 90, 0, 52 [SEP] 11, RemoteControl, -5.364, 1.041, 0.438, 0, 0, 0, 38 [SEP] 12, Box, -0.312, 0.295, 1.102, 0, 270, 0, 41 [SEP] 13, Watch, -1.555, 1.592, 0.169, 0, 0, 0, 43 [SEP] 14, Pillow, -1.584, 0.668, 4.384, 0, 0, 0, 50 [SEP] 15, TissueBox, -0.302, 1.103, 0.917, 0, 270, 0, 40 [SEP] 16, Newspaper, -2.085, 0.596, 4.297, 0, 0, 0, 50 [SEP] 17, CreditCard, -0.870, 0.615, 3.017, 0, 0, 0, 60 [SEP] 18, KeyChain, -0.623, 0.609, 2.753, 0, 0, 0, 60 [SEP] 19, CellPhone, -0.870, 0.609, 1.960, 0, 0, 0, 60 [SEP] 20, Statue, -1.184, 0.079, 0.312, 0, 0, 0, 45 [SEP] 21, Laptop, -3.864, 1.109, 4.687, 0, 90, 0, 56 [SEP] 22, RemoteControl, -1.584, 0.592, 4.211, 0, 0, 0, 50 [SEP] 23, Vase, -4.184, 1.111, 4.391, 0, 90, 0, 56 [SEP] 24, DeskLamp, -4.649, 1.051, 0.268, 0, 0, 0, [SEP] 25, DeskLamp, -2.992, 1.107, 4.522, 0, 0, 0, [SEP] 26, FloorLamp, -0.650, 0.007, 4.431, 0, 0, 0, [SEP] 27, FloorLamp, -5.607, 0.007, 4.641, 0, 0, 0, [SEP] 28, Shelf, -5.237, 1.776, 0.070, 0, 0, 0, [SEP] 29, Shelf, -5.238, 1.968, 0.085, 0, 0, 0, [SEP] 30, Shelf, -5.242, 1.391, 0.086, 0, 0, 0, [SEP] 31, Shelf, -5.241, 1.582, 0.065, 0, 0, 0, [SEP] 32, LightSwitch, -6.002, 1.353, 3.404, 0, 90, 0, [SEP] 33, GarbageCan, -5.794, -0.033, 4.073, 0, 90, 0, [SEP] 34, Painting, -6.017, 1.802, 4.177, 90, 270, 0, [SEP] 35, HousePlant, -3.966, 1.625, 0.135, 0, 315, 0, [SEP] 36, Television, -3.355, 0.833, 0.027, 0, 0, 0, [SEP] 37, Drawer, -5.024, 0.903, 0.370, 0, 0, 0, [SEP] 38, SideTable, -5.024, 0.008, 0.267, 0, 0, 0, [SEP] 39, Safe, -2.298, 5.778, 0.268, 0, 90, 0, [SEP] 40, Shelf, -0.253, 0.781, 1.058, 0, 270, 0, [SEP] 41, Shelf, -0.283, 0.274, 1.066, 0, 270, 0, [SEP] 42, Shelf, -1.224, 1.288, 0.270, 0, 0, 0, [SEP] 43, Shelf, -1.218, 1.810, 0.275, 0, 0, 0, [SEP] 44, Shelf, -0.280, 1.810, 1.057, 0, 270, 0, [SEP] 45, Shelf, -1.218, 0.274, 0.262, 0, 0, 0, [SEP] 46, Shelf, -1.223, 0.782, 0.237, 0, 0, 0, [SEP] 47, Shelf, -0.280, 1.288, 1.055, 0, 270, 0, [SEP] 48, ShelvingUnit, -0.268, 0.004, 1.067, 0, 270, 0, [SEP] 49, ShelvingUnit, -1.218, 0.004, 0.244, 0, 0, 0, [SEP] 50, ArmChair, -2.027, 0.001, 4.422, 0, 178.692, 0, [SEP] 51, Drawer, -4.329, 1.014, 4.311, 0, 180, 0, [SEP] 52, Drawer, -3.750, 1.014, 4.311, 0, 180, 0, [SEP] 53, Cabinet, -4.049, 0.561, 4.212, 0, 180, 0, [SEP] 54, Cabinet, -4.032, 0.561, 4.212, 0, 180, 0, [SEP] 55, Cabinet, -2.884, 0.561, 4.212, 0, 180, 0, [SEP] 56, Dresser, -4.041, -0.000, 4.589, 0, 180, 0, [SEP] 57, Drawer, -4.916, 1.014, 4.311, 0, 180, 0, [SEP] 58, Drawer, -3.166, 1.014, 4.311, 0, 180, 0, [SEP] 59, Cabinet, -5.196, 0.561, 4.212, 0, 180, 0, [SEP] 60, Sofa, -0.705, -0.002, 2.753, 0, 270, 0, [SEP] 61, NorthWall, , , , , , , [SEP] 62, SouthWall, , , , , , , [SEP] 63, SouthWall, , , , , , , ", "output": ["STEP 1: Turn right, move to the fireplace, turn left, move to the white shelf. | STEP 2: Pick up the open box on the bottom shelf. | STEP 3: Turn around, move across the couch to the right and to the lamp in the corner. | STEP 4: Turn on the tall lamp in the corner. | END"]} +{"id": "trial_T20190907_103041_110705-1", "input": "examine the box 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, -4.0, 0.901, 3.5, 0, 90, 0, [SEP] 1, TissueBox, -1.280, 1.593, 0.324, 0, 0, 0, 43 [SEP] 2, TissueBox, -4.505, 1.112, 4.391, 0, 90, 0, 56 [SEP] 3, CellPhone, -4.717, 0.861, 0.364, 0, 0, 0, 37 [SEP] 4, Statue, -5.534, 1.044, 0.239, 0, 90, 0, 38 [SEP] 5, Statue, -3.222, 1.117, 4.687, 0, 90, 0, 56 [SEP] 6, Vase, -5.534, 1.043, 0.438, 0, 0, 0, 38 [SEP] 7, Vase, -2.351, 0.037, 0.317, 0, 90, 0, 39 [SEP] 8, Watch, -1.551, 0.593, 0.258, 0, 0, 0, 46 [SEP] 9, Watch, -4.184, 1.111, 4.687, 0, 90, 0, 56 [SEP] 10, CreditCard, -3.684, 0.997, 4.267, 0, 90, 0, 52 [SEP] 11, RemoteControl, -5.364, 1.041, 0.438, 0, 0, 0, 38 [SEP] 12, Box, -0.312, 0.295, 1.102, 0, 270, 0, 41 [SEP] 13, Watch, -1.555, 1.592, 0.169, 0, 0, 0, 43 [SEP] 14, Pillow, -1.584, 0.668, 4.384, 0, 0, 0, 50 [SEP] 15, TissueBox, -0.302, 1.103, 0.917, 0, 270, 0, 40 [SEP] 16, Newspaper, -2.085, 0.596, 4.297, 0, 0, 0, 50 [SEP] 17, CreditCard, -0.870, 0.615, 3.017, 0, 0, 0, 60 [SEP] 18, KeyChain, -0.623, 0.609, 2.753, 0, 0, 0, 60 [SEP] 19, CellPhone, -0.870, 0.609, 1.960, 0, 0, 0, 60 [SEP] 20, Statue, -1.184, 0.079, 0.312, 0, 0, 0, 45 [SEP] 21, Laptop, -3.864, 1.109, 4.687, 0, 90, 0, 56 [SEP] 22, RemoteControl, -1.584, 0.592, 4.211, 0, 0, 0, 50 [SEP] 23, Vase, -4.184, 1.111, 4.391, 0, 90, 0, 56 [SEP] 24, DeskLamp, -4.649, 1.051, 0.268, 0, 0, 0, [SEP] 25, DeskLamp, -2.992, 1.107, 4.522, 0, 0, 0, [SEP] 26, FloorLamp, -0.650, 0.007, 4.431, 0, 0, 0, [SEP] 27, FloorLamp, -5.607, 0.007, 4.641, 0, 0, 0, [SEP] 28, Shelf, -5.237, 1.776, 0.070, 0, 0, 0, [SEP] 29, Shelf, -5.238, 1.968, 0.085, 0, 0, 0, [SEP] 30, Shelf, -5.242, 1.391, 0.086, 0, 0, 0, [SEP] 31, Shelf, -5.241, 1.582, 0.065, 0, 0, 0, [SEP] 32, LightSwitch, -6.002, 1.353, 3.404, 0, 90, 0, [SEP] 33, GarbageCan, -5.794, -0.033, 4.073, 0, 90, 0, [SEP] 34, Painting, -6.017, 1.802, 4.177, 90, 270, 0, [SEP] 35, HousePlant, -3.966, 1.625, 0.135, 0, 315, 0, [SEP] 36, Television, -3.355, 0.833, 0.027, 0, 0, 0, [SEP] 37, Drawer, -5.024, 0.903, 0.370, 0, 0, 0, [SEP] 38, SideTable, -5.024, 0.008, 0.267, 0, 0, 0, [SEP] 39, Safe, -2.298, 5.778, 0.268, 0, 90, 0, [SEP] 40, Shelf, -0.253, 0.781, 1.058, 0, 270, 0, [SEP] 41, Shelf, -0.283, 0.274, 1.066, 0, 270, 0, [SEP] 42, Shelf, -1.224, 1.288, 0.270, 0, 0, 0, [SEP] 43, Shelf, -1.218, 1.810, 0.275, 0, 0, 0, [SEP] 44, Shelf, -0.280, 1.810, 1.057, 0, 270, 0, [SEP] 45, Shelf, -1.218, 0.274, 0.262, 0, 0, 0, [SEP] 46, Shelf, -1.223, 0.782, 0.237, 0, 0, 0, [SEP] 47, Shelf, -0.280, 1.288, 1.055, 0, 270, 0, [SEP] 48, ShelvingUnit, -0.268, 0.004, 1.067, 0, 270, 0, [SEP] 49, ShelvingUnit, -1.218, 0.004, 0.244, 0, 0, 0, [SEP] 50, ArmChair, -2.027, 0.001, 4.422, 0, 178.692, 0, [SEP] 51, Drawer, -4.329, 1.014, 4.311, 0, 180, 0, [SEP] 52, Drawer, -3.750, 1.014, 4.311, 0, 180, 0, [SEP] 53, Cabinet, -4.049, 0.561, 4.212, 0, 180, 0, [SEP] 54, Cabinet, -4.032, 0.561, 4.212, 0, 180, 0, [SEP] 55, Cabinet, -2.884, 0.561, 4.212, 0, 180, 0, [SEP] 56, Dresser, -4.041, -0.000, 4.589, 0, 180, 0, [SEP] 57, Drawer, -4.916, 1.014, 4.311, 0, 180, 0, [SEP] 58, Drawer, -3.166, 1.014, 4.311, 0, 180, 0, [SEP] 59, Cabinet, -5.196, 0.561, 4.212, 0, 180, 0, [SEP] 60, Sofa, -0.705, -0.002, 2.753, 0, 270, 0, [SEP] 61, NorthWall, , , , , , , [SEP] 62, SouthWall, , , , , , , [SEP] 63, SouthWall, , , , , , , ", "output": ["STEP 1: turn to the right and go forward to the fireplace and turn to the left and go forward to the shelving | STEP 2: pick up the box on the bottom shelf | STEP 3: turn to the left and turn to the left and go forward to clear the couch and turn to the right and go forward to the end of the couch and turn to the right to look at the lamp | STEP 4: turn on the lamp | END"]} +{"id": "trial_T20190907_103041_110705-2", "input": "Look at a box under 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, -4.0, 0.901, 3.5, 0, 90, 0, [SEP] 1, TissueBox, -1.280, 1.593, 0.324, 0, 0, 0, 43 [SEP] 2, TissueBox, -4.505, 1.112, 4.391, 0, 90, 0, 56 [SEP] 3, CellPhone, -4.717, 0.861, 0.364, 0, 0, 0, 37 [SEP] 4, Statue, -5.534, 1.044, 0.239, 0, 90, 0, 38 [SEP] 5, Statue, -3.222, 1.117, 4.687, 0, 90, 0, 56 [SEP] 6, Vase, -5.534, 1.043, 0.438, 0, 0, 0, 38 [SEP] 7, Vase, -2.351, 0.037, 0.317, 0, 90, 0, 39 [SEP] 8, Watch, -1.551, 0.593, 0.258, 0, 0, 0, 46 [SEP] 9, Watch, -4.184, 1.111, 4.687, 0, 90, 0, 56 [SEP] 10, CreditCard, -3.684, 0.997, 4.267, 0, 90, 0, 52 [SEP] 11, RemoteControl, -5.364, 1.041, 0.438, 0, 0, 0, 38 [SEP] 12, Box, -0.312, 0.295, 1.102, 0, 270, 0, 41 [SEP] 13, Watch, -1.555, 1.592, 0.169, 0, 0, 0, 43 [SEP] 14, Pillow, -1.584, 0.668, 4.384, 0, 0, 0, 50 [SEP] 15, TissueBox, -0.302, 1.103, 0.917, 0, 270, 0, 40 [SEP] 16, Newspaper, -2.085, 0.596, 4.297, 0, 0, 0, 50 [SEP] 17, CreditCard, -0.870, 0.615, 3.017, 0, 0, 0, 60 [SEP] 18, KeyChain, -0.623, 0.609, 2.753, 0, 0, 0, 60 [SEP] 19, CellPhone, -0.870, 0.609, 1.960, 0, 0, 0, 60 [SEP] 20, Statue, -1.184, 0.079, 0.312, 0, 0, 0, 45 [SEP] 21, Laptop, -3.864, 1.109, 4.687, 0, 90, 0, 56 [SEP] 22, RemoteControl, -1.584, 0.592, 4.211, 0, 0, 0, 50 [SEP] 23, Vase, -4.184, 1.111, 4.391, 0, 90, 0, 56 [SEP] 24, DeskLamp, -4.649, 1.051, 0.268, 0, 0, 0, [SEP] 25, DeskLamp, -2.992, 1.107, 4.522, 0, 0, 0, [SEP] 26, FloorLamp, -0.650, 0.007, 4.431, 0, 0, 0, [SEP] 27, FloorLamp, -5.607, 0.007, 4.641, 0, 0, 0, [SEP] 28, Shelf, -5.237, 1.776, 0.070, 0, 0, 0, [SEP] 29, Shelf, -5.238, 1.968, 0.085, 0, 0, 0, [SEP] 30, Shelf, -5.242, 1.391, 0.086, 0, 0, 0, [SEP] 31, Shelf, -5.241, 1.582, 0.065, 0, 0, 0, [SEP] 32, LightSwitch, -6.002, 1.353, 3.404, 0, 90, 0, [SEP] 33, GarbageCan, -5.794, -0.033, 4.073, 0, 90, 0, [SEP] 34, Painting, -6.017, 1.802, 4.177, 90, 270, 0, [SEP] 35, HousePlant, -3.966, 1.625, 0.135, 0, 315, 0, [SEP] 36, Television, -3.355, 0.833, 0.027, 0, 0, 0, [SEP] 37, Drawer, -5.024, 0.903, 0.370, 0, 0, 0, [SEP] 38, SideTable, -5.024, 0.008, 0.267, 0, 0, 0, [SEP] 39, Safe, -2.298, 5.778, 0.268, 0, 90, 0, [SEP] 40, Shelf, -0.253, 0.781, 1.058, 0, 270, 0, [SEP] 41, Shelf, -0.283, 0.274, 1.066, 0, 270, 0, [SEP] 42, Shelf, -1.224, 1.288, 0.270, 0, 0, 0, [SEP] 43, Shelf, -1.218, 1.810, 0.275, 0, 0, 0, [SEP] 44, Shelf, -0.280, 1.810, 1.057, 0, 270, 0, [SEP] 45, Shelf, -1.218, 0.274, 0.262, 0, 0, 0, [SEP] 46, Shelf, -1.223, 0.782, 0.237, 0, 0, 0, [SEP] 47, Shelf, -0.280, 1.288, 1.055, 0, 270, 0, [SEP] 48, ShelvingUnit, -0.268, 0.004, 1.067, 0, 270, 0, [SEP] 49, ShelvingUnit, -1.218, 0.004, 0.244, 0, 0, 0, [SEP] 50, ArmChair, -2.027, 0.001, 4.422, 0, 178.692, 0, [SEP] 51, Drawer, -4.329, 1.014, 4.311, 0, 180, 0, [SEP] 52, Drawer, -3.750, 1.014, 4.311, 0, 180, 0, [SEP] 53, Cabinet, -4.049, 0.561, 4.212, 0, 180, 0, [SEP] 54, Cabinet, -4.032, 0.561, 4.212, 0, 180, 0, [SEP] 55, Cabinet, -2.884, 0.561, 4.212, 0, 180, 0, [SEP] 56, Dresser, -4.041, -0.000, 4.589, 0, 180, 0, [SEP] 57, Drawer, -4.916, 1.014, 4.311, 0, 180, 0, [SEP] 58, Drawer, -3.166, 1.014, 4.311, 0, 180, 0, [SEP] 59, Cabinet, -5.196, 0.561, 4.212, 0, 180, 0, [SEP] 60, Sofa, -0.705, -0.002, 2.753, 0, 270, 0, [SEP] 61, NorthWall, , , , , , , [SEP] 62, SouthWall, , , , , , , [SEP] 63, SouthWall, , , , , , , ", "output": ["STEP 1: Walk to the shelf in front of you and to the right. | STEP 2: Pick up the box on the bottom shelf. | STEP 3: Turn to the left and walk to the lamp in the corner. | STEP 4: Turn on the lamp. | END"]} +{"id": "trial_T20190907_103041_110705-3", "input": "Pick up a box and turn on the light SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -4.0, 0.901, 3.5, 0, 90, 0, [SEP] 1, TissueBox, -1.280, 1.593, 0.324, 0, 0, 0, 43 [SEP] 2, TissueBox, -4.505, 1.112, 4.391, 0, 90, 0, 56 [SEP] 3, CellPhone, -4.717, 0.861, 0.364, 0, 0, 0, 37 [SEP] 4, Statue, -5.534, 1.044, 0.239, 0, 90, 0, 38 [SEP] 5, Statue, -3.222, 1.117, 4.687, 0, 90, 0, 56 [SEP] 6, Vase, -5.534, 1.043, 0.438, 0, 0, 0, 38 [SEP] 7, Vase, -2.351, 0.037, 0.317, 0, 90, 0, 39 [SEP] 8, Watch, -1.551, 0.593, 0.258, 0, 0, 0, 46 [SEP] 9, Watch, -4.184, 1.111, 4.687, 0, 90, 0, 56 [SEP] 10, CreditCard, -3.684, 0.997, 4.267, 0, 90, 0, 52 [SEP] 11, RemoteControl, -5.364, 1.041, 0.438, 0, 0, 0, 38 [SEP] 12, Box, -0.312, 0.295, 1.102, 0, 270, 0, 41 [SEP] 13, Watch, -1.555, 1.592, 0.169, 0, 0, 0, 43 [SEP] 14, Pillow, -1.584, 0.668, 4.384, 0, 0, 0, 50 [SEP] 15, TissueBox, -0.302, 1.103, 0.917, 0, 270, 0, 40 [SEP] 16, Newspaper, -2.085, 0.596, 4.297, 0, 0, 0, 50 [SEP] 17, CreditCard, -0.870, 0.615, 3.017, 0, 0, 0, 60 [SEP] 18, KeyChain, -0.623, 0.609, 2.753, 0, 0, 0, 60 [SEP] 19, CellPhone, -0.870, 0.609, 1.960, 0, 0, 0, 60 [SEP] 20, Statue, -1.184, 0.079, 0.312, 0, 0, 0, 45 [SEP] 21, Laptop, -3.864, 1.109, 4.687, 0, 90, 0, 56 [SEP] 22, RemoteControl, -1.584, 0.592, 4.211, 0, 0, 0, 50 [SEP] 23, Vase, -4.184, 1.111, 4.391, 0, 90, 0, 56 [SEP] 24, DeskLamp, -4.649, 1.051, 0.268, 0, 0, 0, [SEP] 25, DeskLamp, -2.992, 1.107, 4.522, 0, 0, 0, [SEP] 26, FloorLamp, -0.650, 0.007, 4.431, 0, 0, 0, [SEP] 27, FloorLamp, -5.607, 0.007, 4.641, 0, 0, 0, [SEP] 28, Shelf, -5.237, 1.776, 0.070, 0, 0, 0, [SEP] 29, Shelf, -5.238, 1.968, 0.085, 0, 0, 0, [SEP] 30, Shelf, -5.242, 1.391, 0.086, 0, 0, 0, [SEP] 31, Shelf, -5.241, 1.582, 0.065, 0, 0, 0, [SEP] 32, LightSwitch, -6.002, 1.353, 3.404, 0, 90, 0, [SEP] 33, GarbageCan, -5.794, -0.033, 4.073, 0, 90, 0, [SEP] 34, Painting, -6.017, 1.802, 4.177, 90, 270, 0, [SEP] 35, HousePlant, -3.966, 1.625, 0.135, 0, 315, 0, [SEP] 36, Television, -3.355, 0.833, 0.027, 0, 0, 0, [SEP] 37, Drawer, -5.024, 0.903, 0.370, 0, 0, 0, [SEP] 38, SideTable, -5.024, 0.008, 0.267, 0, 0, 0, [SEP] 39, Safe, -2.298, 5.778, 0.268, 0, 90, 0, [SEP] 40, Shelf, -0.253, 0.781, 1.058, 0, 270, 0, [SEP] 41, Shelf, -0.283, 0.274, 1.066, 0, 270, 0, [SEP] 42, Shelf, -1.224, 1.288, 0.270, 0, 0, 0, [SEP] 43, Shelf, -1.218, 1.810, 0.275, 0, 0, 0, [SEP] 44, Shelf, -0.280, 1.810, 1.057, 0, 270, 0, [SEP] 45, Shelf, -1.218, 0.274, 0.262, 0, 0, 0, [SEP] 46, Shelf, -1.223, 0.782, 0.237, 0, 0, 0, [SEP] 47, Shelf, -0.280, 1.288, 1.055, 0, 270, 0, [SEP] 48, ShelvingUnit, -0.268, 0.004, 1.067, 0, 270, 0, [SEP] 49, ShelvingUnit, -1.218, 0.004, 0.244, 0, 0, 0, [SEP] 50, ArmChair, -2.027, 0.001, 4.422, 0, 178.692, 0, [SEP] 51, Drawer, -4.329, 1.014, 4.311, 0, 180, 0, [SEP] 52, Drawer, -3.750, 1.014, 4.311, 0, 180, 0, [SEP] 53, Cabinet, -4.049, 0.561, 4.212, 0, 180, 0, [SEP] 54, Cabinet, -4.032, 0.561, 4.212, 0, 180, 0, [SEP] 55, Cabinet, -2.884, 0.561, 4.212, 0, 180, 0, [SEP] 56, Dresser, -4.041, -0.000, 4.589, 0, 180, 0, [SEP] 57, Drawer, -4.916, 1.014, 4.311, 0, 180, 0, [SEP] 58, Drawer, -3.166, 1.014, 4.311, 0, 180, 0, [SEP] 59, Cabinet, -5.196, 0.561, 4.212, 0, 180, 0, [SEP] 60, Sofa, -0.705, -0.002, 2.753, 0, 270, 0, [SEP] 61, NorthWall, , , , , , , [SEP] 62, SouthWall, , , , , , , [SEP] 63, SouthWall, , , , , , , ", "output": ["STEP 1: Turn around and head to the white shelves on the left side of the room | STEP 2: Pick up the open box from the bottom shelf | STEP 3: Turn around and walk towards the blue chair, and then turn right to face the white sofa | STEP 4: Turn on the light | END"]} +{"id": "trial_T20190907_103041_110705-4", "input": "get a box to take to the lamp to examine it by light SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -4.0, 0.901, 3.5, 0, 90, 0, [SEP] 1, TissueBox, -1.280, 1.593, 0.324, 0, 0, 0, 43 [SEP] 2, TissueBox, -4.505, 1.112, 4.391, 0, 90, 0, 56 [SEP] 3, CellPhone, -4.717, 0.861, 0.364, 0, 0, 0, 37 [SEP] 4, Statue, -5.534, 1.044, 0.239, 0, 90, 0, 38 [SEP] 5, Statue, -3.222, 1.117, 4.687, 0, 90, 0, 56 [SEP] 6, Vase, -5.534, 1.043, 0.438, 0, 0, 0, 38 [SEP] 7, Vase, -2.351, 0.037, 0.317, 0, 90, 0, 39 [SEP] 8, Watch, -1.551, 0.593, 0.258, 0, 0, 0, 46 [SEP] 9, Watch, -4.184, 1.111, 4.687, 0, 90, 0, 56 [SEP] 10, CreditCard, -3.684, 0.997, 4.267, 0, 90, 0, 52 [SEP] 11, RemoteControl, -5.364, 1.041, 0.438, 0, 0, 0, 38 [SEP] 12, Box, -0.312, 0.295, 1.102, 0, 270, 0, 41 [SEP] 13, Watch, -1.555, 1.592, 0.169, 0, 0, 0, 43 [SEP] 14, Pillow, -1.584, 0.668, 4.384, 0, 0, 0, 50 [SEP] 15, TissueBox, -0.302, 1.103, 0.917, 0, 270, 0, 40 [SEP] 16, Newspaper, -2.085, 0.596, 4.297, 0, 0, 0, 50 [SEP] 17, CreditCard, -0.870, 0.615, 3.017, 0, 0, 0, 60 [SEP] 18, KeyChain, -0.623, 0.609, 2.753, 0, 0, 0, 60 [SEP] 19, CellPhone, -0.870, 0.609, 1.960, 0, 0, 0, 60 [SEP] 20, Statue, -1.184, 0.079, 0.312, 0, 0, 0, 45 [SEP] 21, Laptop, -3.864, 1.109, 4.687, 0, 90, 0, 56 [SEP] 22, RemoteControl, -1.584, 0.592, 4.211, 0, 0, 0, 50 [SEP] 23, Vase, -4.184, 1.111, 4.391, 0, 90, 0, 56 [SEP] 24, DeskLamp, -4.649, 1.051, 0.268, 0, 0, 0, [SEP] 25, DeskLamp, -2.992, 1.107, 4.522, 0, 0, 0, [SEP] 26, FloorLamp, -0.650, 0.007, 4.431, 0, 0, 0, [SEP] 27, FloorLamp, -5.607, 0.007, 4.641, 0, 0, 0, [SEP] 28, Shelf, -5.237, 1.776, 0.070, 0, 0, 0, [SEP] 29, Shelf, -5.238, 1.968, 0.085, 0, 0, 0, [SEP] 30, Shelf, -5.242, 1.391, 0.086, 0, 0, 0, [SEP] 31, Shelf, -5.241, 1.582, 0.065, 0, 0, 0, [SEP] 32, LightSwitch, -6.002, 1.353, 3.404, 0, 90, 0, [SEP] 33, GarbageCan, -5.794, -0.033, 4.073, 0, 90, 0, [SEP] 34, Painting, -6.017, 1.802, 4.177, 90, 270, 0, [SEP] 35, HousePlant, -3.966, 1.625, 0.135, 0, 315, 0, [SEP] 36, Television, -3.355, 0.833, 0.027, 0, 0, 0, [SEP] 37, Drawer, -5.024, 0.903, 0.370, 0, 0, 0, [SEP] 38, SideTable, -5.024, 0.008, 0.267, 0, 0, 0, [SEP] 39, Safe, -2.298, 5.778, 0.268, 0, 90, 0, [SEP] 40, Shelf, -0.253, 0.781, 1.058, 0, 270, 0, [SEP] 41, Shelf, -0.283, 0.274, 1.066, 0, 270, 0, [SEP] 42, Shelf, -1.224, 1.288, 0.270, 0, 0, 0, [SEP] 43, Shelf, -1.218, 1.810, 0.275, 0, 0, 0, [SEP] 44, Shelf, -0.280, 1.810, 1.057, 0, 270, 0, [SEP] 45, Shelf, -1.218, 0.274, 0.262, 0, 0, 0, [SEP] 46, Shelf, -1.223, 0.782, 0.237, 0, 0, 0, [SEP] 47, Shelf, -0.280, 1.288, 1.055, 0, 270, 0, [SEP] 48, ShelvingUnit, -0.268, 0.004, 1.067, 0, 270, 0, [SEP] 49, ShelvingUnit, -1.218, 0.004, 0.244, 0, 0, 0, [SEP] 50, ArmChair, -2.027, 0.001, 4.422, 0, 178.692, 0, [SEP] 51, Drawer, -4.329, 1.014, 4.311, 0, 180, 0, [SEP] 52, Drawer, -3.750, 1.014, 4.311, 0, 180, 0, [SEP] 53, Cabinet, -4.049, 0.561, 4.212, 0, 180, 0, [SEP] 54, Cabinet, -4.032, 0.561, 4.212, 0, 180, 0, [SEP] 55, Cabinet, -2.884, 0.561, 4.212, 0, 180, 0, [SEP] 56, Dresser, -4.041, -0.000, 4.589, 0, 180, 0, [SEP] 57, Drawer, -4.916, 1.014, 4.311, 0, 180, 0, [SEP] 58, Drawer, -3.166, 1.014, 4.311, 0, 180, 0, [SEP] 59, Cabinet, -5.196, 0.561, 4.212, 0, 180, 0, [SEP] 60, Sofa, -0.705, -0.002, 2.753, 0, 270, 0, [SEP] 61, NorthWall, , , , , , , [SEP] 62, SouthWall, , , , , , , [SEP] 63, SouthWall, , , , , , , ", "output": ["STEP 1: turn right, walk towards tv, turn left, walk towards white shelves to the right of the couch | STEP 2: pick up the box that is on the bottom shelf | STEP 3: turn around, turn right at the couch, walk to the end of the couch, face couch to the right | STEP 4: turn on the lamp that is to your left | END"]} +{"id": "trial_T20190906_182259_116320-0", "input": "Put the cooked green 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, -3.75, 0.900, 2.5, 0, 90, 0, [SEP] 1, Statue, 0.859, 0.914, -0.381, 0, 0, 0, 63 [SEP] 2, Vase, -1.355, 0.934, -0.905, 0, 0, 0, 62 [SEP] 3, Potato, -0.912, 0.209, 0.641, 0, 180, 0, 82 [SEP] 4, Potato, -0.642, 0.811, -0.486, 0, 90, 0, 83 [SEP] 5, CreditCard, 0.773, 0.908, -1.965, 0, 0, 0, 68 [SEP] 6, CreditCard, 1.199, 0.908, -0.729, 0, 0, 0, 63 [SEP] 7, CellPhone, 0.859, 0.908, -1.879, 0, 0, 0, 68 [SEP] 8, CellPhone, -0.477, 0.930, -1.386, 0, 0, 0, 62 [SEP] 9, DishSponge, -1.467, 0.553, 2.667, 0, 0, 0, 88 [SEP] 10, DishSponge, 1.055, 1.665, -2.097, 0, 270, 0, 61 [SEP] 11, Glassbottle, -0.587, 0.781, -0.659, 0, 90, 0, 83 [SEP] 12, Fork, 0.834, 0.703, -0.607, 0, 270, 0, 60 [SEP] 13, Spoon, -1.104, 0.934, 0.144, 0, 0, 0, 62 [SEP] 14, Knife, 0.859, 0.934, -0.729, 0, 0, 0, 63 [SEP] 15, Knife, 0.944, 0.934, -0.208, 0, 0, 0, 63 [SEP] 16, Egg, -0.753, 0.814, -0.918, 0, 90, 0, 83 [SEP] 17, Egg, -1.101, 0.216, 0.641, 0, 180, 0, 82 [SEP] 18, Plate, -1.355, 0.936, -0.118, 0, 0, 0, 62 [SEP] 19, Plate, 1.194, 1.669, -2.234, 0, 270, 0, 61 [SEP] 20, Tomato, 0.688, 0.952, -0.208, 0, 0, 0, 63 [SEP] 21, Tomato, 0.965, 0.903, 1.540, 0, 270, 0, 85 [SEP] 22, SoapBottle, -0.846, 0.933, 0.162, 0, 0, 0, 62 [SEP] 23, Bowl, -0.624, 0.936, -1.308, 0, 0, 0, 62 [SEP] 24, Bread, 1.026, 0.944, 1.063, 0, 270, 0, 85 [SEP] 25, Bread, 0.966, 1.482, 1.063, 0, 270, 0, 85 [SEP] 26, Apple, -1.054, 0.227, 0.510, 0, 180, 0, 82 [SEP] 27, Apple, -0.912, 0.227, 0.510, 0, 180, 0, 82 [SEP] 28, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 62 [SEP] 29, Glassbottle, 1.126, 2.208, -1.626, 0, 270, 0, 69 [SEP] 30, Bread, 1.026, 1.216, 1.063, 0, 270, 0, 85 [SEP] 31, CreditCard, 1.199, 0.908, -1.879, 0, 0, 0, 68 [SEP] 32, CellPhone, -0.846, 0.930, -1.540, 0, 0, 0, 62 [SEP] 33, Potato, -1.007, 0.207, 0.641, 0, 180, 0, 82 [SEP] 34, Knife, -0.772, 0.957, -0.143, 0, 0, 0, 62 [SEP] 35, Fork, 0.794, 0.494, -0.648, 0, 180, 0, 66 [SEP] 36, Pan, 0.842, 0.950, -1.504, 0, 0, 0, 59 [SEP] 37, Lettuce, 1.026, 1.479, 1.349, 0, 270, 0, 85 [SEP] 38, Plate, 1.102, 1.669, -0.529, 0, 270, 0, 71 [SEP] 39, Apple, -0.587, 0.830, -0.400, 0, 90, 0, 83 [SEP] 40, Pot, 1.077, 0.950, -1.098, 0, 0, 0, 64 [SEP] 41, Spatula, -0.772, 0.948, -1.540, 0, 180, 0, 62 [SEP] 42, PaperTowelRoll, -1.981, 0.986, 2.692, 0, 0, 0, 89 [SEP] 43, Tomato, 1.026, 1.175, 1.540, 0, 270, 0, 85 [SEP] 44, Egg, -0.818, 0.216, 0.641, 0, 180, 0, 82 [SEP] 45, SaltShaker, -1.981, 0.878, 2.773, 0, 0, 0, 89 [SEP] 46, PepperShaker, 0.710, 0.117, 0.325, 0, 270, 0, 63 [SEP] 47, Vase, -1.355, 0.933, 0.144, 0, 0, 0, 62 [SEP] 48, ButterKnife, -0.698, 0.933, 0.162, 0, 90, 0, 62 [SEP] 49, SoapBottle, 0.811, 0.121, 0.398, 0, 270, 0, 57 [SEP] 50, Vase, -1.881, 0.555, 2.615, 0, 0, 0, 88 [SEP] 51, Bowl, -0.624, 0.936, 0.086, 0, 0, 0, 62 [SEP] 52, DishSponge, 0.913, 0.120, 0.374, 0, 270, 0, 57 [SEP] 53, Spoon, -0.697, 0.781, -0.745, 0, 90, 0, 83 [SEP] 54, Cup, -0.920, 0.930, -0.067, 0, 0, 0, 62 [SEP] 55, Mug, -1.363, 0.549, 2.718, 0, 90, 0, 88 [SEP] 56, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 57, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 58, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 59, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 60, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 61, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 62, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 63, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 64, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 65, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 66, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 67, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 68, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 69, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 70, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 71, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 72, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 73, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 74, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 75, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 76, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 77, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 78, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 79, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 80, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 81, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 82, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 83, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 84, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 85, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 86, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 87, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 88, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 89, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 90, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 91, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 92, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 93, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 94, NorthWall, , , , , , , [SEP] 95, EastWall, , , , , , , [SEP] 96, SouthWall, , , , , , , [SEP] 97, WestWall, , , , , , , ", "output": ["STEP 1: Walk forward and then turn right to approach the sink in the kitchen | STEP 2: Pick up the green apple from the sink | STEP 3: Turn around and walk up to the microwave above the stove | STEP 4: Put the apple in the microwave, cook it, then remove it | STEP 5: Turn left and walk over to the fridge | STEP 6: Put the apple in the fridge to the left of the bread loaf | END"]} +{"id": "trial_T20190906_182259_116320-1", "input": "Put a microwaved 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, -3.75, 0.900, 2.5, 0, 90, 0, [SEP] 1, Statue, 0.859, 0.914, -0.381, 0, 0, 0, 63 [SEP] 2, Vase, -1.355, 0.934, -0.905, 0, 0, 0, 62 [SEP] 3, Potato, -0.912, 0.209, 0.641, 0, 180, 0, 82 [SEP] 4, Potato, -0.642, 0.811, -0.486, 0, 90, 0, 83 [SEP] 5, CreditCard, 0.773, 0.908, -1.965, 0, 0, 0, 68 [SEP] 6, CreditCard, 1.199, 0.908, -0.729, 0, 0, 0, 63 [SEP] 7, CellPhone, 0.859, 0.908, -1.879, 0, 0, 0, 68 [SEP] 8, CellPhone, -0.477, 0.930, -1.386, 0, 0, 0, 62 [SEP] 9, DishSponge, -1.467, 0.553, 2.667, 0, 0, 0, 88 [SEP] 10, DishSponge, 1.055, 1.665, -2.097, 0, 270, 0, 61 [SEP] 11, Glassbottle, -0.587, 0.781, -0.659, 0, 90, 0, 83 [SEP] 12, Fork, 0.834, 0.703, -0.607, 0, 270, 0, 60 [SEP] 13, Spoon, -1.104, 0.934, 0.144, 0, 0, 0, 62 [SEP] 14, Knife, 0.859, 0.934, -0.729, 0, 0, 0, 63 [SEP] 15, Knife, 0.944, 0.934, -0.208, 0, 0, 0, 63 [SEP] 16, Egg, -0.753, 0.814, -0.918, 0, 90, 0, 83 [SEP] 17, Egg, -1.101, 0.216, 0.641, 0, 180, 0, 82 [SEP] 18, Plate, -1.355, 0.936, -0.118, 0, 0, 0, 62 [SEP] 19, Plate, 1.194, 1.669, -2.234, 0, 270, 0, 61 [SEP] 20, Tomato, 0.688, 0.952, -0.208, 0, 0, 0, 63 [SEP] 21, Tomato, 0.965, 0.903, 1.540, 0, 270, 0, 85 [SEP] 22, SoapBottle, -0.846, 0.933, 0.162, 0, 0, 0, 62 [SEP] 23, Bowl, -0.624, 0.936, -1.308, 0, 0, 0, 62 [SEP] 24, Bread, 1.026, 0.944, 1.063, 0, 270, 0, 85 [SEP] 25, Bread, 0.966, 1.482, 1.063, 0, 270, 0, 85 [SEP] 26, Apple, -1.054, 0.227, 0.510, 0, 180, 0, 82 [SEP] 27, Apple, -0.912, 0.227, 0.510, 0, 180, 0, 82 [SEP] 28, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 62 [SEP] 29, Glassbottle, 1.126, 2.208, -1.626, 0, 270, 0, 69 [SEP] 30, Bread, 1.026, 1.216, 1.063, 0, 270, 0, 85 [SEP] 31, CreditCard, 1.199, 0.908, -1.879, 0, 0, 0, 68 [SEP] 32, CellPhone, -0.846, 0.930, -1.540, 0, 0, 0, 62 [SEP] 33, Potato, -1.007, 0.207, 0.641, 0, 180, 0, 82 [SEP] 34, Knife, -0.772, 0.957, -0.143, 0, 0, 0, 62 [SEP] 35, Fork, 0.794, 0.494, -0.648, 0, 180, 0, 66 [SEP] 36, Pan, 0.842, 0.950, -1.504, 0, 0, 0, 59 [SEP] 37, Lettuce, 1.026, 1.479, 1.349, 0, 270, 0, 85 [SEP] 38, Plate, 1.102, 1.669, -0.529, 0, 270, 0, 71 [SEP] 39, Apple, -0.587, 0.830, -0.400, 0, 90, 0, 83 [SEP] 40, Pot, 1.077, 0.950, -1.098, 0, 0, 0, 64 [SEP] 41, Spatula, -0.772, 0.948, -1.540, 0, 180, 0, 62 [SEP] 42, PaperTowelRoll, -1.981, 0.986, 2.692, 0, 0, 0, 89 [SEP] 43, Tomato, 1.026, 1.175, 1.540, 0, 270, 0, 85 [SEP] 44, Egg, -0.818, 0.216, 0.641, 0, 180, 0, 82 [SEP] 45, SaltShaker, -1.981, 0.878, 2.773, 0, 0, 0, 89 [SEP] 46, PepperShaker, 0.710, 0.117, 0.325, 0, 270, 0, 63 [SEP] 47, Vase, -1.355, 0.933, 0.144, 0, 0, 0, 62 [SEP] 48, ButterKnife, -0.698, 0.933, 0.162, 0, 90, 0, 62 [SEP] 49, SoapBottle, 0.811, 0.121, 0.398, 0, 270, 0, 57 [SEP] 50, Vase, -1.881, 0.555, 2.615, 0, 0, 0, 88 [SEP] 51, Bowl, -0.624, 0.936, 0.086, 0, 0, 0, 62 [SEP] 52, DishSponge, 0.913, 0.120, 0.374, 0, 270, 0, 57 [SEP] 53, Spoon, -0.697, 0.781, -0.745, 0, 90, 0, 83 [SEP] 54, Cup, -0.920, 0.930, -0.067, 0, 0, 0, 62 [SEP] 55, Mug, -1.363, 0.549, 2.718, 0, 90, 0, 88 [SEP] 56, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 57, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 58, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 59, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 60, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 61, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 62, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 63, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 64, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 65, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 66, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 67, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 68, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 69, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 70, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 71, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 72, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 73, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 74, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 75, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 76, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 77, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 78, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 79, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 80, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 81, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 82, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 83, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 84, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 85, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 86, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 87, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 88, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 89, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 90, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 91, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 92, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 93, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 94, NorthWall, , , , , , , [SEP] 95, EastWall, , , , , , , [SEP] 96, SouthWall, , , , , , , [SEP] 97, WestWall, , , , , , , ", "output": ["STEP 1: Walk forward and around the kitchen island to get to the sink. | STEP 2: Pick up the green apple in the sink. | STEP 3: Turn around and go to the microwave. | STEP 4: Heat the apple in the microwave. | STEP 5: Walk left to stand in front of the fridge. | STEP 6: Put the apple on the middle shelf in the middle of the other two food items. | END"]} +{"id": "trial_T20190906_182259_116320-2", "input": "Warm up apple to put in fridge. 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, 2.5, 0, 90, 0, [SEP] 1, Statue, 0.859, 0.914, -0.381, 0, 0, 0, 63 [SEP] 2, Vase, -1.355, 0.934, -0.905, 0, 0, 0, 62 [SEP] 3, Potato, -0.912, 0.209, 0.641, 0, 180, 0, 82 [SEP] 4, Potato, -0.642, 0.811, -0.486, 0, 90, 0, 83 [SEP] 5, CreditCard, 0.773, 0.908, -1.965, 0, 0, 0, 68 [SEP] 6, CreditCard, 1.199, 0.908, -0.729, 0, 0, 0, 63 [SEP] 7, CellPhone, 0.859, 0.908, -1.879, 0, 0, 0, 68 [SEP] 8, CellPhone, -0.477, 0.930, -1.386, 0, 0, 0, 62 [SEP] 9, DishSponge, -1.467, 0.553, 2.667, 0, 0, 0, 88 [SEP] 10, DishSponge, 1.055, 1.665, -2.097, 0, 270, 0, 61 [SEP] 11, Glassbottle, -0.587, 0.781, -0.659, 0, 90, 0, 83 [SEP] 12, Fork, 0.834, 0.703, -0.607, 0, 270, 0, 60 [SEP] 13, Spoon, -1.104, 0.934, 0.144, 0, 0, 0, 62 [SEP] 14, Knife, 0.859, 0.934, -0.729, 0, 0, 0, 63 [SEP] 15, Knife, 0.944, 0.934, -0.208, 0, 0, 0, 63 [SEP] 16, Egg, -0.753, 0.814, -0.918, 0, 90, 0, 83 [SEP] 17, Egg, -1.101, 0.216, 0.641, 0, 180, 0, 82 [SEP] 18, Plate, -1.355, 0.936, -0.118, 0, 0, 0, 62 [SEP] 19, Plate, 1.194, 1.669, -2.234, 0, 270, 0, 61 [SEP] 20, Tomato, 0.688, 0.952, -0.208, 0, 0, 0, 63 [SEP] 21, Tomato, 0.965, 0.903, 1.540, 0, 270, 0, 85 [SEP] 22, SoapBottle, -0.846, 0.933, 0.162, 0, 0, 0, 62 [SEP] 23, Bowl, -0.624, 0.936, -1.308, 0, 0, 0, 62 [SEP] 24, Bread, 1.026, 0.944, 1.063, 0, 270, 0, 85 [SEP] 25, Bread, 0.966, 1.482, 1.063, 0, 270, 0, 85 [SEP] 26, Apple, -1.054, 0.227, 0.510, 0, 180, 0, 82 [SEP] 27, Apple, -0.912, 0.227, 0.510, 0, 180, 0, 82 [SEP] 28, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 62 [SEP] 29, Glassbottle, 1.126, 2.208, -1.626, 0, 270, 0, 69 [SEP] 30, Bread, 1.026, 1.216, 1.063, 0, 270, 0, 85 [SEP] 31, CreditCard, 1.199, 0.908, -1.879, 0, 0, 0, 68 [SEP] 32, CellPhone, -0.846, 0.930, -1.540, 0, 0, 0, 62 [SEP] 33, Potato, -1.007, 0.207, 0.641, 0, 180, 0, 82 [SEP] 34, Knife, -0.772, 0.957, -0.143, 0, 0, 0, 62 [SEP] 35, Fork, 0.794, 0.494, -0.648, 0, 180, 0, 66 [SEP] 36, Pan, 0.842, 0.950, -1.504, 0, 0, 0, 59 [SEP] 37, Lettuce, 1.026, 1.479, 1.349, 0, 270, 0, 85 [SEP] 38, Plate, 1.102, 1.669, -0.529, 0, 270, 0, 71 [SEP] 39, Apple, -0.587, 0.830, -0.400, 0, 90, 0, 83 [SEP] 40, Pot, 1.077, 0.950, -1.098, 0, 0, 0, 64 [SEP] 41, Spatula, -0.772, 0.948, -1.540, 0, 180, 0, 62 [SEP] 42, PaperTowelRoll, -1.981, 0.986, 2.692, 0, 0, 0, 89 [SEP] 43, Tomato, 1.026, 1.175, 1.540, 0, 270, 0, 85 [SEP] 44, Egg, -0.818, 0.216, 0.641, 0, 180, 0, 82 [SEP] 45, SaltShaker, -1.981, 0.878, 2.773, 0, 0, 0, 89 [SEP] 46, PepperShaker, 0.710, 0.117, 0.325, 0, 270, 0, 63 [SEP] 47, Vase, -1.355, 0.933, 0.144, 0, 0, 0, 62 [SEP] 48, ButterKnife, -0.698, 0.933, 0.162, 0, 90, 0, 62 [SEP] 49, SoapBottle, 0.811, 0.121, 0.398, 0, 270, 0, 57 [SEP] 50, Vase, -1.881, 0.555, 2.615, 0, 0, 0, 88 [SEP] 51, Bowl, -0.624, 0.936, 0.086, 0, 0, 0, 62 [SEP] 52, DishSponge, 0.913, 0.120, 0.374, 0, 270, 0, 57 [SEP] 53, Spoon, -0.697, 0.781, -0.745, 0, 90, 0, 83 [SEP] 54, Cup, -0.920, 0.930, -0.067, 0, 0, 0, 62 [SEP] 55, Mug, -1.363, 0.549, 2.718, 0, 90, 0, 88 [SEP] 56, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 57, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 58, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 59, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 60, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 61, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 62, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 63, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 64, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 65, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 66, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 67, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 68, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 69, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 70, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 71, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 72, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 73, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 74, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 75, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 76, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 77, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 78, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 79, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 80, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 81, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 82, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 83, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 84, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 85, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 86, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 87, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 88, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 89, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 90, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 91, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 92, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 93, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 94, NorthWall, , , , , , , [SEP] 95, EastWall, , , , , , , [SEP] 96, SouthWall, , , , , , , [SEP] 97, WestWall, , , , , , , ", "output": ["STEP 1: Turn and go to the sink | STEP 2: Pick up the green apple that is on the right side of the sink. | STEP 3: With the apple in hand turn and go to the microwave above the stove. | STEP 4: Open the microwave and place the apple inside on the right side. Shut the door and start the microwave. Open the door and grab the apple. | STEP 5: With the apple in hand go to the fridge. | STEP 6: Open the fridge door while holding the apple in the other hand. Place the apple on the top shelf in front of and between the tomato and bread. Shut the fridge door. | END"]} +{"id": "trial_T20190906_182259_116320-3", "input": "Heat and then chill an apple. 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, 2.5, 0, 90, 0, [SEP] 1, Statue, 0.859, 0.914, -0.381, 0, 0, 0, 63 [SEP] 2, Vase, -1.355, 0.934, -0.905, 0, 0, 0, 62 [SEP] 3, Potato, -0.912, 0.209, 0.641, 0, 180, 0, 82 [SEP] 4, Potato, -0.642, 0.811, -0.486, 0, 90, 0, 83 [SEP] 5, CreditCard, 0.773, 0.908, -1.965, 0, 0, 0, 68 [SEP] 6, CreditCard, 1.199, 0.908, -0.729, 0, 0, 0, 63 [SEP] 7, CellPhone, 0.859, 0.908, -1.879, 0, 0, 0, 68 [SEP] 8, CellPhone, -0.477, 0.930, -1.386, 0, 0, 0, 62 [SEP] 9, DishSponge, -1.467, 0.553, 2.667, 0, 0, 0, 88 [SEP] 10, DishSponge, 1.055, 1.665, -2.097, 0, 270, 0, 61 [SEP] 11, Glassbottle, -0.587, 0.781, -0.659, 0, 90, 0, 83 [SEP] 12, Fork, 0.834, 0.703, -0.607, 0, 270, 0, 60 [SEP] 13, Spoon, -1.104, 0.934, 0.144, 0, 0, 0, 62 [SEP] 14, Knife, 0.859, 0.934, -0.729, 0, 0, 0, 63 [SEP] 15, Knife, 0.944, 0.934, -0.208, 0, 0, 0, 63 [SEP] 16, Egg, -0.753, 0.814, -0.918, 0, 90, 0, 83 [SEP] 17, Egg, -1.101, 0.216, 0.641, 0, 180, 0, 82 [SEP] 18, Plate, -1.355, 0.936, -0.118, 0, 0, 0, 62 [SEP] 19, Plate, 1.194, 1.669, -2.234, 0, 270, 0, 61 [SEP] 20, Tomato, 0.688, 0.952, -0.208, 0, 0, 0, 63 [SEP] 21, Tomato, 0.965, 0.903, 1.540, 0, 270, 0, 85 [SEP] 22, SoapBottle, -0.846, 0.933, 0.162, 0, 0, 0, 62 [SEP] 23, Bowl, -0.624, 0.936, -1.308, 0, 0, 0, 62 [SEP] 24, Bread, 1.026, 0.944, 1.063, 0, 270, 0, 85 [SEP] 25, Bread, 0.966, 1.482, 1.063, 0, 270, 0, 85 [SEP] 26, Apple, -1.054, 0.227, 0.510, 0, 180, 0, 82 [SEP] 27, Apple, -0.912, 0.227, 0.510, 0, 180, 0, 82 [SEP] 28, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 62 [SEP] 29, Glassbottle, 1.126, 2.208, -1.626, 0, 270, 0, 69 [SEP] 30, Bread, 1.026, 1.216, 1.063, 0, 270, 0, 85 [SEP] 31, CreditCard, 1.199, 0.908, -1.879, 0, 0, 0, 68 [SEP] 32, CellPhone, -0.846, 0.930, -1.540, 0, 0, 0, 62 [SEP] 33, Potato, -1.007, 0.207, 0.641, 0, 180, 0, 82 [SEP] 34, Knife, -0.772, 0.957, -0.143, 0, 0, 0, 62 [SEP] 35, Fork, 0.794, 0.494, -0.648, 0, 180, 0, 66 [SEP] 36, Pan, 0.842, 0.950, -1.504, 0, 0, 0, 59 [SEP] 37, Lettuce, 1.026, 1.479, 1.349, 0, 270, 0, 85 [SEP] 38, Plate, 1.102, 1.669, -0.529, 0, 270, 0, 71 [SEP] 39, Apple, -0.587, 0.830, -0.400, 0, 90, 0, 83 [SEP] 40, Pot, 1.077, 0.950, -1.098, 0, 0, 0, 64 [SEP] 41, Spatula, -0.772, 0.948, -1.540, 0, 180, 0, 62 [SEP] 42, PaperTowelRoll, -1.981, 0.986, 2.692, 0, 0, 0, 89 [SEP] 43, Tomato, 1.026, 1.175, 1.540, 0, 270, 0, 85 [SEP] 44, Egg, -0.818, 0.216, 0.641, 0, 180, 0, 82 [SEP] 45, SaltShaker, -1.981, 0.878, 2.773, 0, 0, 0, 89 [SEP] 46, PepperShaker, 0.710, 0.117, 0.325, 0, 270, 0, 63 [SEP] 47, Vase, -1.355, 0.933, 0.144, 0, 0, 0, 62 [SEP] 48, ButterKnife, -0.698, 0.933, 0.162, 0, 90, 0, 62 [SEP] 49, SoapBottle, 0.811, 0.121, 0.398, 0, 270, 0, 57 [SEP] 50, Vase, -1.881, 0.555, 2.615, 0, 0, 0, 88 [SEP] 51, Bowl, -0.624, 0.936, 0.086, 0, 0, 0, 62 [SEP] 52, DishSponge, 0.913, 0.120, 0.374, 0, 270, 0, 57 [SEP] 53, Spoon, -0.697, 0.781, -0.745, 0, 90, 0, 83 [SEP] 54, Cup, -0.920, 0.930, -0.067, 0, 0, 0, 62 [SEP] 55, Mug, -1.363, 0.549, 2.718, 0, 90, 0, 88 [SEP] 56, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 57, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 58, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 59, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 60, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 61, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 62, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 63, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 64, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 65, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 66, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 67, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 68, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 69, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 70, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 71, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 72, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 73, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 74, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 75, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 76, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 77, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 78, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 79, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 80, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 81, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 82, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 83, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 84, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 85, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 86, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 87, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 88, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 89, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 90, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 91, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 92, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 93, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 94, NorthWall, , , , , , , [SEP] 95, EastWall, , , , , , , [SEP] 96, SouthWall, , , , , , , [SEP] 97, WestWall, , , , , , , ", "output": ["STEP 1: Move forward and then turn right to find the sink in the island. | STEP 2: Pick up the apple from the right side of the sink. | STEP 3: Carry the apple and turn around, and a few steps right, to the stove. | STEP 4: Place the apple in the microwave above and shut the door. Open the microwave and take out the apple and shut the door. | STEP 5: Hold the apple and move a few steps to the left and locate the fridge. | STEP 6: Open the fridge and place the apple inside, shut the door. | END"]} +{"id": "trial_T20190906_182259_116320-4", "input": "Put a cooked apple 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, -3.75, 0.900, 2.5, 0, 90, 0, [SEP] 1, Statue, 0.859, 0.914, -0.381, 0, 0, 0, 63 [SEP] 2, Vase, -1.355, 0.934, -0.905, 0, 0, 0, 62 [SEP] 3, Potato, -0.912, 0.209, 0.641, 0, 180, 0, 82 [SEP] 4, Potato, -0.642, 0.811, -0.486, 0, 90, 0, 83 [SEP] 5, CreditCard, 0.773, 0.908, -1.965, 0, 0, 0, 68 [SEP] 6, CreditCard, 1.199, 0.908, -0.729, 0, 0, 0, 63 [SEP] 7, CellPhone, 0.859, 0.908, -1.879, 0, 0, 0, 68 [SEP] 8, CellPhone, -0.477, 0.930, -1.386, 0, 0, 0, 62 [SEP] 9, DishSponge, -1.467, 0.553, 2.667, 0, 0, 0, 88 [SEP] 10, DishSponge, 1.055, 1.665, -2.097, 0, 270, 0, 61 [SEP] 11, Glassbottle, -0.587, 0.781, -0.659, 0, 90, 0, 83 [SEP] 12, Fork, 0.834, 0.703, -0.607, 0, 270, 0, 60 [SEP] 13, Spoon, -1.104, 0.934, 0.144, 0, 0, 0, 62 [SEP] 14, Knife, 0.859, 0.934, -0.729, 0, 0, 0, 63 [SEP] 15, Knife, 0.944, 0.934, -0.208, 0, 0, 0, 63 [SEP] 16, Egg, -0.753, 0.814, -0.918, 0, 90, 0, 83 [SEP] 17, Egg, -1.101, 0.216, 0.641, 0, 180, 0, 82 [SEP] 18, Plate, -1.355, 0.936, -0.118, 0, 0, 0, 62 [SEP] 19, Plate, 1.194, 1.669, -2.234, 0, 270, 0, 61 [SEP] 20, Tomato, 0.688, 0.952, -0.208, 0, 0, 0, 63 [SEP] 21, Tomato, 0.965, 0.903, 1.540, 0, 270, 0, 85 [SEP] 22, SoapBottle, -0.846, 0.933, 0.162, 0, 0, 0, 62 [SEP] 23, Bowl, -0.624, 0.936, -1.308, 0, 0, 0, 62 [SEP] 24, Bread, 1.026, 0.944, 1.063, 0, 270, 0, 85 [SEP] 25, Bread, 0.966, 1.482, 1.063, 0, 270, 0, 85 [SEP] 26, Apple, -1.054, 0.227, 0.510, 0, 180, 0, 82 [SEP] 27, Apple, -0.912, 0.227, 0.510, 0, 180, 0, 82 [SEP] 28, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 62 [SEP] 29, Glassbottle, 1.126, 2.208, -1.626, 0, 270, 0, 69 [SEP] 30, Bread, 1.026, 1.216, 1.063, 0, 270, 0, 85 [SEP] 31, CreditCard, 1.199, 0.908, -1.879, 0, 0, 0, 68 [SEP] 32, CellPhone, -0.846, 0.930, -1.540, 0, 0, 0, 62 [SEP] 33, Potato, -1.007, 0.207, 0.641, 0, 180, 0, 82 [SEP] 34, Knife, -0.772, 0.957, -0.143, 0, 0, 0, 62 [SEP] 35, Fork, 0.794, 0.494, -0.648, 0, 180, 0, 66 [SEP] 36, Pan, 0.842, 0.950, -1.504, 0, 0, 0, 59 [SEP] 37, Lettuce, 1.026, 1.479, 1.349, 0, 270, 0, 85 [SEP] 38, Plate, 1.102, 1.669, -0.529, 0, 270, 0, 71 [SEP] 39, Apple, -0.587, 0.830, -0.400, 0, 90, 0, 83 [SEP] 40, Pot, 1.077, 0.950, -1.098, 0, 0, 0, 64 [SEP] 41, Spatula, -0.772, 0.948, -1.540, 0, 180, 0, 62 [SEP] 42, PaperTowelRoll, -1.981, 0.986, 2.692, 0, 0, 0, 89 [SEP] 43, Tomato, 1.026, 1.175, 1.540, 0, 270, 0, 85 [SEP] 44, Egg, -0.818, 0.216, 0.641, 0, 180, 0, 82 [SEP] 45, SaltShaker, -1.981, 0.878, 2.773, 0, 0, 0, 89 [SEP] 46, PepperShaker, 0.710, 0.117, 0.325, 0, 270, 0, 63 [SEP] 47, Vase, -1.355, 0.933, 0.144, 0, 0, 0, 62 [SEP] 48, ButterKnife, -0.698, 0.933, 0.162, 0, 90, 0, 62 [SEP] 49, SoapBottle, 0.811, 0.121, 0.398, 0, 270, 0, 57 [SEP] 50, Vase, -1.881, 0.555, 2.615, 0, 0, 0, 88 [SEP] 51, Bowl, -0.624, 0.936, 0.086, 0, 0, 0, 62 [SEP] 52, DishSponge, 0.913, 0.120, 0.374, 0, 270, 0, 57 [SEP] 53, Spoon, -0.697, 0.781, -0.745, 0, 90, 0, 83 [SEP] 54, Cup, -0.920, 0.930, -0.067, 0, 0, 0, 62 [SEP] 55, Mug, -1.363, 0.549, 2.718, 0, 90, 0, 88 [SEP] 56, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 57, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 58, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 59, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 60, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 61, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 62, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 63, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 64, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 65, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 66, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 67, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 68, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 69, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 70, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 71, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 72, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 73, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 74, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 75, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 76, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 77, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 78, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 79, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 80, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 81, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 82, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 83, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 84, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 85, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 86, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 87, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 88, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 89, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 90, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 91, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 92, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 93, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 94, NorthWall, , , , , , , [SEP] 95, EastWall, , , , , , , [SEP] 96, SouthWall, , , , , , , [SEP] 97, WestWall, , , , , , , ", "output": ["STEP 1: Go straight, then turn right towards the sink. Stop in front of the sink. | STEP 2: Pick up the green apple from the sink. | STEP 3: Turn around, go in front of the stop top. | STEP 4: Put the apple in the microwave, turn on the microwave, remove the apple from the microwave. | STEP 5: Turn left, go in front of the refrigerator. | STEP 6: Put the apple in the refrigerator in front of and to the left of the bread. | END"]} +{"id": "trial_T20190906_182259_116320-5", "input": "Put a heated 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, -3.75, 0.900, 2.5, 0, 90, 0, [SEP] 1, Statue, 0.859, 0.914, -0.381, 0, 0, 0, 63 [SEP] 2, Vase, -1.355, 0.934, -0.905, 0, 0, 0, 62 [SEP] 3, Potato, -0.912, 0.209, 0.641, 0, 180, 0, 82 [SEP] 4, Potato, -0.642, 0.811, -0.486, 0, 90, 0, 83 [SEP] 5, CreditCard, 0.773, 0.908, -1.965, 0, 0, 0, 68 [SEP] 6, CreditCard, 1.199, 0.908, -0.729, 0, 0, 0, 63 [SEP] 7, CellPhone, 0.859, 0.908, -1.879, 0, 0, 0, 68 [SEP] 8, CellPhone, -0.477, 0.930, -1.386, 0, 0, 0, 62 [SEP] 9, DishSponge, -1.467, 0.553, 2.667, 0, 0, 0, 88 [SEP] 10, DishSponge, 1.055, 1.665, -2.097, 0, 270, 0, 61 [SEP] 11, Glassbottle, -0.587, 0.781, -0.659, 0, 90, 0, 83 [SEP] 12, Fork, 0.834, 0.703, -0.607, 0, 270, 0, 60 [SEP] 13, Spoon, -1.104, 0.934, 0.144, 0, 0, 0, 62 [SEP] 14, Knife, 0.859, 0.934, -0.729, 0, 0, 0, 63 [SEP] 15, Knife, 0.944, 0.934, -0.208, 0, 0, 0, 63 [SEP] 16, Egg, -0.753, 0.814, -0.918, 0, 90, 0, 83 [SEP] 17, Egg, -1.101, 0.216, 0.641, 0, 180, 0, 82 [SEP] 18, Plate, -1.355, 0.936, -0.118, 0, 0, 0, 62 [SEP] 19, Plate, 1.194, 1.669, -2.234, 0, 270, 0, 61 [SEP] 20, Tomato, 0.688, 0.952, -0.208, 0, 0, 0, 63 [SEP] 21, Tomato, 0.965, 0.903, 1.540, 0, 270, 0, 85 [SEP] 22, SoapBottle, -0.846, 0.933, 0.162, 0, 0, 0, 62 [SEP] 23, Bowl, -0.624, 0.936, -1.308, 0, 0, 0, 62 [SEP] 24, Bread, 1.026, 0.944, 1.063, 0, 270, 0, 85 [SEP] 25, Bread, 0.966, 1.482, 1.063, 0, 270, 0, 85 [SEP] 26, Apple, -1.054, 0.227, 0.510, 0, 180, 0, 82 [SEP] 27, Apple, -0.912, 0.227, 0.510, 0, 180, 0, 82 [SEP] 28, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 62 [SEP] 29, Glassbottle, 1.126, 2.208, -1.626, 0, 270, 0, 69 [SEP] 30, Bread, 1.026, 1.216, 1.063, 0, 270, 0, 85 [SEP] 31, CreditCard, 1.199, 0.908, -1.879, 0, 0, 0, 68 [SEP] 32, CellPhone, -0.846, 0.930, -1.540, 0, 0, 0, 62 [SEP] 33, Potato, -1.007, 0.207, 0.641, 0, 180, 0, 82 [SEP] 34, Knife, -0.772, 0.957, -0.143, 0, 0, 0, 62 [SEP] 35, Fork, 0.794, 0.494, -0.648, 0, 180, 0, 66 [SEP] 36, Pan, 0.842, 0.950, -1.504, 0, 0, 0, 59 [SEP] 37, Lettuce, 1.026, 1.479, 1.349, 0, 270, 0, 85 [SEP] 38, Plate, 1.102, 1.669, -0.529, 0, 270, 0, 71 [SEP] 39, Apple, -0.587, 0.830, -0.400, 0, 90, 0, 83 [SEP] 40, Pot, 1.077, 0.950, -1.098, 0, 0, 0, 64 [SEP] 41, Spatula, -0.772, 0.948, -1.540, 0, 180, 0, 62 [SEP] 42, PaperTowelRoll, -1.981, 0.986, 2.692, 0, 0, 0, 89 [SEP] 43, Tomato, 1.026, 1.175, 1.540, 0, 270, 0, 85 [SEP] 44, Egg, -0.818, 0.216, 0.641, 0, 180, 0, 82 [SEP] 45, SaltShaker, -1.981, 0.878, 2.773, 0, 0, 0, 89 [SEP] 46, PepperShaker, 0.710, 0.117, 0.325, 0, 270, 0, 63 [SEP] 47, Vase, -1.355, 0.933, 0.144, 0, 0, 0, 62 [SEP] 48, ButterKnife, -0.698, 0.933, 0.162, 0, 90, 0, 62 [SEP] 49, SoapBottle, 0.811, 0.121, 0.398, 0, 270, 0, 57 [SEP] 50, Vase, -1.881, 0.555, 2.615, 0, 0, 0, 88 [SEP] 51, Bowl, -0.624, 0.936, 0.086, 0, 0, 0, 62 [SEP] 52, DishSponge, 0.913, 0.120, 0.374, 0, 270, 0, 57 [SEP] 53, Spoon, -0.697, 0.781, -0.745, 0, 90, 0, 83 [SEP] 54, Cup, -0.920, 0.930, -0.067, 0, 0, 0, 62 [SEP] 55, Mug, -1.363, 0.549, 2.718, 0, 90, 0, 88 [SEP] 56, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 57, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 58, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 59, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 60, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 61, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 62, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 63, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 64, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 65, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 66, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 67, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 68, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 69, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 70, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 71, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 72, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 73, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 74, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 75, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 76, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 77, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 78, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 79, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 80, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 81, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 82, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 83, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 84, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 85, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 86, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 87, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 88, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 89, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 90, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 91, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 92, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 93, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 94, NorthWall, , , , , , , [SEP] 95, EastWall, , , , , , , [SEP] 96, SouthWall, , , , , , , [SEP] 97, WestWall, , , , , , , ", "output": ["STEP 1: Cross the room and take a right and then turn right to face the sink. | STEP 2: Pick up the green apple from the sink. | STEP 3: Turn around and face the microwave. | STEP 4: Put the apple in the microwave and heat it and then take it out and close the door. | STEP 5: Go left and face the fridge on the right. | STEP 6: Put the apple in the fridge and shut the door. | END"]} +{"id": "trial_T20190908_062908_529599-0", "input": "move the plunger from behind the toilet 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, -0.75, 0.901, 2.5, 0, 270, 0, [SEP] 1, Cloth, -0.279, 0.075, 3.011, 0, 180, 0, 19 [SEP] 2, Candle, -0.051, 0.953, 1.544, 0, 0, 0, 31 [SEP] 3, Candle, -0.381, 0.075, 2.336, 0, 0, 0, 25 [SEP] 4, SoapBar, -0.131, 0.953, 1.294, 0, 0, 0, 31 [SEP] 5, SoapBottle, -0.388, 0.955, 2.843, 0, 0, 0, 23 [SEP] 6, HandTowel, -0.038, 1.619, 1.887, 0, 90, 0, 29 [SEP] 7, Towel, -1.082, 1.326, 1.302, 0, 0, 0, 26 [SEP] 8, SoapBar, -0.280, 0.076, 2.698, 0, 0, 0, 20 [SEP] 9, ToiletPaper, -0.117, 0.945, 1.629, 0, 0, 0, 31 [SEP] 10, Plunger, -0.112, -0.000, 1.848, 0, 0, 0, [SEP] 11, Candle, -0.381, 0.075, 2.966, 0, 0, 0, 20 [SEP] 12, ToiletPaper, -0.280, 0.654, 1.985, 0, 180, 90, 28 [SEP] 13, SprayBottle, -0.450, 0.955, 2.948, 0, 0, 0, 23 [SEP] 14, Cloth, -0.331, 0.076, 3.507, 0, 0, 0, 24 [SEP] 15, ScrubBrush, -0.322, 3.109, 1.950, 0, 0, 0, [SEP] 16, SoapBottle, -0.141, 0.955, 2.772, 0, 0, 0, 23 [SEP] 17, Mirror, -0.030, 1.544, 2.864, 0, 0, 0, [SEP] 18, Sink, -0.302, 0.799, 3.263, 0, 270, 0, [SEP] 19, Cabinet, -0.491, 0.404, 2.863, 0, 0, 0, [SEP] 20, Cabinet, -0.495, 0.384, 2.842, 0, 0, 0, [SEP] 21, ShowerDoor, -1.647, 1.017, 1.180, 0, 0, 0, [SEP] 22, ShowerGlass, -0.909, 0.788, 0.485, 0, 0, 0, [SEP] 23, CounterTop, -0.261, 0.927, 2.843, 0, 0, 0, [SEP] 24, Cabinet, -0.495, 0.384, 3.650, 0, 0, 0, [SEP] 25, Cabinet, -0.491, 0.404, 2.055, 0, 0, 0, [SEP] 26, TowelHolder, -1.082, 1.312, 1.195, 0, 0, 0, [SEP] 27, LightSwitch, -2.424, 1.447, 3.338, 0, 90, 0, [SEP] 28, ToiletPaperHanger, -0.266, 0.786, 2.043, 0, 180, 0, [SEP] 29, HandTowelHolder, 0.000, 1.721, 1.887, 0, 180, 0, [SEP] 30, HandTowelHolder, 0.000, 1.721, 3.799, 0, 180, 0, [SEP] 31, Toilet, -0.542, 3.109, 1.493, 0, 270, 0, [SEP] 32, GarbageCan, -2.159, -0.000, 3.756, 0, 0, 0, [SEP] 33, SinkBasin, -0.308, 0.820, 3.266, 0, 0, 0, [SEP] 34, ShowerHead, -0.134, 1.888, 0.564, 0, 90, 0, [SEP] 35, Faucet, 0.0, 1.009, 3.265, 0, 0, 0, [SEP] 36, Faucet, 0.0, 1.009, 2.421, 0, 0, 0, [SEP] 37, SinkBasin, -0.308, 0.820, 2.422, 0, 0, 0, [SEP] 38, Sink, -0.302, 0.799, 2.419, 0, 270, 0, [SEP] 39, NorthWall, , , , , , , [SEP] 40, SouthWall, , , , , , , [SEP] 41, SouthWall, , , , , , , ", "output": ["STEP 1: turn around to the toilet | STEP 2: grab the plunger on the floor behind the toilet | STEP 3: turn around, turn around | STEP 4: open the second from the right cabinet door, put the plunger in | END"]} +{"id": "trial_T20190908_062908_529599-1", "input": "Move the plunger from in between the sink and toilet to the cabinet underneath 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, Cloth, -0.279, 0.075, 3.011, 0, 180, 0, 19 [SEP] 2, Candle, -0.051, 0.953, 1.544, 0, 0, 0, 31 [SEP] 3, Candle, -0.381, 0.075, 2.336, 0, 0, 0, 25 [SEP] 4, SoapBar, -0.131, 0.953, 1.294, 0, 0, 0, 31 [SEP] 5, SoapBottle, -0.388, 0.955, 2.843, 0, 0, 0, 23 [SEP] 6, HandTowel, -0.038, 1.619, 1.887, 0, 90, 0, 29 [SEP] 7, Towel, -1.082, 1.326, 1.302, 0, 0, 0, 26 [SEP] 8, SoapBar, -0.280, 0.076, 2.698, 0, 0, 0, 20 [SEP] 9, ToiletPaper, -0.117, 0.945, 1.629, 0, 0, 0, 31 [SEP] 10, Plunger, -0.112, -0.000, 1.848, 0, 0, 0, [SEP] 11, Candle, -0.381, 0.075, 2.966, 0, 0, 0, 20 [SEP] 12, ToiletPaper, -0.280, 0.654, 1.985, 0, 180, 90, 28 [SEP] 13, SprayBottle, -0.450, 0.955, 2.948, 0, 0, 0, 23 [SEP] 14, Cloth, -0.331, 0.076, 3.507, 0, 0, 0, 24 [SEP] 15, ScrubBrush, -0.322, 3.109, 1.950, 0, 0, 0, [SEP] 16, SoapBottle, -0.141, 0.955, 2.772, 0, 0, 0, 23 [SEP] 17, Mirror, -0.030, 1.544, 2.864, 0, 0, 0, [SEP] 18, Sink, -0.302, 0.799, 3.263, 0, 270, 0, [SEP] 19, Cabinet, -0.491, 0.404, 2.863, 0, 0, 0, [SEP] 20, Cabinet, -0.495, 0.384, 2.842, 0, 0, 0, [SEP] 21, ShowerDoor, -1.647, 1.017, 1.180, 0, 0, 0, [SEP] 22, ShowerGlass, -0.909, 0.788, 0.485, 0, 0, 0, [SEP] 23, CounterTop, -0.261, 0.927, 2.843, 0, 0, 0, [SEP] 24, Cabinet, -0.495, 0.384, 3.650, 0, 0, 0, [SEP] 25, Cabinet, -0.491, 0.404, 2.055, 0, 0, 0, [SEP] 26, TowelHolder, -1.082, 1.312, 1.195, 0, 0, 0, [SEP] 27, LightSwitch, -2.424, 1.447, 3.338, 0, 90, 0, [SEP] 28, ToiletPaperHanger, -0.266, 0.786, 2.043, 0, 180, 0, [SEP] 29, HandTowelHolder, 0.000, 1.721, 1.887, 0, 180, 0, [SEP] 30, HandTowelHolder, 0.000, 1.721, 3.799, 0, 180, 0, [SEP] 31, Toilet, -0.542, 3.109, 1.493, 0, 270, 0, [SEP] 32, GarbageCan, -2.159, -0.000, 3.756, 0, 0, 0, [SEP] 33, SinkBasin, -0.308, 0.820, 3.266, 0, 0, 0, [SEP] 34, ShowerHead, -0.134, 1.888, 0.564, 0, 90, 0, [SEP] 35, Faucet, 0.0, 1.009, 3.265, 0, 0, 0, [SEP] 36, Faucet, 0.0, 1.009, 2.421, 0, 0, 0, [SEP] 37, SinkBasin, -0.308, 0.820, 2.422, 0, 0, 0, [SEP] 38, Sink, -0.302, 0.799, 2.419, 0, 270, 0, [SEP] 39, NorthWall, , , , , , , [SEP] 40, SouthWall, , , , , , , [SEP] 41, SouthWall, , , , , , , ", "output": ["STEP 1: Turn around to face the right side of the sink. | STEP 2: Pick up the plunger from in between the sink and the toilet. | STEP 3: Move slightly to the left to face the cabinet under the sink. | STEP 4: Open the left cabinet door and place the plunger inside of the cabinet. | END"]} +{"id": "trial_T20190908_062908_529599-2", "input": "Place a plunger inside a cabinet SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -0.75, 0.901, 2.5, 0, 270, 0, [SEP] 1, Cloth, -0.279, 0.075, 3.011, 0, 180, 0, 19 [SEP] 2, Candle, -0.051, 0.953, 1.544, 0, 0, 0, 31 [SEP] 3, Candle, -0.381, 0.075, 2.336, 0, 0, 0, 25 [SEP] 4, SoapBar, -0.131, 0.953, 1.294, 0, 0, 0, 31 [SEP] 5, SoapBottle, -0.388, 0.955, 2.843, 0, 0, 0, 23 [SEP] 6, HandTowel, -0.038, 1.619, 1.887, 0, 90, 0, 29 [SEP] 7, Towel, -1.082, 1.326, 1.302, 0, 0, 0, 26 [SEP] 8, SoapBar, -0.280, 0.076, 2.698, 0, 0, 0, 20 [SEP] 9, ToiletPaper, -0.117, 0.945, 1.629, 0, 0, 0, 31 [SEP] 10, Plunger, -0.112, -0.000, 1.848, 0, 0, 0, [SEP] 11, Candle, -0.381, 0.075, 2.966, 0, 0, 0, 20 [SEP] 12, ToiletPaper, -0.280, 0.654, 1.985, 0, 180, 90, 28 [SEP] 13, SprayBottle, -0.450, 0.955, 2.948, 0, 0, 0, 23 [SEP] 14, Cloth, -0.331, 0.076, 3.507, 0, 0, 0, 24 [SEP] 15, ScrubBrush, -0.322, 3.109, 1.950, 0, 0, 0, [SEP] 16, SoapBottle, -0.141, 0.955, 2.772, 0, 0, 0, 23 [SEP] 17, Mirror, -0.030, 1.544, 2.864, 0, 0, 0, [SEP] 18, Sink, -0.302, 0.799, 3.263, 0, 270, 0, [SEP] 19, Cabinet, -0.491, 0.404, 2.863, 0, 0, 0, [SEP] 20, Cabinet, -0.495, 0.384, 2.842, 0, 0, 0, [SEP] 21, ShowerDoor, -1.647, 1.017, 1.180, 0, 0, 0, [SEP] 22, ShowerGlass, -0.909, 0.788, 0.485, 0, 0, 0, [SEP] 23, CounterTop, -0.261, 0.927, 2.843, 0, 0, 0, [SEP] 24, Cabinet, -0.495, 0.384, 3.650, 0, 0, 0, [SEP] 25, Cabinet, -0.491, 0.404, 2.055, 0, 0, 0, [SEP] 26, TowelHolder, -1.082, 1.312, 1.195, 0, 0, 0, [SEP] 27, LightSwitch, -2.424, 1.447, 3.338, 0, 90, 0, [SEP] 28, ToiletPaperHanger, -0.266, 0.786, 2.043, 0, 180, 0, [SEP] 29, HandTowelHolder, 0.000, 1.721, 1.887, 0, 180, 0, [SEP] 30, HandTowelHolder, 0.000, 1.721, 3.799, 0, 180, 0, [SEP] 31, Toilet, -0.542, 3.109, 1.493, 0, 270, 0, [SEP] 32, GarbageCan, -2.159, -0.000, 3.756, 0, 0, 0, [SEP] 33, SinkBasin, -0.308, 0.820, 3.266, 0, 0, 0, [SEP] 34, ShowerHead, -0.134, 1.888, 0.564, 0, 90, 0, [SEP] 35, Faucet, 0.0, 1.009, 3.265, 0, 0, 0, [SEP] 36, Faucet, 0.0, 1.009, 2.421, 0, 0, 0, [SEP] 37, SinkBasin, -0.308, 0.820, 2.422, 0, 0, 0, [SEP] 38, Sink, -0.302, 0.799, 2.419, 0, 270, 0, [SEP] 39, NorthWall, , , , , , , [SEP] 40, SouthWall, , , , , , , [SEP] 41, SouthWall, , , , , , , ", "output": ["STEP 1: Turn around to face the sink and the toilet | STEP 2: Pick up the aqua plunger that is sitting in between the sink and toilet | STEP 3: Take a step backwards and continue to face the sink and toilet | STEP 4: Open the left hand cabinet under the sink and place the plunger inside, to the right of the soap, then close the cabinet door | END"]} +{"id": "trial_T20190907_155134_457504-0", "input": "Put a mug with spoon in it 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, 0.0, 0.900, -2.25, 0, 180, 0, [SEP] 1, Pan, 1.077, 0.950, -1.098, 0, 0, 0, 56 [SEP] 2, Statue, -1.104, 0.936, -0.118, 0, 0, 0, 54 [SEP] 3, Vase, 1.193, 1.667, 0.280, 0, 270, 0, 62 [SEP] 4, CellPhone, -0.698, 0.930, -0.143, 0, 90, 0, 54 [SEP] 5, CellPhone, -0.477, 0.930, -0.067, 0, 0, 0, 54 [SEP] 6, ButterKnife, 0.944, 0.911, -0.729, 0, 0, 0, 55 [SEP] 7, ButterKnife, 0.773, 0.911, -0.729, 0, 0, 0, 55 [SEP] 8, Spatula, 1.114, 0.926, -0.208, 0, 0, 0, 55 [SEP] 9, Spatula, 0.915, 0.718, -0.607, 0, 0, 0, 52 [SEP] 10, Knife, -0.697, 0.803, -0.745, 0, 90, 0, 75 [SEP] 11, Egg, -0.697, 0.818, -0.918, 0, 90, 0, 75 [SEP] 12, Cup, -0.808, 0.773, -0.486, 0, 90, 0, 75 [SEP] 13, SoapBottle, 0.688, 0.911, -2.051, 0, 0, 0, 60 [SEP] 14, SaltShaker, 0.833, 0.150, -0.571, 0, 270, 0, 57 [SEP] 15, SaltShaker, 0.944, 0.907, -1.879, 0, 0, 0, 60 [SEP] 16, Lettuce, 1.114, 0.988, -0.381, 0, 0, 0, 55 [SEP] 17, Bread, 0.944, 0.992, 0.139, 0, 0, 0, 55 [SEP] 18, Mug, 1.026, 1.129, 1.158, 0, 270, 0, 77 [SEP] 19, Apple, -1.007, 0.227, 0.510, 0, 180, 0, 74 [SEP] 20, Statue, -1.571, 0.884, 2.719, 0, 0, 0, 54 [SEP] 21, Glassbottle, 1.212, 2.208, -1.408, 0, 270, 0, 61 [SEP] 22, Bread, 0.905, 0.944, 1.254, 0, 270, 0, 77 [SEP] 23, CreditCard, 1.199, 0.908, -0.208, 0, 0, 0, 55 [SEP] 24, CellPhone, -0.920, 0.930, 0.009, 0, 0, 0, 54 [SEP] 25, Potato, 0.944, 0.941, -0.555, 0, 0, 0, 55 [SEP] 26, Knife, -0.772, 0.957, 0.162, 0, 0, 0, 54 [SEP] 27, Fork, -0.698, 0.934, -1.540, 0, 0, 0, 54 [SEP] 28, Pan, 0.966, 1.640, 1.444, 0, 0, 0, 77 [SEP] 29, Lettuce, -1.355, 1.010, -0.905, 0, 0, 0, 54 [SEP] 30, Plate, -1.570, 0.557, 2.667, 0, 0, 0, 80 [SEP] 31, Apple, 0.773, 0.961, -0.555, 0, 0, 0, 55 [SEP] 32, Pot, 0.842, 0.950, -1.504, 0, 0, 0, 51 [SEP] 33, Spatula, 0.773, 0.926, -1.793, 0, 270, 0, 60 [SEP] 34, PaperTowelRoll, -0.865, 0.281, 0.543, 0, 180, 0, 74 [SEP] 35, Tomato, -1.229, 0.974, -0.380, 0, 0, 0, 54 [SEP] 36, Egg, 1.093, 1.833, -1.132, 0, 270, 0, 76 [SEP] 37, SaltShaker, 1.199, 0.907, -0.729, 0, 0, 0, 55 [SEP] 38, PepperShaker, 0.944, 0.907, -1.793, 0, 0, 0, 60 [SEP] 39, Vase, 1.082, 2.207, -0.973, 0, 270, 0, 61 [SEP] 40, ButterKnife, 1.114, 0.911, -0.208, 0, 90, 0, 55 [SEP] 41, SoapBottle, 1.199, 0.911, -1.793, 0, 0, 0, 60 [SEP] 42, Vase, 0.861, 0.109, -2.212, 0, 0, 0, 59 [SEP] 43, Bowl, 1.101, 1.669, -2.234, 0, 270, 0, 53 [SEP] 44, DishSponge, -0.960, 0.176, 0.608, 0, 180, 0, 74 [SEP] 45, Spoon, 0.859, 0.912, -0.555, 0, 0, 0, 55 [SEP] 46, Cup, 1.126, 1.792, -1.339, 0, 270, 0, 76 [SEP] 47, Mug, 0.844, 1.396, 1.349, 0, 270, 0, 77 [SEP] 48, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 49, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 50, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 51, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 52, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 53, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 54, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 55, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 56, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 57, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 58, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 59, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 60, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 61, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 62, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 63, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 64, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 65, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 66, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 67, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 68, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 69, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 70, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 71, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 72, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 73, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 74, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 75, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 76, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 77, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 78, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 79, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 80, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 81, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 82, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 83, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 84, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 85, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 86, NorthWall, , , , , , , [SEP] 87, EastWall, , , , , , , [SEP] 88, SouthWall, , , , , , , [SEP] 89, WestWall, , , , , , , ", "output": ["STEP 1: Turn around, go forward past the stove, turn to face the counter on the right. | STEP 2: Pick up the spoon on the counter. | STEP 3: Turn left, go to the fridge, turn right to face the fridge. | STEP 4: Open the fridge and put the spoon in the mug on the top shelf. | STEP 5: Pick up the mug with the spoon from the top shelf of the fridge. | STEP 6: Turn right, move to the counter before the stove, face the counter on the left. | STEP 7: Put the mug with spoon on the counter left of the stove. | END"]} +{"id": "trial_T20190907_155134_457504-1", "input": "Put a mug with a spoon inside of 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, 0.0, 0.900, -2.25, 0, 180, 0, [SEP] 1, Pan, 1.077, 0.950, -1.098, 0, 0, 0, 56 [SEP] 2, Statue, -1.104, 0.936, -0.118, 0, 0, 0, 54 [SEP] 3, Vase, 1.193, 1.667, 0.280, 0, 270, 0, 62 [SEP] 4, CellPhone, -0.698, 0.930, -0.143, 0, 90, 0, 54 [SEP] 5, CellPhone, -0.477, 0.930, -0.067, 0, 0, 0, 54 [SEP] 6, ButterKnife, 0.944, 0.911, -0.729, 0, 0, 0, 55 [SEP] 7, ButterKnife, 0.773, 0.911, -0.729, 0, 0, 0, 55 [SEP] 8, Spatula, 1.114, 0.926, -0.208, 0, 0, 0, 55 [SEP] 9, Spatula, 0.915, 0.718, -0.607, 0, 0, 0, 52 [SEP] 10, Knife, -0.697, 0.803, -0.745, 0, 90, 0, 75 [SEP] 11, Egg, -0.697, 0.818, -0.918, 0, 90, 0, 75 [SEP] 12, Cup, -0.808, 0.773, -0.486, 0, 90, 0, 75 [SEP] 13, SoapBottle, 0.688, 0.911, -2.051, 0, 0, 0, 60 [SEP] 14, SaltShaker, 0.833, 0.150, -0.571, 0, 270, 0, 57 [SEP] 15, SaltShaker, 0.944, 0.907, -1.879, 0, 0, 0, 60 [SEP] 16, Lettuce, 1.114, 0.988, -0.381, 0, 0, 0, 55 [SEP] 17, Bread, 0.944, 0.992, 0.139, 0, 0, 0, 55 [SEP] 18, Mug, 1.026, 1.129, 1.158, 0, 270, 0, 77 [SEP] 19, Apple, -1.007, 0.227, 0.510, 0, 180, 0, 74 [SEP] 20, Statue, -1.571, 0.884, 2.719, 0, 0, 0, 54 [SEP] 21, Glassbottle, 1.212, 2.208, -1.408, 0, 270, 0, 61 [SEP] 22, Bread, 0.905, 0.944, 1.254, 0, 270, 0, 77 [SEP] 23, CreditCard, 1.199, 0.908, -0.208, 0, 0, 0, 55 [SEP] 24, CellPhone, -0.920, 0.930, 0.009, 0, 0, 0, 54 [SEP] 25, Potato, 0.944, 0.941, -0.555, 0, 0, 0, 55 [SEP] 26, Knife, -0.772, 0.957, 0.162, 0, 0, 0, 54 [SEP] 27, Fork, -0.698, 0.934, -1.540, 0, 0, 0, 54 [SEP] 28, Pan, 0.966, 1.640, 1.444, 0, 0, 0, 77 [SEP] 29, Lettuce, -1.355, 1.010, -0.905, 0, 0, 0, 54 [SEP] 30, Plate, -1.570, 0.557, 2.667, 0, 0, 0, 80 [SEP] 31, Apple, 0.773, 0.961, -0.555, 0, 0, 0, 55 [SEP] 32, Pot, 0.842, 0.950, -1.504, 0, 0, 0, 51 [SEP] 33, Spatula, 0.773, 0.926, -1.793, 0, 270, 0, 60 [SEP] 34, PaperTowelRoll, -0.865, 0.281, 0.543, 0, 180, 0, 74 [SEP] 35, Tomato, -1.229, 0.974, -0.380, 0, 0, 0, 54 [SEP] 36, Egg, 1.093, 1.833, -1.132, 0, 270, 0, 76 [SEP] 37, SaltShaker, 1.199, 0.907, -0.729, 0, 0, 0, 55 [SEP] 38, PepperShaker, 0.944, 0.907, -1.793, 0, 0, 0, 60 [SEP] 39, Vase, 1.082, 2.207, -0.973, 0, 270, 0, 61 [SEP] 40, ButterKnife, 1.114, 0.911, -0.208, 0, 90, 0, 55 [SEP] 41, SoapBottle, 1.199, 0.911, -1.793, 0, 0, 0, 60 [SEP] 42, Vase, 0.861, 0.109, -2.212, 0, 0, 0, 59 [SEP] 43, Bowl, 1.101, 1.669, -2.234, 0, 270, 0, 53 [SEP] 44, DishSponge, -0.960, 0.176, 0.608, 0, 180, 0, 74 [SEP] 45, Spoon, 0.859, 0.912, -0.555, 0, 0, 0, 55 [SEP] 46, Cup, 1.126, 1.792, -1.339, 0, 270, 0, 76 [SEP] 47, Mug, 0.844, 1.396, 1.349, 0, 270, 0, 77 [SEP] 48, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 49, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 50, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 51, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 52, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 53, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 54, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 55, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 56, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 57, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 58, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 59, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 60, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 61, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 62, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 63, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 64, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 65, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 66, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 67, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 68, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 69, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 70, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 71, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 72, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 73, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 74, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 75, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 76, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 77, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 78, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 79, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 80, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 81, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 82, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 83, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 84, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 85, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 86, NorthWall, , , , , , , [SEP] 87, EastWall, , , , , , , [SEP] 88, SouthWall, , , , , , , [SEP] 89, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and begin walking across the room, then turn right and walk up to the counter to the left of the oven. | STEP 2: Pick up the metal spoon that is on the counter to the left of the oven. | STEP 3: Turn left and walk over to the fridge. | STEP 4: Open the fridge door and place the spoon handle down inside the white mug that is on the top shelf inside the fridge. | STEP 5: Pick up the white mug with the spoon inside of it and close the fridge door. | STEP 6: Turn right and walk over to the dishwasher, turn left to face the counter. | STEP 7: Put the white mug with the spoon inside of it on the counter. | END"]} +{"id": "trial_T20190907_155134_457504-2", "input": "Put a mug with a spoon in 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, 0.0, 0.900, -2.25, 0, 180, 0, [SEP] 1, Pan, 1.077, 0.950, -1.098, 0, 0, 0, 56 [SEP] 2, Statue, -1.104, 0.936, -0.118, 0, 0, 0, 54 [SEP] 3, Vase, 1.193, 1.667, 0.280, 0, 270, 0, 62 [SEP] 4, CellPhone, -0.698, 0.930, -0.143, 0, 90, 0, 54 [SEP] 5, CellPhone, -0.477, 0.930, -0.067, 0, 0, 0, 54 [SEP] 6, ButterKnife, 0.944, 0.911, -0.729, 0, 0, 0, 55 [SEP] 7, ButterKnife, 0.773, 0.911, -0.729, 0, 0, 0, 55 [SEP] 8, Spatula, 1.114, 0.926, -0.208, 0, 0, 0, 55 [SEP] 9, Spatula, 0.915, 0.718, -0.607, 0, 0, 0, 52 [SEP] 10, Knife, -0.697, 0.803, -0.745, 0, 90, 0, 75 [SEP] 11, Egg, -0.697, 0.818, -0.918, 0, 90, 0, 75 [SEP] 12, Cup, -0.808, 0.773, -0.486, 0, 90, 0, 75 [SEP] 13, SoapBottle, 0.688, 0.911, -2.051, 0, 0, 0, 60 [SEP] 14, SaltShaker, 0.833, 0.150, -0.571, 0, 270, 0, 57 [SEP] 15, SaltShaker, 0.944, 0.907, -1.879, 0, 0, 0, 60 [SEP] 16, Lettuce, 1.114, 0.988, -0.381, 0, 0, 0, 55 [SEP] 17, Bread, 0.944, 0.992, 0.139, 0, 0, 0, 55 [SEP] 18, Mug, 1.026, 1.129, 1.158, 0, 270, 0, 77 [SEP] 19, Apple, -1.007, 0.227, 0.510, 0, 180, 0, 74 [SEP] 20, Statue, -1.571, 0.884, 2.719, 0, 0, 0, 54 [SEP] 21, Glassbottle, 1.212, 2.208, -1.408, 0, 270, 0, 61 [SEP] 22, Bread, 0.905, 0.944, 1.254, 0, 270, 0, 77 [SEP] 23, CreditCard, 1.199, 0.908, -0.208, 0, 0, 0, 55 [SEP] 24, CellPhone, -0.920, 0.930, 0.009, 0, 0, 0, 54 [SEP] 25, Potato, 0.944, 0.941, -0.555, 0, 0, 0, 55 [SEP] 26, Knife, -0.772, 0.957, 0.162, 0, 0, 0, 54 [SEP] 27, Fork, -0.698, 0.934, -1.540, 0, 0, 0, 54 [SEP] 28, Pan, 0.966, 1.640, 1.444, 0, 0, 0, 77 [SEP] 29, Lettuce, -1.355, 1.010, -0.905, 0, 0, 0, 54 [SEP] 30, Plate, -1.570, 0.557, 2.667, 0, 0, 0, 80 [SEP] 31, Apple, 0.773, 0.961, -0.555, 0, 0, 0, 55 [SEP] 32, Pot, 0.842, 0.950, -1.504, 0, 0, 0, 51 [SEP] 33, Spatula, 0.773, 0.926, -1.793, 0, 270, 0, 60 [SEP] 34, PaperTowelRoll, -0.865, 0.281, 0.543, 0, 180, 0, 74 [SEP] 35, Tomato, -1.229, 0.974, -0.380, 0, 0, 0, 54 [SEP] 36, Egg, 1.093, 1.833, -1.132, 0, 270, 0, 76 [SEP] 37, SaltShaker, 1.199, 0.907, -0.729, 0, 0, 0, 55 [SEP] 38, PepperShaker, 0.944, 0.907, -1.793, 0, 0, 0, 60 [SEP] 39, Vase, 1.082, 2.207, -0.973, 0, 270, 0, 61 [SEP] 40, ButterKnife, 1.114, 0.911, -0.208, 0, 90, 0, 55 [SEP] 41, SoapBottle, 1.199, 0.911, -1.793, 0, 0, 0, 60 [SEP] 42, Vase, 0.861, 0.109, -2.212, 0, 0, 0, 59 [SEP] 43, Bowl, 1.101, 1.669, -2.234, 0, 270, 0, 53 [SEP] 44, DishSponge, -0.960, 0.176, 0.608, 0, 180, 0, 74 [SEP] 45, Spoon, 0.859, 0.912, -0.555, 0, 0, 0, 55 [SEP] 46, Cup, 1.126, 1.792, -1.339, 0, 270, 0, 76 [SEP] 47, Mug, 0.844, 1.396, 1.349, 0, 270, 0, 77 [SEP] 48, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 49, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 50, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 51, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 52, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 53, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 54, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 55, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 56, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 57, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 58, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 59, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 60, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 61, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 62, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 63, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 64, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 65, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 66, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 67, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 68, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 69, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 70, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 71, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 72, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 73, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 74, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 75, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 76, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 77, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 78, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 79, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 80, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 81, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 82, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 83, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 84, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 85, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 86, NorthWall, , , , , , , [SEP] 87, EastWall, , , , , , , [SEP] 88, SouthWall, , , , , , , [SEP] 89, WestWall, , , , , , , ", "output": ["STEP 1: Turn around, go straight, then turn right to face the counter, to the right of the oven. | STEP 2: Pick up the spoon on the counter, to the left of the butter knives. | STEP 3: Turn left and go to the fridge ahead of you. | STEP 4: Put the spoon in the mug, on the top shelf of the fridge. | STEP 5: Pick up the mug with the spoon in it. | STEP 6: Turn right, go straight, then turn left at the dishwasher. | STEP 7: Put the mug on the counter, in front of the lettuce. | END"]} +{"id": "trial_T20190907_155134_457504-3", "input": "Put a cup with spoon on the counter 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, 0.0, 0.900, -2.25, 0, 180, 0, [SEP] 1, Pan, 1.077, 0.950, -1.098, 0, 0, 0, 56 [SEP] 2, Statue, -1.104, 0.936, -0.118, 0, 0, 0, 54 [SEP] 3, Vase, 1.193, 1.667, 0.280, 0, 270, 0, 62 [SEP] 4, CellPhone, -0.698, 0.930, -0.143, 0, 90, 0, 54 [SEP] 5, CellPhone, -0.477, 0.930, -0.067, 0, 0, 0, 54 [SEP] 6, ButterKnife, 0.944, 0.911, -0.729, 0, 0, 0, 55 [SEP] 7, ButterKnife, 0.773, 0.911, -0.729, 0, 0, 0, 55 [SEP] 8, Spatula, 1.114, 0.926, -0.208, 0, 0, 0, 55 [SEP] 9, Spatula, 0.915, 0.718, -0.607, 0, 0, 0, 52 [SEP] 10, Knife, -0.697, 0.803, -0.745, 0, 90, 0, 75 [SEP] 11, Egg, -0.697, 0.818, -0.918, 0, 90, 0, 75 [SEP] 12, Cup, -0.808, 0.773, -0.486, 0, 90, 0, 75 [SEP] 13, SoapBottle, 0.688, 0.911, -2.051, 0, 0, 0, 60 [SEP] 14, SaltShaker, 0.833, 0.150, -0.571, 0, 270, 0, 57 [SEP] 15, SaltShaker, 0.944, 0.907, -1.879, 0, 0, 0, 60 [SEP] 16, Lettuce, 1.114, 0.988, -0.381, 0, 0, 0, 55 [SEP] 17, Bread, 0.944, 0.992, 0.139, 0, 0, 0, 55 [SEP] 18, Mug, 1.026, 1.129, 1.158, 0, 270, 0, 77 [SEP] 19, Apple, -1.007, 0.227, 0.510, 0, 180, 0, 74 [SEP] 20, Statue, -1.571, 0.884, 2.719, 0, 0, 0, 54 [SEP] 21, Glassbottle, 1.212, 2.208, -1.408, 0, 270, 0, 61 [SEP] 22, Bread, 0.905, 0.944, 1.254, 0, 270, 0, 77 [SEP] 23, CreditCard, 1.199, 0.908, -0.208, 0, 0, 0, 55 [SEP] 24, CellPhone, -0.920, 0.930, 0.009, 0, 0, 0, 54 [SEP] 25, Potato, 0.944, 0.941, -0.555, 0, 0, 0, 55 [SEP] 26, Knife, -0.772, 0.957, 0.162, 0, 0, 0, 54 [SEP] 27, Fork, -0.698, 0.934, -1.540, 0, 0, 0, 54 [SEP] 28, Pan, 0.966, 1.640, 1.444, 0, 0, 0, 77 [SEP] 29, Lettuce, -1.355, 1.010, -0.905, 0, 0, 0, 54 [SEP] 30, Plate, -1.570, 0.557, 2.667, 0, 0, 0, 80 [SEP] 31, Apple, 0.773, 0.961, -0.555, 0, 0, 0, 55 [SEP] 32, Pot, 0.842, 0.950, -1.504, 0, 0, 0, 51 [SEP] 33, Spatula, 0.773, 0.926, -1.793, 0, 270, 0, 60 [SEP] 34, PaperTowelRoll, -0.865, 0.281, 0.543, 0, 180, 0, 74 [SEP] 35, Tomato, -1.229, 0.974, -0.380, 0, 0, 0, 54 [SEP] 36, Egg, 1.093, 1.833, -1.132, 0, 270, 0, 76 [SEP] 37, SaltShaker, 1.199, 0.907, -0.729, 0, 0, 0, 55 [SEP] 38, PepperShaker, 0.944, 0.907, -1.793, 0, 0, 0, 60 [SEP] 39, Vase, 1.082, 2.207, -0.973, 0, 270, 0, 61 [SEP] 40, ButterKnife, 1.114, 0.911, -0.208, 0, 90, 0, 55 [SEP] 41, SoapBottle, 1.199, 0.911, -1.793, 0, 0, 0, 60 [SEP] 42, Vase, 0.861, 0.109, -2.212, 0, 0, 0, 59 [SEP] 43, Bowl, 1.101, 1.669, -2.234, 0, 270, 0, 53 [SEP] 44, DishSponge, -0.960, 0.176, 0.608, 0, 180, 0, 74 [SEP] 45, Spoon, 0.859, 0.912, -0.555, 0, 0, 0, 55 [SEP] 46, Cup, 1.126, 1.792, -1.339, 0, 270, 0, 76 [SEP] 47, Mug, 0.844, 1.396, 1.349, 0, 270, 0, 77 [SEP] 48, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 49, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 50, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 51, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 52, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 53, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 54, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 55, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 56, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 57, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 58, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 59, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 60, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 61, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 62, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 63, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 64, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 65, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 66, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 67, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 68, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 69, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 70, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 71, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 72, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 73, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 74, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 75, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 76, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 77, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 78, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 79, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 80, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 81, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 82, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 83, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 84, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 85, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 86, NorthWall, , , , , , , [SEP] 87, EastWall, , , , , , , [SEP] 88, SouthWall, , , , , , , [SEP] 89, WestWall, , , , , , , ", "output": ["STEP 1: Move to the left of the stove | STEP 2: Pick up a spoon from the counter | STEP 3: Move to the fridge to the left of you | STEP 4: Put spoon inside a cup | STEP 5: Pick up cup from the fridge | STEP 6: Move to the counter to the left of the stove | STEP 7: put cup on the counter | END"]} +{"id": "trial_T20190907_155134_457504-4", "input": "Place a mug with a spoon in 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, 0.0, 0.900, -2.25, 0, 180, 0, [SEP] 1, Pan, 1.077, 0.950, -1.098, 0, 0, 0, 56 [SEP] 2, Statue, -1.104, 0.936, -0.118, 0, 0, 0, 54 [SEP] 3, Vase, 1.193, 1.667, 0.280, 0, 270, 0, 62 [SEP] 4, CellPhone, -0.698, 0.930, -0.143, 0, 90, 0, 54 [SEP] 5, CellPhone, -0.477, 0.930, -0.067, 0, 0, 0, 54 [SEP] 6, ButterKnife, 0.944, 0.911, -0.729, 0, 0, 0, 55 [SEP] 7, ButterKnife, 0.773, 0.911, -0.729, 0, 0, 0, 55 [SEP] 8, Spatula, 1.114, 0.926, -0.208, 0, 0, 0, 55 [SEP] 9, Spatula, 0.915, 0.718, -0.607, 0, 0, 0, 52 [SEP] 10, Knife, -0.697, 0.803, -0.745, 0, 90, 0, 75 [SEP] 11, Egg, -0.697, 0.818, -0.918, 0, 90, 0, 75 [SEP] 12, Cup, -0.808, 0.773, -0.486, 0, 90, 0, 75 [SEP] 13, SoapBottle, 0.688, 0.911, -2.051, 0, 0, 0, 60 [SEP] 14, SaltShaker, 0.833, 0.150, -0.571, 0, 270, 0, 57 [SEP] 15, SaltShaker, 0.944, 0.907, -1.879, 0, 0, 0, 60 [SEP] 16, Lettuce, 1.114, 0.988, -0.381, 0, 0, 0, 55 [SEP] 17, Bread, 0.944, 0.992, 0.139, 0, 0, 0, 55 [SEP] 18, Mug, 1.026, 1.129, 1.158, 0, 270, 0, 77 [SEP] 19, Apple, -1.007, 0.227, 0.510, 0, 180, 0, 74 [SEP] 20, Statue, -1.571, 0.884, 2.719, 0, 0, 0, 54 [SEP] 21, Glassbottle, 1.212, 2.208, -1.408, 0, 270, 0, 61 [SEP] 22, Bread, 0.905, 0.944, 1.254, 0, 270, 0, 77 [SEP] 23, CreditCard, 1.199, 0.908, -0.208, 0, 0, 0, 55 [SEP] 24, CellPhone, -0.920, 0.930, 0.009, 0, 0, 0, 54 [SEP] 25, Potato, 0.944, 0.941, -0.555, 0, 0, 0, 55 [SEP] 26, Knife, -0.772, 0.957, 0.162, 0, 0, 0, 54 [SEP] 27, Fork, -0.698, 0.934, -1.540, 0, 0, 0, 54 [SEP] 28, Pan, 0.966, 1.640, 1.444, 0, 0, 0, 77 [SEP] 29, Lettuce, -1.355, 1.010, -0.905, 0, 0, 0, 54 [SEP] 30, Plate, -1.570, 0.557, 2.667, 0, 0, 0, 80 [SEP] 31, Apple, 0.773, 0.961, -0.555, 0, 0, 0, 55 [SEP] 32, Pot, 0.842, 0.950, -1.504, 0, 0, 0, 51 [SEP] 33, Spatula, 0.773, 0.926, -1.793, 0, 270, 0, 60 [SEP] 34, PaperTowelRoll, -0.865, 0.281, 0.543, 0, 180, 0, 74 [SEP] 35, Tomato, -1.229, 0.974, -0.380, 0, 0, 0, 54 [SEP] 36, Egg, 1.093, 1.833, -1.132, 0, 270, 0, 76 [SEP] 37, SaltShaker, 1.199, 0.907, -0.729, 0, 0, 0, 55 [SEP] 38, PepperShaker, 0.944, 0.907, -1.793, 0, 0, 0, 60 [SEP] 39, Vase, 1.082, 2.207, -0.973, 0, 270, 0, 61 [SEP] 40, ButterKnife, 1.114, 0.911, -0.208, 0, 90, 0, 55 [SEP] 41, SoapBottle, 1.199, 0.911, -1.793, 0, 0, 0, 60 [SEP] 42, Vase, 0.861, 0.109, -2.212, 0, 0, 0, 59 [SEP] 43, Bowl, 1.101, 1.669, -2.234, 0, 270, 0, 53 [SEP] 44, DishSponge, -0.960, 0.176, 0.608, 0, 180, 0, 74 [SEP] 45, Spoon, 0.859, 0.912, -0.555, 0, 0, 0, 55 [SEP] 46, Cup, 1.126, 1.792, -1.339, 0, 270, 0, 76 [SEP] 47, Mug, 0.844, 1.396, 1.349, 0, 270, 0, 77 [SEP] 48, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 49, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 50, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 51, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 52, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 53, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 54, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 55, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 56, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 57, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 58, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 59, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 60, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 61, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 62, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 63, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 64, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 65, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 66, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 67, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 68, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 69, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 70, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 71, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 72, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 73, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 74, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 75, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 76, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 77, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 78, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 79, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 80, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 81, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 82, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 83, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 84, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 85, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 86, NorthWall, , , , , , , [SEP] 87, EastWall, , , , , , , [SEP] 88, SouthWall, , , , , , , [SEP] 89, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and walk until you get to the counter on your right with the utensils on it. | STEP 2: Pick up the spoon directly to the left of the pear. | STEP 3: Turn left and walk until you reach the fridge. | STEP 4: Place the spoon in the white mug on the top shelf of the fridge. | STEP 5: Grab the mug that you placed the spoon in. | STEP 6: Turn to your right and walk back to the counter that you got the spoon from. | STEP 7: Place the mug on the front of the counter. | END"]} +{"id": "trial_T20190907_155134_457504-5", "input": "Bring a white cup from the Fridge 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, 0.0, 0.900, -2.25, 0, 180, 0, [SEP] 1, Pan, 1.077, 0.950, -1.098, 0, 0, 0, 56 [SEP] 2, Statue, -1.104, 0.936, -0.118, 0, 0, 0, 54 [SEP] 3, Vase, 1.193, 1.667, 0.280, 0, 270, 0, 62 [SEP] 4, CellPhone, -0.698, 0.930, -0.143, 0, 90, 0, 54 [SEP] 5, CellPhone, -0.477, 0.930, -0.067, 0, 0, 0, 54 [SEP] 6, ButterKnife, 0.944, 0.911, -0.729, 0, 0, 0, 55 [SEP] 7, ButterKnife, 0.773, 0.911, -0.729, 0, 0, 0, 55 [SEP] 8, Spatula, 1.114, 0.926, -0.208, 0, 0, 0, 55 [SEP] 9, Spatula, 0.915, 0.718, -0.607, 0, 0, 0, 52 [SEP] 10, Knife, -0.697, 0.803, -0.745, 0, 90, 0, 75 [SEP] 11, Egg, -0.697, 0.818, -0.918, 0, 90, 0, 75 [SEP] 12, Cup, -0.808, 0.773, -0.486, 0, 90, 0, 75 [SEP] 13, SoapBottle, 0.688, 0.911, -2.051, 0, 0, 0, 60 [SEP] 14, SaltShaker, 0.833, 0.150, -0.571, 0, 270, 0, 57 [SEP] 15, SaltShaker, 0.944, 0.907, -1.879, 0, 0, 0, 60 [SEP] 16, Lettuce, 1.114, 0.988, -0.381, 0, 0, 0, 55 [SEP] 17, Bread, 0.944, 0.992, 0.139, 0, 0, 0, 55 [SEP] 18, Mug, 1.026, 1.129, 1.158, 0, 270, 0, 77 [SEP] 19, Apple, -1.007, 0.227, 0.510, 0, 180, 0, 74 [SEP] 20, Statue, -1.571, 0.884, 2.719, 0, 0, 0, 54 [SEP] 21, Glassbottle, 1.212, 2.208, -1.408, 0, 270, 0, 61 [SEP] 22, Bread, 0.905, 0.944, 1.254, 0, 270, 0, 77 [SEP] 23, CreditCard, 1.199, 0.908, -0.208, 0, 0, 0, 55 [SEP] 24, CellPhone, -0.920, 0.930, 0.009, 0, 0, 0, 54 [SEP] 25, Potato, 0.944, 0.941, -0.555, 0, 0, 0, 55 [SEP] 26, Knife, -0.772, 0.957, 0.162, 0, 0, 0, 54 [SEP] 27, Fork, -0.698, 0.934, -1.540, 0, 0, 0, 54 [SEP] 28, Pan, 0.966, 1.640, 1.444, 0, 0, 0, 77 [SEP] 29, Lettuce, -1.355, 1.010, -0.905, 0, 0, 0, 54 [SEP] 30, Plate, -1.570, 0.557, 2.667, 0, 0, 0, 80 [SEP] 31, Apple, 0.773, 0.961, -0.555, 0, 0, 0, 55 [SEP] 32, Pot, 0.842, 0.950, -1.504, 0, 0, 0, 51 [SEP] 33, Spatula, 0.773, 0.926, -1.793, 0, 270, 0, 60 [SEP] 34, PaperTowelRoll, -0.865, 0.281, 0.543, 0, 180, 0, 74 [SEP] 35, Tomato, -1.229, 0.974, -0.380, 0, 0, 0, 54 [SEP] 36, Egg, 1.093, 1.833, -1.132, 0, 270, 0, 76 [SEP] 37, SaltShaker, 1.199, 0.907, -0.729, 0, 0, 0, 55 [SEP] 38, PepperShaker, 0.944, 0.907, -1.793, 0, 0, 0, 60 [SEP] 39, Vase, 1.082, 2.207, -0.973, 0, 270, 0, 61 [SEP] 40, ButterKnife, 1.114, 0.911, -0.208, 0, 90, 0, 55 [SEP] 41, SoapBottle, 1.199, 0.911, -1.793, 0, 0, 0, 60 [SEP] 42, Vase, 0.861, 0.109, -2.212, 0, 0, 0, 59 [SEP] 43, Bowl, 1.101, 1.669, -2.234, 0, 270, 0, 53 [SEP] 44, DishSponge, -0.960, 0.176, 0.608, 0, 180, 0, 74 [SEP] 45, Spoon, 0.859, 0.912, -0.555, 0, 0, 0, 55 [SEP] 46, Cup, 1.126, 1.792, -1.339, 0, 270, 0, 76 [SEP] 47, Mug, 0.844, 1.396, 1.349, 0, 270, 0, 77 [SEP] 48, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 49, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 50, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 51, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 52, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 53, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 54, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 55, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 56, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 57, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 58, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 59, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 60, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 61, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 62, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 63, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 64, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 65, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 66, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 67, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 68, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 69, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 70, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 71, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 72, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 73, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 74, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 75, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 76, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 77, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 78, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 79, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 80, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 81, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 82, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 83, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 84, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 85, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 86, NorthWall, , , , , , , [SEP] 87, EastWall, , , , , , , [SEP] 88, SouthWall, , , , , , , [SEP] 89, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and go straight pass the oven and turn right towards the counter. | STEP 2: Pick up the spoon from the counter. | STEP 3: Turn left go towards the Fridge and open the fridge. | STEP 4: Place the spoon in the Cup on the first rack of the fridge. | STEP 5: Take out the cup with the spoon and close the fridge. | STEP 6: Turn right and go towards the counter and then turn left in front of the counter. | STEP 7: Place the cup on the counter. | END"]} +{"id": "trial_T20190907_040303_217739-0", "input": "To chill lettuce for cooking. 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, Statue, -1.104, 0.936, 0.144, 0, 0, 0, 63 [SEP] 2, Potato, 0.944, 0.941, -0.729, 0, 0, 0, 64 [SEP] 3, CreditCard, -1.674, 0.878, 2.773, 0, 0, 0, 90 [SEP] 4, CellPhone, -1.167, 0.930, -1.430, 0, 0, 0, 63 [SEP] 5, DishSponge, -0.920, 0.933, -0.067, 0, 0, 0, 63 [SEP] 6, DishSponge, 1.212, 2.207, -1.626, 0, 270, 0, 70 [SEP] 7, ButterKnife, 0.944, 0.911, -0.208, 0, 0, 0, 64 [SEP] 8, Fork, 0.794, 0.495, -0.565, 0, 180, 0, 67 [SEP] 9, Fork, 0.944, 0.911, -0.555, 0, 0, 0, 64 [SEP] 10, Spoon, 1.114, 0.912, -1.879, 0, 90, 0, 69 [SEP] 11, Spoon, 0.773, 0.912, -1.879, 0, 0, 0, 69 [SEP] 12, Spatula, -0.753, 0.791, -0.745, 0, 180, 0, 84 [SEP] 13, Spatula, -1.167, 0.948, -0.118, 0, 0, 0, 63 [SEP] 14, Egg, 0.965, 1.172, 1.444, 0, 270, 0, 86 [SEP] 15, Egg, -0.753, 0.814, -0.918, 0, 90, 0, 84 [SEP] 16, Tomato, 1.087, 1.442, 0.967, 0, 270, 0, 86 [SEP] 17, Tomato, 0.905, 1.683, 1.349, 0, 270, 0, 86 [SEP] 18, SoapBottle, 0.760, 0.121, 0.374, 0, 270, 0, 58 [SEP] 19, Bowl, 1.194, 1.669, -1.961, 0, 270, 0, 62 [SEP] 20, SaltShaker, 1.148, 1.662, -0.337, 0, 270, 0, 72 [SEP] 21, SaltShaker, -1.418, 0.929, -0.380, 0, 0, 0, 63 [SEP] 22, PepperShaker, 0.910, 0.104, -2.052, 0, 0, 0, 68 [SEP] 23, Lettuce, 0.773, 0.988, -0.381, 0, 0, 0, 64 [SEP] 24, Bread, 1.029, 0.992, 0.139, 0, 0, 0, 64 [SEP] 25, Mug, 1.026, 1.129, 1.254, 0, 270, 0, 86 [SEP] 26, Mug, 0.688, 0.906, -2.051, 0, 0, 0, 69 [SEP] 27, Apple, -0.753, 0.830, -0.659, 0, 90, 0, 84 [SEP] 28, Apple, 1.087, 0.913, 1.254, 0, 270, 0, 86 [SEP] 29, Statue, -1.167, 0.936, -0.905, 0, 0, 0, 63 [SEP] 30, Glassbottle, 0.811, 0.109, -1.972, 0, 0, 0, 68 [SEP] 31, Bread, -1.104, 1.014, -0.118, 0, 0, 0, 63 [SEP] 32, CreditCard, -1.881, 0.551, 2.874, 0, 0, 0, 89 [SEP] 33, CellPhone, 0.833, 0.150, -0.611, 0, 270, 0, 66 [SEP] 34, Potato, 1.026, 1.673, 1.540, 0, 270, 0, 86 [SEP] 35, Knife, -1.041, 0.957, -0.643, 0, 90, 0, 63 [SEP] 36, Fork, -0.624, 0.934, 0.315, 0, 0, 0, 63 [SEP] 37, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 57 [SEP] 38, Lettuce, -0.550, 1.010, -1.308, 0, 0, 0, 63 [SEP] 39, Plate, 1.126, 2.211, -1.408, 0, 270, 0, 70 [SEP] 40, Apple, -0.912, 0.229, 0.608, 0, 180, 0, 83 [SEP] 41, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 59 [SEP] 42, Spatula, 0.915, 0.509, -0.690, 0, 0, 0, 67 [SEP] 43, PaperTowelRoll, -0.624, 1.037, 0.009, 0, 0, 0, 63 [SEP] 44, Tomato, 0.966, 0.903, 1.349, 0, 270, 0, 86 [SEP] 45, Egg, -0.818, 0.214, 0.543, 0, 180, 0, 83 [SEP] 46, SaltShaker, 0.688, 0.907, -1.879, 0, 0, 0, 69 [SEP] 47, PepperShaker, 1.240, 1.662, -2.302, 0, 270, 0, 62 [SEP] 48, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 89 [SEP] 49, ButterKnife, -0.772, 0.933, -1.463, 0, 0, 0, 63 [SEP] 50, SoapBottle, -0.920, 0.933, -1.386, 0, 0, 0, 63 [SEP] 51, Vase, -1.881, 0.555, 2.718, 0, 0, 0, 89 [SEP] 52, Bowl, -1.363, 0.557, 2.718, 0, 0, 0, 89 [SEP] 53, DishSponge, 0.773, 0.910, -0.729, 0, 0, 0, 64 [SEP] 54, Spoon, -0.642, 0.781, -0.573, 0, 90, 0, 84 [SEP] 55, Cup, 1.194, 1.663, -0.657, 0, 270, 0, 72 [SEP] 56, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 82 [SEP] 57, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 58, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 59, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 60, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 61, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 62, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 63, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 64, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 65, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 66, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 67, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 68, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 69, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 70, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 71, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 72, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 73, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 74, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 75, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 76, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 77, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 78, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 79, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 80, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 81, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 82, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 83, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 84, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 85, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 86, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 87, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 88, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 89, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 90, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 91, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 92, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 93, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 94, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 95, NorthWall, , , , , , , [SEP] 96, EastWall, , , , , , , [SEP] 97, SouthWall, , , , , , , [SEP] 98, WestWall, , , , , , , ", "output": ["STEP 1: Walk to the left side of the sink that's on the right. | STEP 2: Pick up the lettuce that's in front of the butter knife. | STEP 3: Turn right and walk to the fridge on the right. | STEP 4: Open the door of the fridge, place the lettuce on the shelf to the right of the tomato, close the fridge door, wait a few seconds, take the lettuce out of the fridge, and close the fridge door. | STEP 5: Turn right and face the sink on the right. | STEP 6: Place the lettuce in the sink. | END"]} +{"id": "trial_T20190907_040303_217739-1", "input": "Take the lettuce off the counter to put in the fridge to 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, 0.0, 0.900, 0.25, 0, 180, 0, [SEP] 1, Statue, -1.104, 0.936, 0.144, 0, 0, 0, 63 [SEP] 2, Potato, 0.944, 0.941, -0.729, 0, 0, 0, 64 [SEP] 3, CreditCard, -1.674, 0.878, 2.773, 0, 0, 0, 90 [SEP] 4, CellPhone, -1.167, 0.930, -1.430, 0, 0, 0, 63 [SEP] 5, DishSponge, -0.920, 0.933, -0.067, 0, 0, 0, 63 [SEP] 6, DishSponge, 1.212, 2.207, -1.626, 0, 270, 0, 70 [SEP] 7, ButterKnife, 0.944, 0.911, -0.208, 0, 0, 0, 64 [SEP] 8, Fork, 0.794, 0.495, -0.565, 0, 180, 0, 67 [SEP] 9, Fork, 0.944, 0.911, -0.555, 0, 0, 0, 64 [SEP] 10, Spoon, 1.114, 0.912, -1.879, 0, 90, 0, 69 [SEP] 11, Spoon, 0.773, 0.912, -1.879, 0, 0, 0, 69 [SEP] 12, Spatula, -0.753, 0.791, -0.745, 0, 180, 0, 84 [SEP] 13, Spatula, -1.167, 0.948, -0.118, 0, 0, 0, 63 [SEP] 14, Egg, 0.965, 1.172, 1.444, 0, 270, 0, 86 [SEP] 15, Egg, -0.753, 0.814, -0.918, 0, 90, 0, 84 [SEP] 16, Tomato, 1.087, 1.442, 0.967, 0, 270, 0, 86 [SEP] 17, Tomato, 0.905, 1.683, 1.349, 0, 270, 0, 86 [SEP] 18, SoapBottle, 0.760, 0.121, 0.374, 0, 270, 0, 58 [SEP] 19, Bowl, 1.194, 1.669, -1.961, 0, 270, 0, 62 [SEP] 20, SaltShaker, 1.148, 1.662, -0.337, 0, 270, 0, 72 [SEP] 21, SaltShaker, -1.418, 0.929, -0.380, 0, 0, 0, 63 [SEP] 22, PepperShaker, 0.910, 0.104, -2.052, 0, 0, 0, 68 [SEP] 23, Lettuce, 0.773, 0.988, -0.381, 0, 0, 0, 64 [SEP] 24, Bread, 1.029, 0.992, 0.139, 0, 0, 0, 64 [SEP] 25, Mug, 1.026, 1.129, 1.254, 0, 270, 0, 86 [SEP] 26, Mug, 0.688, 0.906, -2.051, 0, 0, 0, 69 [SEP] 27, Apple, -0.753, 0.830, -0.659, 0, 90, 0, 84 [SEP] 28, Apple, 1.087, 0.913, 1.254, 0, 270, 0, 86 [SEP] 29, Statue, -1.167, 0.936, -0.905, 0, 0, 0, 63 [SEP] 30, Glassbottle, 0.811, 0.109, -1.972, 0, 0, 0, 68 [SEP] 31, Bread, -1.104, 1.014, -0.118, 0, 0, 0, 63 [SEP] 32, CreditCard, -1.881, 0.551, 2.874, 0, 0, 0, 89 [SEP] 33, CellPhone, 0.833, 0.150, -0.611, 0, 270, 0, 66 [SEP] 34, Potato, 1.026, 1.673, 1.540, 0, 270, 0, 86 [SEP] 35, Knife, -1.041, 0.957, -0.643, 0, 90, 0, 63 [SEP] 36, Fork, -0.624, 0.934, 0.315, 0, 0, 0, 63 [SEP] 37, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 57 [SEP] 38, Lettuce, -0.550, 1.010, -1.308, 0, 0, 0, 63 [SEP] 39, Plate, 1.126, 2.211, -1.408, 0, 270, 0, 70 [SEP] 40, Apple, -0.912, 0.229, 0.608, 0, 180, 0, 83 [SEP] 41, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 59 [SEP] 42, Spatula, 0.915, 0.509, -0.690, 0, 0, 0, 67 [SEP] 43, PaperTowelRoll, -0.624, 1.037, 0.009, 0, 0, 0, 63 [SEP] 44, Tomato, 0.966, 0.903, 1.349, 0, 270, 0, 86 [SEP] 45, Egg, -0.818, 0.214, 0.543, 0, 180, 0, 83 [SEP] 46, SaltShaker, 0.688, 0.907, -1.879, 0, 0, 0, 69 [SEP] 47, PepperShaker, 1.240, 1.662, -2.302, 0, 270, 0, 62 [SEP] 48, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 89 [SEP] 49, ButterKnife, -0.772, 0.933, -1.463, 0, 0, 0, 63 [SEP] 50, SoapBottle, -0.920, 0.933, -1.386, 0, 0, 0, 63 [SEP] 51, Vase, -1.881, 0.555, 2.718, 0, 0, 0, 89 [SEP] 52, Bowl, -1.363, 0.557, 2.718, 0, 0, 0, 89 [SEP] 53, DishSponge, 0.773, 0.910, -0.729, 0, 0, 0, 64 [SEP] 54, Spoon, -0.642, 0.781, -0.573, 0, 90, 0, 84 [SEP] 55, Cup, 1.194, 1.663, -0.657, 0, 270, 0, 72 [SEP] 56, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 82 [SEP] 57, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 58, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 59, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 60, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 61, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 62, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 63, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 64, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 65, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 66, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 67, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 68, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 69, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 70, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 71, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 72, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 73, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 74, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 75, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 76, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 77, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 78, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 79, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 80, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 81, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 82, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 83, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 84, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 85, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 86, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 87, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 88, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 89, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 90, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 91, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 92, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 93, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 94, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 95, NorthWall, , , , , , , [SEP] 96, EastWall, , , , , , , [SEP] 97, SouthWall, , , , , , , [SEP] 98, WestWall, , , , , , , ", "output": ["STEP 1: Walk straight and make a right to face the counter. | STEP 2: Take the lettuce that is on the counter. | STEP 3: Turn right and walk straight making another right to face the fridge. | STEP 4: Open the fridge and place the lettuce on the second shelf next to the tomato and shut the door. Open it again and take out the lettuce. | STEP 5: Turn to the right and walk straight making a right to face the sink again. | STEP 6: Place the lettuce in the sink. | END"]} +{"id": "trial_T20190907_040303_217739-2", "input": "cool the cabbage in the refrigerator, 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, 0.0, 0.900, 0.25, 0, 180, 0, [SEP] 1, Statue, -1.104, 0.936, 0.144, 0, 0, 0, 63 [SEP] 2, Potato, 0.944, 0.941, -0.729, 0, 0, 0, 64 [SEP] 3, CreditCard, -1.674, 0.878, 2.773, 0, 0, 0, 90 [SEP] 4, CellPhone, -1.167, 0.930, -1.430, 0, 0, 0, 63 [SEP] 5, DishSponge, -0.920, 0.933, -0.067, 0, 0, 0, 63 [SEP] 6, DishSponge, 1.212, 2.207, -1.626, 0, 270, 0, 70 [SEP] 7, ButterKnife, 0.944, 0.911, -0.208, 0, 0, 0, 64 [SEP] 8, Fork, 0.794, 0.495, -0.565, 0, 180, 0, 67 [SEP] 9, Fork, 0.944, 0.911, -0.555, 0, 0, 0, 64 [SEP] 10, Spoon, 1.114, 0.912, -1.879, 0, 90, 0, 69 [SEP] 11, Spoon, 0.773, 0.912, -1.879, 0, 0, 0, 69 [SEP] 12, Spatula, -0.753, 0.791, -0.745, 0, 180, 0, 84 [SEP] 13, Spatula, -1.167, 0.948, -0.118, 0, 0, 0, 63 [SEP] 14, Egg, 0.965, 1.172, 1.444, 0, 270, 0, 86 [SEP] 15, Egg, -0.753, 0.814, -0.918, 0, 90, 0, 84 [SEP] 16, Tomato, 1.087, 1.442, 0.967, 0, 270, 0, 86 [SEP] 17, Tomato, 0.905, 1.683, 1.349, 0, 270, 0, 86 [SEP] 18, SoapBottle, 0.760, 0.121, 0.374, 0, 270, 0, 58 [SEP] 19, Bowl, 1.194, 1.669, -1.961, 0, 270, 0, 62 [SEP] 20, SaltShaker, 1.148, 1.662, -0.337, 0, 270, 0, 72 [SEP] 21, SaltShaker, -1.418, 0.929, -0.380, 0, 0, 0, 63 [SEP] 22, PepperShaker, 0.910, 0.104, -2.052, 0, 0, 0, 68 [SEP] 23, Lettuce, 0.773, 0.988, -0.381, 0, 0, 0, 64 [SEP] 24, Bread, 1.029, 0.992, 0.139, 0, 0, 0, 64 [SEP] 25, Mug, 1.026, 1.129, 1.254, 0, 270, 0, 86 [SEP] 26, Mug, 0.688, 0.906, -2.051, 0, 0, 0, 69 [SEP] 27, Apple, -0.753, 0.830, -0.659, 0, 90, 0, 84 [SEP] 28, Apple, 1.087, 0.913, 1.254, 0, 270, 0, 86 [SEP] 29, Statue, -1.167, 0.936, -0.905, 0, 0, 0, 63 [SEP] 30, Glassbottle, 0.811, 0.109, -1.972, 0, 0, 0, 68 [SEP] 31, Bread, -1.104, 1.014, -0.118, 0, 0, 0, 63 [SEP] 32, CreditCard, -1.881, 0.551, 2.874, 0, 0, 0, 89 [SEP] 33, CellPhone, 0.833, 0.150, -0.611, 0, 270, 0, 66 [SEP] 34, Potato, 1.026, 1.673, 1.540, 0, 270, 0, 86 [SEP] 35, Knife, -1.041, 0.957, -0.643, 0, 90, 0, 63 [SEP] 36, Fork, -0.624, 0.934, 0.315, 0, 0, 0, 63 [SEP] 37, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 57 [SEP] 38, Lettuce, -0.550, 1.010, -1.308, 0, 0, 0, 63 [SEP] 39, Plate, 1.126, 2.211, -1.408, 0, 270, 0, 70 [SEP] 40, Apple, -0.912, 0.229, 0.608, 0, 180, 0, 83 [SEP] 41, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 59 [SEP] 42, Spatula, 0.915, 0.509, -0.690, 0, 0, 0, 67 [SEP] 43, PaperTowelRoll, -0.624, 1.037, 0.009, 0, 0, 0, 63 [SEP] 44, Tomato, 0.966, 0.903, 1.349, 0, 270, 0, 86 [SEP] 45, Egg, -0.818, 0.214, 0.543, 0, 180, 0, 83 [SEP] 46, SaltShaker, 0.688, 0.907, -1.879, 0, 0, 0, 69 [SEP] 47, PepperShaker, 1.240, 1.662, -2.302, 0, 270, 0, 62 [SEP] 48, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 89 [SEP] 49, ButterKnife, -0.772, 0.933, -1.463, 0, 0, 0, 63 [SEP] 50, SoapBottle, -0.920, 0.933, -1.386, 0, 0, 0, 63 [SEP] 51, Vase, -1.881, 0.555, 2.718, 0, 0, 0, 89 [SEP] 52, Bowl, -1.363, 0.557, 2.718, 0, 0, 0, 89 [SEP] 53, DishSponge, 0.773, 0.910, -0.729, 0, 0, 0, 64 [SEP] 54, Spoon, -0.642, 0.781, -0.573, 0, 90, 0, 84 [SEP] 55, Cup, 1.194, 1.663, -0.657, 0, 270, 0, 72 [SEP] 56, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 82 [SEP] 57, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 58, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 59, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 60, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 61, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 62, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 63, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 64, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 65, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 66, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 67, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 68, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 69, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 70, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 71, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 72, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 73, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 74, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 75, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 76, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 77, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 78, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 79, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 80, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 81, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 82, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 83, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 84, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 85, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 86, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 87, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 88, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 89, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 90, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 91, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 92, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 93, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 94, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 95, NorthWall, , , , , , , [SEP] 96, EastWall, , , , , , , [SEP] 97, SouthWall, , , , , , , [SEP] 98, WestWall, , , , , , , ", "output": ["STEP 1: walk straight to the counter by the sink | STEP 2: Grab the cabbage on the counter | STEP 3: Turn right, walk to the refrigerator | STEP 4: Open the the refrigerator, put the cabbage in the refrigerator, open the refrigerator, take the cabbage out, close the refrigerator | STEP 5: Turn right, walk to the sink on the right | STEP 6: Put the cabbage in the sink | END"]} +{"id": "trial_T20190907_040303_217739-3", "input": "Put cold 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, 0.0, 0.900, 0.25, 0, 180, 0, [SEP] 1, Statue, -1.104, 0.936, 0.144, 0, 0, 0, 63 [SEP] 2, Potato, 0.944, 0.941, -0.729, 0, 0, 0, 64 [SEP] 3, CreditCard, -1.674, 0.878, 2.773, 0, 0, 0, 90 [SEP] 4, CellPhone, -1.167, 0.930, -1.430, 0, 0, 0, 63 [SEP] 5, DishSponge, -0.920, 0.933, -0.067, 0, 0, 0, 63 [SEP] 6, DishSponge, 1.212, 2.207, -1.626, 0, 270, 0, 70 [SEP] 7, ButterKnife, 0.944, 0.911, -0.208, 0, 0, 0, 64 [SEP] 8, Fork, 0.794, 0.495, -0.565, 0, 180, 0, 67 [SEP] 9, Fork, 0.944, 0.911, -0.555, 0, 0, 0, 64 [SEP] 10, Spoon, 1.114, 0.912, -1.879, 0, 90, 0, 69 [SEP] 11, Spoon, 0.773, 0.912, -1.879, 0, 0, 0, 69 [SEP] 12, Spatula, -0.753, 0.791, -0.745, 0, 180, 0, 84 [SEP] 13, Spatula, -1.167, 0.948, -0.118, 0, 0, 0, 63 [SEP] 14, Egg, 0.965, 1.172, 1.444, 0, 270, 0, 86 [SEP] 15, Egg, -0.753, 0.814, -0.918, 0, 90, 0, 84 [SEP] 16, Tomato, 1.087, 1.442, 0.967, 0, 270, 0, 86 [SEP] 17, Tomato, 0.905, 1.683, 1.349, 0, 270, 0, 86 [SEP] 18, SoapBottle, 0.760, 0.121, 0.374, 0, 270, 0, 58 [SEP] 19, Bowl, 1.194, 1.669, -1.961, 0, 270, 0, 62 [SEP] 20, SaltShaker, 1.148, 1.662, -0.337, 0, 270, 0, 72 [SEP] 21, SaltShaker, -1.418, 0.929, -0.380, 0, 0, 0, 63 [SEP] 22, PepperShaker, 0.910, 0.104, -2.052, 0, 0, 0, 68 [SEP] 23, Lettuce, 0.773, 0.988, -0.381, 0, 0, 0, 64 [SEP] 24, Bread, 1.029, 0.992, 0.139, 0, 0, 0, 64 [SEP] 25, Mug, 1.026, 1.129, 1.254, 0, 270, 0, 86 [SEP] 26, Mug, 0.688, 0.906, -2.051, 0, 0, 0, 69 [SEP] 27, Apple, -0.753, 0.830, -0.659, 0, 90, 0, 84 [SEP] 28, Apple, 1.087, 0.913, 1.254, 0, 270, 0, 86 [SEP] 29, Statue, -1.167, 0.936, -0.905, 0, 0, 0, 63 [SEP] 30, Glassbottle, 0.811, 0.109, -1.972, 0, 0, 0, 68 [SEP] 31, Bread, -1.104, 1.014, -0.118, 0, 0, 0, 63 [SEP] 32, CreditCard, -1.881, 0.551, 2.874, 0, 0, 0, 89 [SEP] 33, CellPhone, 0.833, 0.150, -0.611, 0, 270, 0, 66 [SEP] 34, Potato, 1.026, 1.673, 1.540, 0, 270, 0, 86 [SEP] 35, Knife, -1.041, 0.957, -0.643, 0, 90, 0, 63 [SEP] 36, Fork, -0.624, 0.934, 0.315, 0, 0, 0, 63 [SEP] 37, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 57 [SEP] 38, Lettuce, -0.550, 1.010, -1.308, 0, 0, 0, 63 [SEP] 39, Plate, 1.126, 2.211, -1.408, 0, 270, 0, 70 [SEP] 40, Apple, -0.912, 0.229, 0.608, 0, 180, 0, 83 [SEP] 41, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 59 [SEP] 42, Spatula, 0.915, 0.509, -0.690, 0, 0, 0, 67 [SEP] 43, PaperTowelRoll, -0.624, 1.037, 0.009, 0, 0, 0, 63 [SEP] 44, Tomato, 0.966, 0.903, 1.349, 0, 270, 0, 86 [SEP] 45, Egg, -0.818, 0.214, 0.543, 0, 180, 0, 83 [SEP] 46, SaltShaker, 0.688, 0.907, -1.879, 0, 0, 0, 69 [SEP] 47, PepperShaker, 1.240, 1.662, -2.302, 0, 270, 0, 62 [SEP] 48, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 89 [SEP] 49, ButterKnife, -0.772, 0.933, -1.463, 0, 0, 0, 63 [SEP] 50, SoapBottle, -0.920, 0.933, -1.386, 0, 0, 0, 63 [SEP] 51, Vase, -1.881, 0.555, 2.718, 0, 0, 0, 89 [SEP] 52, Bowl, -1.363, 0.557, 2.718, 0, 0, 0, 89 [SEP] 53, DishSponge, 0.773, 0.910, -0.729, 0, 0, 0, 64 [SEP] 54, Spoon, -0.642, 0.781, -0.573, 0, 90, 0, 84 [SEP] 55, Cup, 1.194, 1.663, -0.657, 0, 270, 0, 72 [SEP] 56, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 82 [SEP] 57, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 58, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 59, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 60, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 61, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 62, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 63, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 64, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 65, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 66, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 67, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 68, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 69, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 70, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 71, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 72, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 73, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 74, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 75, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 76, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 77, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 78, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 79, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 80, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 81, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 82, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 83, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 84, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 85, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 86, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 87, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 88, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 89, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 90, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 91, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 92, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 93, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 94, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 95, NorthWall, , , , , , , [SEP] 96, EastWall, , , , , , , [SEP] 97, SouthWall, , , , , , , [SEP] 98, WestWall, , , , , , , ", "output": ["STEP 1: Go forward and turn to the right to the counter where the lettuce is. | STEP 2: Pick up the lettuce that is on the counter. | STEP 3: Turn to the right and go to the fridge. | STEP 4: Open the fridge, put the lettuce inside, close the fridge, then open the fridge, remove the lettuce, and close the fridge. | STEP 5: Turn to the right and go to the sink. | STEP 6: Put the lettuce in the sink. | END"]} +{"id": "trial_T20190909_021650_880235-0", "input": "place a salt shaker in one of the pullout drawers 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, 0, 0, [SEP] 1, Statue, -1.229, 0.936, -0.380, 0, 0, 0, 61 [SEP] 2, Potato, -0.772, 0.963, -0.143, 0, 0, 0, 61 [SEP] 3, Potato, 1.028, 1.825, -1.339, 0, 270, 0, 83 [SEP] 4, CreditCard, -1.469, 0.878, 2.665, 0, 0, 0, 88 [SEP] 5, CellPhone, 1.199, 0.908, -0.034, 0, 0, 0, 62 [SEP] 6, CellPhone, -1.167, 0.930, -1.430, 0, 0, 0, 61 [SEP] 7, DishSponge, 0.915, 0.493, -0.690, 0, 270, 0, 65 [SEP] 8, DishSponge, -1.363, 0.553, 2.615, 0, 0, 0, 87 [SEP] 9, ButterKnife, -0.624, 0.933, -1.386, 0, 0, 0, 61 [SEP] 10, ButterKnife, 0.773, 0.911, 0.313, 0, 0, 0, 62 [SEP] 11, Glassbottle, 0.761, 0.109, -2.052, 0, 0, 0, 66 [SEP] 12, Glassbottle, 1.194, 1.667, -1.893, 0, 270, 0, 60 [SEP] 13, Fork, 0.874, 0.154, -0.571, 0, 0, 0, 64 [SEP] 14, Fork, -1.104, 0.934, -0.118, 0, 0, 0, 61 [SEP] 15, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 57 [SEP] 16, Egg, -0.477, 0.971, 0.315, 0, 0, 0, 61 [SEP] 17, Egg, -0.818, 0.216, 0.543, 0, 180, 0, 81 [SEP] 18, Plate, 1.101, 1.669, -2.097, 0, 270, 0, 60 [SEP] 19, Tomato, 0.773, 0.952, -0.729, 0, 0, 0, 62 [SEP] 20, Tomato, -0.960, 0.217, 0.576, 0, 180, 0, 81 [SEP] 21, Bowl, 0.844, 0.866, 0.967, 0, 270, 0, 84 [SEP] 22, Bowl, 1.102, 1.669, -0.337, 0, 270, 0, 70 [SEP] 23, SaltShaker, 1.212, 2.204, -0.973, 0, 270, 0, 68 [SEP] 24, PepperShaker, 1.101, 1.662, 0.153, 0, 270, 0, 69 [SEP] 25, Lettuce, 0.944, 0.988, -0.381, 0, 0, 0, 62 [SEP] 26, Bread, 1.026, 1.216, 1.444, 0, 270, 0, 84 [SEP] 27, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 61 [SEP] 28, Glassbottle, 1.194, 1.667, -0.529, 0, 270, 0, 70 [SEP] 29, Bread, 0.905, 0.944, 1.444, 0, 270, 0, 84 [SEP] 30, CreditCard, 0.754, 0.700, -0.607, 0, 270, 0, 59 [SEP] 31, CellPhone, -0.920, 0.930, -1.308, 0, 0, 0, 61 [SEP] 32, Potato, 0.905, 0.893, 1.254, 0, 270, 0, 84 [SEP] 33, Knife, -0.624, 0.957, -1.618, 0, 0, 0, 61 [SEP] 34, Fork, 0.874, 0.154, -0.769, 0, 0, 0, 64 [SEP] 35, Pan, -1.292, 0.931, -0.905, 0, 0, 0, 61 [SEP] 36, Lettuce, 1.114, 0.988, -0.034, 0, 0, 0, 62 [SEP] 37, Plate, 1.126, 2.211, -1.299, 0, 270, 0, 68 [SEP] 38, Apple, 0.783, 1.185, 1.349, 0, 270, 0, 84 [SEP] 39, Pot, 0.859, 0.914, -0.034, 0, 0, 0, 62 [SEP] 40, Spatula, 0.915, 0.509, -0.524, 0, 0, 0, 65 [SEP] 41, PaperTowelRoll, -1.981, 0.986, 2.692, 0, 0, 0, 88 [SEP] 42, Tomato, 0.688, 0.952, -1.965, 0, 0, 0, 67 [SEP] 43, Egg, 1.028, 1.821, -1.236, 0, 270, 0, 83 [SEP] 44, SaltShaker, 0.910, 0.104, -1.972, 0, 0, 0, 66 [SEP] 45, PepperShaker, 0.713, 0.150, -0.690, 0, 270, 0, 64 [SEP] 46, Vase, 1.056, 1.666, -0.529, 0, 270, 0, 70 [SEP] 47, ButterKnife, -1.325, 0.919, -0.884, 0, 10.678, 0, 61 [SEP] 48, SoapBottle, -1.104, 0.933, -1.167, 0, 0, 0, 61 [SEP] 49, Vase, 0.861, 0.109, -2.212, 0, 0, 0, 66 [SEP] 50, Bowl, 0.966, 1.646, 1.254, 0, 270, 0, 84 [SEP] 51, DishSponge, 0.811, 0.120, 0.374, 0, 270, 0, 56 [SEP] 52, Spoon, -0.642, 0.777, -0.745, 0, 0, 0, 82 [SEP] 53, Cup, 0.783, 1.640, 1.063, 0, 270, 0, 84 [SEP] 54, Mug, 1.087, 1.638, 1.540, 0, 270, 0, 84 [SEP] 55, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 56, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 57, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 58, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 59, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 60, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 61, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 62, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 63, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 64, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 65, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 66, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 67, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 68, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 69, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 70, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 71, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 72, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 73, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 74, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 75, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 76, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 77, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 78, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 79, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 80, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 81, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 82, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 83, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 84, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 85, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 86, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 87, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 88, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 89, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 90, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 91, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 92, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 93, NorthWall, , , , , , , [SEP] 94, EastWall, , , , , , , [SEP] 95, SouthWall, , , , , , , [SEP] 96, WestWall, , , , , , , ", "output": ["STEP 1: turn right and walk to the fridge at the end of the room, then take another right and walk to the end of the room, turn left to face the kitchen counter there | STEP 2: grab the salt shaker out of the cabinet below the kitchen counter | STEP 3: turn left and walk to the kitchen counter space to the right of the dishwasher | STEP 4: place the salt shaker in the second pullout drawer under the kitchen counter to the right of the dishwasher | END"]} +{"id": "trial_T20190909_021650_880235-1", "input": "Move a salt shaker into 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, 1.75, 0, 0, 0, [SEP] 1, Statue, -1.229, 0.936, -0.380, 0, 0, 0, 61 [SEP] 2, Potato, -0.772, 0.963, -0.143, 0, 0, 0, 61 [SEP] 3, Potato, 1.028, 1.825, -1.339, 0, 270, 0, 83 [SEP] 4, CreditCard, -1.469, 0.878, 2.665, 0, 0, 0, 88 [SEP] 5, CellPhone, 1.199, 0.908, -0.034, 0, 0, 0, 62 [SEP] 6, CellPhone, -1.167, 0.930, -1.430, 0, 0, 0, 61 [SEP] 7, DishSponge, 0.915, 0.493, -0.690, 0, 270, 0, 65 [SEP] 8, DishSponge, -1.363, 0.553, 2.615, 0, 0, 0, 87 [SEP] 9, ButterKnife, -0.624, 0.933, -1.386, 0, 0, 0, 61 [SEP] 10, ButterKnife, 0.773, 0.911, 0.313, 0, 0, 0, 62 [SEP] 11, Glassbottle, 0.761, 0.109, -2.052, 0, 0, 0, 66 [SEP] 12, Glassbottle, 1.194, 1.667, -1.893, 0, 270, 0, 60 [SEP] 13, Fork, 0.874, 0.154, -0.571, 0, 0, 0, 64 [SEP] 14, Fork, -1.104, 0.934, -0.118, 0, 0, 0, 61 [SEP] 15, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 57 [SEP] 16, Egg, -0.477, 0.971, 0.315, 0, 0, 0, 61 [SEP] 17, Egg, -0.818, 0.216, 0.543, 0, 180, 0, 81 [SEP] 18, Plate, 1.101, 1.669, -2.097, 0, 270, 0, 60 [SEP] 19, Tomato, 0.773, 0.952, -0.729, 0, 0, 0, 62 [SEP] 20, Tomato, -0.960, 0.217, 0.576, 0, 180, 0, 81 [SEP] 21, Bowl, 0.844, 0.866, 0.967, 0, 270, 0, 84 [SEP] 22, Bowl, 1.102, 1.669, -0.337, 0, 270, 0, 70 [SEP] 23, SaltShaker, 1.212, 2.204, -0.973, 0, 270, 0, 68 [SEP] 24, PepperShaker, 1.101, 1.662, 0.153, 0, 270, 0, 69 [SEP] 25, Lettuce, 0.944, 0.988, -0.381, 0, 0, 0, 62 [SEP] 26, Bread, 1.026, 1.216, 1.444, 0, 270, 0, 84 [SEP] 27, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 61 [SEP] 28, Glassbottle, 1.194, 1.667, -0.529, 0, 270, 0, 70 [SEP] 29, Bread, 0.905, 0.944, 1.444, 0, 270, 0, 84 [SEP] 30, CreditCard, 0.754, 0.700, -0.607, 0, 270, 0, 59 [SEP] 31, CellPhone, -0.920, 0.930, -1.308, 0, 0, 0, 61 [SEP] 32, Potato, 0.905, 0.893, 1.254, 0, 270, 0, 84 [SEP] 33, Knife, -0.624, 0.957, -1.618, 0, 0, 0, 61 [SEP] 34, Fork, 0.874, 0.154, -0.769, 0, 0, 0, 64 [SEP] 35, Pan, -1.292, 0.931, -0.905, 0, 0, 0, 61 [SEP] 36, Lettuce, 1.114, 0.988, -0.034, 0, 0, 0, 62 [SEP] 37, Plate, 1.126, 2.211, -1.299, 0, 270, 0, 68 [SEP] 38, Apple, 0.783, 1.185, 1.349, 0, 270, 0, 84 [SEP] 39, Pot, 0.859, 0.914, -0.034, 0, 0, 0, 62 [SEP] 40, Spatula, 0.915, 0.509, -0.524, 0, 0, 0, 65 [SEP] 41, PaperTowelRoll, -1.981, 0.986, 2.692, 0, 0, 0, 88 [SEP] 42, Tomato, 0.688, 0.952, -1.965, 0, 0, 0, 67 [SEP] 43, Egg, 1.028, 1.821, -1.236, 0, 270, 0, 83 [SEP] 44, SaltShaker, 0.910, 0.104, -1.972, 0, 0, 0, 66 [SEP] 45, PepperShaker, 0.713, 0.150, -0.690, 0, 270, 0, 64 [SEP] 46, Vase, 1.056, 1.666, -0.529, 0, 270, 0, 70 [SEP] 47, ButterKnife, -1.325, 0.919, -0.884, 0, 10.678, 0, 61 [SEP] 48, SoapBottle, -1.104, 0.933, -1.167, 0, 0, 0, 61 [SEP] 49, Vase, 0.861, 0.109, -2.212, 0, 0, 0, 66 [SEP] 50, Bowl, 0.966, 1.646, 1.254, 0, 270, 0, 84 [SEP] 51, DishSponge, 0.811, 0.120, 0.374, 0, 270, 0, 56 [SEP] 52, Spoon, -0.642, 0.777, -0.745, 0, 0, 0, 82 [SEP] 53, Cup, 0.783, 1.640, 1.063, 0, 270, 0, 84 [SEP] 54, Mug, 1.087, 1.638, 1.540, 0, 270, 0, 84 [SEP] 55, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 56, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 57, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 58, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 59, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 60, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 61, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 62, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 63, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 64, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 65, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 66, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 67, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 68, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 69, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 70, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 71, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 72, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 73, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 74, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 75, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 76, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 77, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 78, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 79, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 80, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 81, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 82, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 83, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 84, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 85, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 86, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 87, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 88, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 89, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 90, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 91, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 92, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 93, NorthWall, , , , , , , [SEP] 94, EastWall, , , , , , , [SEP] 95, SouthWall, , , , , , , [SEP] 96, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and walk over to where the coffee machine is on the counter. | STEP 2: Open the cabinet below the counter in front of you and take out the salt shaker, then close the cabinet. | STEP 3: Turn around and take a step forward, then turn right and walk forward, stop before the sink. | STEP 4: Open the middle drawer in between the dish washer and oven and put the salt shaker inside, then close the drawer. | END"]} +{"id": "trial_T20190909_021650_880235-2", "input": "Put a shaker 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, 1.75, 0, 0, 0, [SEP] 1, Statue, -1.229, 0.936, -0.380, 0, 0, 0, 61 [SEP] 2, Potato, -0.772, 0.963, -0.143, 0, 0, 0, 61 [SEP] 3, Potato, 1.028, 1.825, -1.339, 0, 270, 0, 83 [SEP] 4, CreditCard, -1.469, 0.878, 2.665, 0, 0, 0, 88 [SEP] 5, CellPhone, 1.199, 0.908, -0.034, 0, 0, 0, 62 [SEP] 6, CellPhone, -1.167, 0.930, -1.430, 0, 0, 0, 61 [SEP] 7, DishSponge, 0.915, 0.493, -0.690, 0, 270, 0, 65 [SEP] 8, DishSponge, -1.363, 0.553, 2.615, 0, 0, 0, 87 [SEP] 9, ButterKnife, -0.624, 0.933, -1.386, 0, 0, 0, 61 [SEP] 10, ButterKnife, 0.773, 0.911, 0.313, 0, 0, 0, 62 [SEP] 11, Glassbottle, 0.761, 0.109, -2.052, 0, 0, 0, 66 [SEP] 12, Glassbottle, 1.194, 1.667, -1.893, 0, 270, 0, 60 [SEP] 13, Fork, 0.874, 0.154, -0.571, 0, 0, 0, 64 [SEP] 14, Fork, -1.104, 0.934, -0.118, 0, 0, 0, 61 [SEP] 15, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 57 [SEP] 16, Egg, -0.477, 0.971, 0.315, 0, 0, 0, 61 [SEP] 17, Egg, -0.818, 0.216, 0.543, 0, 180, 0, 81 [SEP] 18, Plate, 1.101, 1.669, -2.097, 0, 270, 0, 60 [SEP] 19, Tomato, 0.773, 0.952, -0.729, 0, 0, 0, 62 [SEP] 20, Tomato, -0.960, 0.217, 0.576, 0, 180, 0, 81 [SEP] 21, Bowl, 0.844, 0.866, 0.967, 0, 270, 0, 84 [SEP] 22, Bowl, 1.102, 1.669, -0.337, 0, 270, 0, 70 [SEP] 23, SaltShaker, 1.212, 2.204, -0.973, 0, 270, 0, 68 [SEP] 24, PepperShaker, 1.101, 1.662, 0.153, 0, 270, 0, 69 [SEP] 25, Lettuce, 0.944, 0.988, -0.381, 0, 0, 0, 62 [SEP] 26, Bread, 1.026, 1.216, 1.444, 0, 270, 0, 84 [SEP] 27, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 61 [SEP] 28, Glassbottle, 1.194, 1.667, -0.529, 0, 270, 0, 70 [SEP] 29, Bread, 0.905, 0.944, 1.444, 0, 270, 0, 84 [SEP] 30, CreditCard, 0.754, 0.700, -0.607, 0, 270, 0, 59 [SEP] 31, CellPhone, -0.920, 0.930, -1.308, 0, 0, 0, 61 [SEP] 32, Potato, 0.905, 0.893, 1.254, 0, 270, 0, 84 [SEP] 33, Knife, -0.624, 0.957, -1.618, 0, 0, 0, 61 [SEP] 34, Fork, 0.874, 0.154, -0.769, 0, 0, 0, 64 [SEP] 35, Pan, -1.292, 0.931, -0.905, 0, 0, 0, 61 [SEP] 36, Lettuce, 1.114, 0.988, -0.034, 0, 0, 0, 62 [SEP] 37, Plate, 1.126, 2.211, -1.299, 0, 270, 0, 68 [SEP] 38, Apple, 0.783, 1.185, 1.349, 0, 270, 0, 84 [SEP] 39, Pot, 0.859, 0.914, -0.034, 0, 0, 0, 62 [SEP] 40, Spatula, 0.915, 0.509, -0.524, 0, 0, 0, 65 [SEP] 41, PaperTowelRoll, -1.981, 0.986, 2.692, 0, 0, 0, 88 [SEP] 42, Tomato, 0.688, 0.952, -1.965, 0, 0, 0, 67 [SEP] 43, Egg, 1.028, 1.821, -1.236, 0, 270, 0, 83 [SEP] 44, SaltShaker, 0.910, 0.104, -1.972, 0, 0, 0, 66 [SEP] 45, PepperShaker, 0.713, 0.150, -0.690, 0, 270, 0, 64 [SEP] 46, Vase, 1.056, 1.666, -0.529, 0, 270, 0, 70 [SEP] 47, ButterKnife, -1.325, 0.919, -0.884, 0, 10.678, 0, 61 [SEP] 48, SoapBottle, -1.104, 0.933, -1.167, 0, 0, 0, 61 [SEP] 49, Vase, 0.861, 0.109, -2.212, 0, 0, 0, 66 [SEP] 50, Bowl, 0.966, 1.646, 1.254, 0, 270, 0, 84 [SEP] 51, DishSponge, 0.811, 0.120, 0.374, 0, 270, 0, 56 [SEP] 52, Spoon, -0.642, 0.777, -0.745, 0, 0, 0, 82 [SEP] 53, Cup, 0.783, 1.640, 1.063, 0, 270, 0, 84 [SEP] 54, Mug, 1.087, 1.638, 1.540, 0, 270, 0, 84 [SEP] 55, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 56, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 57, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 58, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 59, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 60, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 61, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 62, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 63, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 64, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 65, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 66, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 67, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 68, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 69, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 70, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 71, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 72, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 73, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 74, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 75, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 76, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 77, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 78, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 79, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 80, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 81, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 82, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 83, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 84, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 85, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 86, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 87, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 88, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 89, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 90, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 91, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 92, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 93, NorthWall, , , , , , , [SEP] 94, EastWall, , , , , , , [SEP] 95, SouthWall, , , , , , , [SEP] 96, WestWall, , , , , , , ", "output": ["STEP 1: Go right and then right again to stand facing the counter with the coffee maker to the left. | STEP 2: Open the cabinet below the coffee maker and pick the salt shaker up from the cabinet. | STEP 3: Turn around and stand to the side of the drawer to the left of the stove. | STEP 4: Open the drawer to the left of the stove and put the shaker in and shut the drawer. | END"]} +{"id": "trial_T20190908_093016_806799-0", "input": "Put a pan 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, 0.0, 0.900, -2.0, 0, 90, 0, [SEP] 1, Statue, 0.773, 0.914, -0.381, 0, 0, 0, 57 [SEP] 2, Potato, 0.688, 0.941, -2.222, 0, 0, 0, 62 [SEP] 3, CreditCard, 0.875, 0.491, -0.565, 0, 270, 0, 60 [SEP] 4, CellPhone, 0.875, 0.699, -0.648, 0, 270, 0, 54 [SEP] 5, Glassbottle, 0.859, 0.912, -0.729, 0, 0, 0, 57 [SEP] 6, Spatula, 0.914, 0.168, -0.769, 0, 0, 0, 59 [SEP] 7, Spatula, 0.944, 0.926, -0.208, 0, 270, 0, 57 [SEP] 8, Knife, -0.627, 0.926, 0.207, 90, 185.360, 0, 56 [SEP] 9, Egg, -1.101, 0.214, 0.641, 0, 180, 0, 76 [SEP] 10, Egg, 0.859, 0.949, -1.879, 0, 0, 0, 62 [SEP] 11, Cup, 1.194, 1.663, -2.302, 0, 270, 0, 55 [SEP] 12, Plate, 0.905, 1.405, 1.444, 0, 270, 0, 79 [SEP] 13, Plate, 0.944, 0.914, -0.034, 0, 0, 0, 57 [SEP] 14, Tomato, -1.007, 0.219, 0.608, 0, 180, 0, 76 [SEP] 15, Tomato, -0.624, 0.974, -1.308, 0, 0, 0, 56 [SEP] 16, Bowl, 1.114, 0.914, -0.208, 0, 0, 0, 57 [SEP] 17, SaltShaker, -1.981, 0.878, 2.665, 0, 0, 0, 83 [SEP] 18, SaltShaker, 1.056, 1.662, -0.657, 0, 270, 0, 65 [SEP] 19, Lettuce, -1.292, 1.010, -0.118, 0, 0, 0, 56 [SEP] 20, Mug, 1.114, 0.906, -0.381, 0, 0, 0, 57 [SEP] 21, Apple, 1.126, 1.845, -1.339, 0, 270, 0, 78 [SEP] 22, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 56 [SEP] 23, Glassbottle, 1.199, 0.912, -0.729, 0, 0, 0, 57 [SEP] 24, Bread, -0.773, 1.001, 0.210, 2.045, 263.256, 0, 56 [SEP] 25, CreditCard, 0.753, 0.150, -0.729, 0, 270, 0, 59 [SEP] 26, CellPhone, -1.229, 0.930, -0.380, 0, 0, 0, 56 [SEP] 27, Potato, 0.688, 0.941, -2.308, 0, 0, 0, 62 [SEP] 28, Knife, -0.550, 0.957, -0.067, 0, 0, 0, 56 [SEP] 29, Fork, 0.773, 0.911, -0.034, 0, 0, 0, 57 [SEP] 30, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 50 [SEP] 31, Lettuce, 0.966, 1.479, 1.254, 0, 270, 0, 79 [SEP] 32, Plate, 1.026, 1.405, 1.063, 0, 270, 0, 79 [SEP] 33, Apple, -0.477, 0.983, -1.308, 0, 0, 0, 56 [SEP] 34, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 52 [SEP] 35, Spatula, 0.834, 0.718, -0.565, 0, 270, 0, 54 [SEP] 36, PaperTowelRoll, 0.944, 1.015, -1.793, 0, 0, 0, 62 [SEP] 37, Tomato, -0.772, 0.974, -1.540, 0, 0, 0, 56 [SEP] 38, Egg, 0.905, 0.900, 0.967, 0, 270, 0, 79 [SEP] 39, SaltShaker, -1.104, 0.929, -0.905, 0, 0, 0, 56 [SEP] 40, PepperShaker, -1.229, 0.929, 0.144, 0, 0, 0, 56 [SEP] 41, Vase, 1.169, 2.207, -0.973, 0, 270, 0, 63 [SEP] 42, ButterKnife, 1.029, 0.911, -0.381, 0, 0, 0, 57 [SEP] 43, SoapBottle, 0.910, 0.108, -1.892, 0, 0, 0, 61 [SEP] 44, Vase, 1.101, 1.667, 0.089, 0, 270, 0, 64 [SEP] 45, Bowl, 0.862, 0.124, 0.374, 0, 270, 0, 51 [SEP] 46, DishSponge, -0.865, 0.176, 0.608, 0, 180, 0, 76 [SEP] 47, Spoon, 0.773, 0.912, -0.729, 0, 0, 0, 57 [SEP] 48, Cup, 0.844, 0.860, 1.063, 0, 270, 0, 79 [SEP] 49, Mug, 0.859, 0.906, 0.139, 0, 0, 0, 57 [SEP] 50, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 51, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 52, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 53, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 54, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 55, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 56, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 57, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 58, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 59, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 60, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 61, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 62, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 63, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 64, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 65, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 66, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 67, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 68, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 69, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 70, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 71, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 72, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 73, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 74, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 75, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 76, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 77, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 78, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 79, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 80, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 81, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 82, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 83, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 84, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 85, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 86, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 87, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 88, NorthWall, , , , , , , [SEP] 89, EastWall, , , , , , , [SEP] 90, SouthWall, , , , , , , [SEP] 91, WestWall, , , , , , , ", "output": ["STEP 1: Walk over to the section of counter to the left of the oven. | STEP 2: Pick up the metal table spoon off of the counter. | STEP 3: Turn right and walk forward, then turn left to face the stove. | STEP 4: Put the spoon in the pan that is on the front left burner of the stove. | STEP 5: Pick up the pan with the spoon in it off of the stove. | STEP 6: Walk over to the kitchen sink. | STEP 7: Put the pan with the spoon in it into the sink. | END"]} +{"id": "trial_T20190908_093016_806799-1", "input": "To put a spoon on a pan plus move them 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, 0.0, 0.900, -2.0, 0, 90, 0, [SEP] 1, Statue, 0.773, 0.914, -0.381, 0, 0, 0, 57 [SEP] 2, Potato, 0.688, 0.941, -2.222, 0, 0, 0, 62 [SEP] 3, CreditCard, 0.875, 0.491, -0.565, 0, 270, 0, 60 [SEP] 4, CellPhone, 0.875, 0.699, -0.648, 0, 270, 0, 54 [SEP] 5, Glassbottle, 0.859, 0.912, -0.729, 0, 0, 0, 57 [SEP] 6, Spatula, 0.914, 0.168, -0.769, 0, 0, 0, 59 [SEP] 7, Spatula, 0.944, 0.926, -0.208, 0, 270, 0, 57 [SEP] 8, Knife, -0.627, 0.926, 0.207, 90, 185.360, 0, 56 [SEP] 9, Egg, -1.101, 0.214, 0.641, 0, 180, 0, 76 [SEP] 10, Egg, 0.859, 0.949, -1.879, 0, 0, 0, 62 [SEP] 11, Cup, 1.194, 1.663, -2.302, 0, 270, 0, 55 [SEP] 12, Plate, 0.905, 1.405, 1.444, 0, 270, 0, 79 [SEP] 13, Plate, 0.944, 0.914, -0.034, 0, 0, 0, 57 [SEP] 14, Tomato, -1.007, 0.219, 0.608, 0, 180, 0, 76 [SEP] 15, Tomato, -0.624, 0.974, -1.308, 0, 0, 0, 56 [SEP] 16, Bowl, 1.114, 0.914, -0.208, 0, 0, 0, 57 [SEP] 17, SaltShaker, -1.981, 0.878, 2.665, 0, 0, 0, 83 [SEP] 18, SaltShaker, 1.056, 1.662, -0.657, 0, 270, 0, 65 [SEP] 19, Lettuce, -1.292, 1.010, -0.118, 0, 0, 0, 56 [SEP] 20, Mug, 1.114, 0.906, -0.381, 0, 0, 0, 57 [SEP] 21, Apple, 1.126, 1.845, -1.339, 0, 270, 0, 78 [SEP] 22, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 56 [SEP] 23, Glassbottle, 1.199, 0.912, -0.729, 0, 0, 0, 57 [SEP] 24, Bread, -0.773, 1.001, 0.210, 2.045, 263.256, 0, 56 [SEP] 25, CreditCard, 0.753, 0.150, -0.729, 0, 270, 0, 59 [SEP] 26, CellPhone, -1.229, 0.930, -0.380, 0, 0, 0, 56 [SEP] 27, Potato, 0.688, 0.941, -2.308, 0, 0, 0, 62 [SEP] 28, Knife, -0.550, 0.957, -0.067, 0, 0, 0, 56 [SEP] 29, Fork, 0.773, 0.911, -0.034, 0, 0, 0, 57 [SEP] 30, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 50 [SEP] 31, Lettuce, 0.966, 1.479, 1.254, 0, 270, 0, 79 [SEP] 32, Plate, 1.026, 1.405, 1.063, 0, 270, 0, 79 [SEP] 33, Apple, -0.477, 0.983, -1.308, 0, 0, 0, 56 [SEP] 34, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 52 [SEP] 35, Spatula, 0.834, 0.718, -0.565, 0, 270, 0, 54 [SEP] 36, PaperTowelRoll, 0.944, 1.015, -1.793, 0, 0, 0, 62 [SEP] 37, Tomato, -0.772, 0.974, -1.540, 0, 0, 0, 56 [SEP] 38, Egg, 0.905, 0.900, 0.967, 0, 270, 0, 79 [SEP] 39, SaltShaker, -1.104, 0.929, -0.905, 0, 0, 0, 56 [SEP] 40, PepperShaker, -1.229, 0.929, 0.144, 0, 0, 0, 56 [SEP] 41, Vase, 1.169, 2.207, -0.973, 0, 270, 0, 63 [SEP] 42, ButterKnife, 1.029, 0.911, -0.381, 0, 0, 0, 57 [SEP] 43, SoapBottle, 0.910, 0.108, -1.892, 0, 0, 0, 61 [SEP] 44, Vase, 1.101, 1.667, 0.089, 0, 270, 0, 64 [SEP] 45, Bowl, 0.862, 0.124, 0.374, 0, 270, 0, 51 [SEP] 46, DishSponge, -0.865, 0.176, 0.608, 0, 180, 0, 76 [SEP] 47, Spoon, 0.773, 0.912, -0.729, 0, 0, 0, 57 [SEP] 48, Cup, 0.844, 0.860, 1.063, 0, 270, 0, 79 [SEP] 49, Mug, 0.859, 0.906, 0.139, 0, 0, 0, 57 [SEP] 50, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 51, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 52, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 53, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 54, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 55, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 56, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 57, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 58, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 59, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 60, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 61, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 62, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 63, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 64, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 65, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 66, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 67, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 68, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 69, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 70, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 71, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 72, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 73, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 74, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 75, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 76, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 77, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 78, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 79, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 80, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 81, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 82, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 83, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 84, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 85, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 86, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 87, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 88, NorthWall, , , , , , , [SEP] 89, EastWall, , , , , , , [SEP] 90, SouthWall, , , , , , , [SEP] 91, WestWall, , , , , , , ", "output": ["STEP 1: Take a step to the left to face the counter to the left of the stove. | STEP 2: Pick up the spoon on the counter. | STEP 3: Take a step to the right and face the stove. | STEP 4: Place the knife on the pan on the front left burner. | STEP 5: Pick up the pan with a knife in it on the stove. | STEP 6: Turn around and step forward to face the sink. | STEP 7: Place the pan with a spoon in it in the sink. | END"]} +{"id": "trial_T20190908_093016_806799-2", "input": "Put the spoon and 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, 0.0, 0.900, -2.0, 0, 90, 0, [SEP] 1, Statue, 0.773, 0.914, -0.381, 0, 0, 0, 57 [SEP] 2, Potato, 0.688, 0.941, -2.222, 0, 0, 0, 62 [SEP] 3, CreditCard, 0.875, 0.491, -0.565, 0, 270, 0, 60 [SEP] 4, CellPhone, 0.875, 0.699, -0.648, 0, 270, 0, 54 [SEP] 5, Glassbottle, 0.859, 0.912, -0.729, 0, 0, 0, 57 [SEP] 6, Spatula, 0.914, 0.168, -0.769, 0, 0, 0, 59 [SEP] 7, Spatula, 0.944, 0.926, -0.208, 0, 270, 0, 57 [SEP] 8, Knife, -0.627, 0.926, 0.207, 90, 185.360, 0, 56 [SEP] 9, Egg, -1.101, 0.214, 0.641, 0, 180, 0, 76 [SEP] 10, Egg, 0.859, 0.949, -1.879, 0, 0, 0, 62 [SEP] 11, Cup, 1.194, 1.663, -2.302, 0, 270, 0, 55 [SEP] 12, Plate, 0.905, 1.405, 1.444, 0, 270, 0, 79 [SEP] 13, Plate, 0.944, 0.914, -0.034, 0, 0, 0, 57 [SEP] 14, Tomato, -1.007, 0.219, 0.608, 0, 180, 0, 76 [SEP] 15, Tomato, -0.624, 0.974, -1.308, 0, 0, 0, 56 [SEP] 16, Bowl, 1.114, 0.914, -0.208, 0, 0, 0, 57 [SEP] 17, SaltShaker, -1.981, 0.878, 2.665, 0, 0, 0, 83 [SEP] 18, SaltShaker, 1.056, 1.662, -0.657, 0, 270, 0, 65 [SEP] 19, Lettuce, -1.292, 1.010, -0.118, 0, 0, 0, 56 [SEP] 20, Mug, 1.114, 0.906, -0.381, 0, 0, 0, 57 [SEP] 21, Apple, 1.126, 1.845, -1.339, 0, 270, 0, 78 [SEP] 22, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 56 [SEP] 23, Glassbottle, 1.199, 0.912, -0.729, 0, 0, 0, 57 [SEP] 24, Bread, -0.773, 1.001, 0.210, 2.045, 263.256, 0, 56 [SEP] 25, CreditCard, 0.753, 0.150, -0.729, 0, 270, 0, 59 [SEP] 26, CellPhone, -1.229, 0.930, -0.380, 0, 0, 0, 56 [SEP] 27, Potato, 0.688, 0.941, -2.308, 0, 0, 0, 62 [SEP] 28, Knife, -0.550, 0.957, -0.067, 0, 0, 0, 56 [SEP] 29, Fork, 0.773, 0.911, -0.034, 0, 0, 0, 57 [SEP] 30, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 50 [SEP] 31, Lettuce, 0.966, 1.479, 1.254, 0, 270, 0, 79 [SEP] 32, Plate, 1.026, 1.405, 1.063, 0, 270, 0, 79 [SEP] 33, Apple, -0.477, 0.983, -1.308, 0, 0, 0, 56 [SEP] 34, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 52 [SEP] 35, Spatula, 0.834, 0.718, -0.565, 0, 270, 0, 54 [SEP] 36, PaperTowelRoll, 0.944, 1.015, -1.793, 0, 0, 0, 62 [SEP] 37, Tomato, -0.772, 0.974, -1.540, 0, 0, 0, 56 [SEP] 38, Egg, 0.905, 0.900, 0.967, 0, 270, 0, 79 [SEP] 39, SaltShaker, -1.104, 0.929, -0.905, 0, 0, 0, 56 [SEP] 40, PepperShaker, -1.229, 0.929, 0.144, 0, 0, 0, 56 [SEP] 41, Vase, 1.169, 2.207, -0.973, 0, 270, 0, 63 [SEP] 42, ButterKnife, 1.029, 0.911, -0.381, 0, 0, 0, 57 [SEP] 43, SoapBottle, 0.910, 0.108, -1.892, 0, 0, 0, 61 [SEP] 44, Vase, 1.101, 1.667, 0.089, 0, 270, 0, 64 [SEP] 45, Bowl, 0.862, 0.124, 0.374, 0, 270, 0, 51 [SEP] 46, DishSponge, -0.865, 0.176, 0.608, 0, 180, 0, 76 [SEP] 47, Spoon, 0.773, 0.912, -0.729, 0, 0, 0, 57 [SEP] 48, Cup, 0.844, 0.860, 1.063, 0, 270, 0, 79 [SEP] 49, Mug, 0.859, 0.906, 0.139, 0, 0, 0, 57 [SEP] 50, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 51, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 52, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 53, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 54, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 55, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 56, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 57, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 58, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 59, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 60, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 61, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 62, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 63, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 64, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 65, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 66, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 67, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 68, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 69, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 70, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 71, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 72, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 73, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 74, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 75, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 76, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 77, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 78, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 79, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 80, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 81, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 82, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 83, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 84, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 85, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 86, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 87, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 88, NorthWall, , , , , , , [SEP] 89, EastWall, , , , , , , [SEP] 90, SouthWall, , , , , , , [SEP] 91, WestWall, , , , , , , ", "output": ["STEP 1: Turn left, walk just past the stove, turn right and face the cabinet just left of the stove. | STEP 2: Pick up the spoon lying on the counter left of the stove. | STEP 3: Turn right, walk slightly forward, then turn left to the stove. | STEP 4: Place the spoon on the plate that is on top of the stove. | STEP 5: Pick up the plate with the spoon on it. | STEP 6: Turn left, walk slightly forward, turn left and walk to the sink. | STEP 7: Place the plate with the spoon on it in the sink. | END"]} +{"id": "trial_T20190912_221141_608117-0", "input": "Place two salt shakers 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, 2.25, 0, 270, 0, [SEP] 1, Statue, -1.355, 0.936, -0.380, 0, 0, 0, 61 [SEP] 2, Potato, 0.688, 0.941, -2.308, 0, 0, 0, 67 [SEP] 3, Potato, 1.199, 0.941, 0.139, 0, 0, 0, 62 [SEP] 4, ButterKnife, 0.773, 0.911, -0.208, 0, 0, 0, 62 [SEP] 5, ButterKnife, -0.624, 0.933, 0.086, 0, 0, 0, 61 [SEP] 6, Glassbottle, 1.126, 2.208, -1.191, 0, 270, 0, 68 [SEP] 7, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 57 [SEP] 8, Knife, -1.292, 0.957, -1.430, 0, 180, 0, 61 [SEP] 9, Egg, 0.944, 0.949, -1.879, 0, 0, 0, 67 [SEP] 10, Egg, -1.101, 0.214, 0.543, 0, 180, 0, 81 [SEP] 11, Cup, 0.761, 0.105, -1.892, 0, 0, 0, 66 [SEP] 12, Cup, 1.087, 0.860, 1.254, 0, 270, 0, 84 [SEP] 13, Plate, 1.194, 1.669, -0.593, 0, 270, 0, 70 [SEP] 14, Tomato, -0.587, 0.821, -0.745, 0, 90, 0, 82 [SEP] 15, Tomato, 0.905, 0.903, 0.967, 0, 270, 0, 84 [SEP] 16, SoapBottle, -0.912, 0.177, 0.608, 0, 180, 0, 81 [SEP] 17, SoapBottle, 0.913, 0.121, 0.398, 0, 270, 0, 56 [SEP] 18, Bowl, 1.026, 1.138, 1.158, 0, 270, 0, 84 [SEP] 19, SaltShaker, 0.754, 0.490, -0.690, 0, 270, 0, 65 [SEP] 20, PepperShaker, -1.292, 0.929, -0.118, 0, 0, 0, 61 [SEP] 21, PepperShaker, 1.101, 1.662, 0.025, 0, 270, 0, 69 [SEP] 22, PepperShaker, 0.996, 2.204, -1.082, 0, 270, 0, 68 [SEP] 23, Lettuce, 1.026, 1.212, 1.349, 0, 270, 0, 84 [SEP] 24, Bread, 1.029, 0.992, -0.034, 0, 0, 0, 62 [SEP] 25, Mug, 0.966, 1.638, 1.444, 0, 270, 0, 84 [SEP] 26, Apple, 0.944, 0.961, 0.139, 0, 0, 0, 62 [SEP] 27, Statue, -1.292, 0.936, -0.643, 0, 0, 0, 61 [SEP] 28, Glassbottle, 0.859, 0.912, -0.729, 0, 0, 0, 62 [SEP] 29, Bread, 1.114, 0.992, -0.381, 0, 0, 0, 62 [SEP] 30, CreditCard, 0.915, 0.700, -0.690, 0, 270, 0, 59 [SEP] 31, CellPhone, -1.292, 0.930, -0.905, 0, 0, 0, 61 [SEP] 32, Potato, 0.844, 1.673, 1.444, 0, 270, 0, 84 [SEP] 33, Knife, -1.167, 0.957, -0.118, 0, 0, 0, 61 [SEP] 34, Fork, -0.624, 0.934, 0.315, 0, 0, 0, 61 [SEP] 35, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 55 [SEP] 36, Lettuce, -0.772, 1.010, 0.239, 0, 0, 0, 61 [SEP] 37, Plate, 0.966, 1.405, 1.063, 0, 270, 0, 84 [SEP] 38, Apple, -1.054, 0.227, 0.641, 0, 180, 0, 81 [SEP] 39, Pot, -0.772, 0.936, -1.463, 0, 0, 0, 61 [SEP] 40, Spatula, 0.915, 0.717, -0.565, 0, 0, 0, 59 [SEP] 41, PaperTowelRoll, 0.688, 1.015, 0.313, 0, 0, 0, 62 [SEP] 42, Tomato, 0.965, 1.175, 1.540, 0, 270, 0, 84 [SEP] 43, Egg, 0.783, 1.439, 1.254, 0, 270, 0, 84 [SEP] 44, SaltShaker, -1.571, 0.878, 2.665, 0, 0, 0, 88 [SEP] 45, PepperShaker, -1.571, 0.878, 2.773, 0, 0, 0, 88 [SEP] 46, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 87 [SEP] 47, ButterKnife, 0.859, 0.911, -0.381, 0, 0, 0, 62 [SEP] 48, SoapBottle, 1.199, 0.911, -0.034, 0, 0, 0, 62 [SEP] 49, Vase, -1.363, 0.555, 2.822, 0, 0, 0, 87 [SEP] 50, Bowl, 0.966, 1.646, 0.967, 0, 270, 0, 84 [SEP] 51, DishSponge, 1.039, 2.207, -1.408, 0, 270, 0, 68 [SEP] 52, Spoon, -0.697, 0.777, -0.832, 0, 180, 0, 82 [SEP] 53, Cup, -1.363, 0.551, 2.667, 0, 0, 0, 87 [SEP] 54, Mug, 1.026, 0.858, 1.349, 0, 270, 0, 84 [SEP] 55, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 56, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 57, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 58, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 59, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 60, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 61, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 62, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 63, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 64, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 65, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 66, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 67, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 68, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 69, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 70, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 71, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 72, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 73, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 74, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 75, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 76, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 77, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 78, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 79, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 80, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 81, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 82, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 83, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 84, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 85, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 86, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 87, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 88, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 89, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 90, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 91, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 92, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 93, NorthWall, , , , , , , [SEP] 94, EastWall, , , , , , , [SEP] 95, SouthWall, , , , , , , [SEP] 96, WestWall, , , , , , , ", "output": ["STEP 1: Look down, turn left, walk straight, turn left to face the fridge, walk straight, turn right when you reach the fridge, walk straight, turn left to face the counter with the bread on the counter and look up to the cabinet. | STEP 2: Open the cabinet door, grab the salt in the cabinet, and close the cabinet. | STEP 3: Look down, turn right, walk straight, turn right to face the pot on the counter and turn right. | STEP 4: Open the drawer, place the salt inside, close the drawer. | STEP 5: Walk straight, turn to face the stove and look up to the top cabinet. | STEP 6: Open the cabinet, grab the salt in the cabinet and close the cabinet. | STEP 7: Look down, turn around to face the pot and turn right. | STEP 8: Open the drawer, place the salt inside the drawer and close the drawer. | END"]} +{"id": "trial_T20190912_221141_608117-1", "input": "Put two shakers in the second 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, 2.25, 0, 270, 0, [SEP] 1, Statue, -1.355, 0.936, -0.380, 0, 0, 0, 61 [SEP] 2, Potato, 0.688, 0.941, -2.308, 0, 0, 0, 67 [SEP] 3, Potato, 1.199, 0.941, 0.139, 0, 0, 0, 62 [SEP] 4, ButterKnife, 0.773, 0.911, -0.208, 0, 0, 0, 62 [SEP] 5, ButterKnife, -0.624, 0.933, 0.086, 0, 0, 0, 61 [SEP] 6, Glassbottle, 1.126, 2.208, -1.191, 0, 270, 0, 68 [SEP] 7, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 57 [SEP] 8, Knife, -1.292, 0.957, -1.430, 0, 180, 0, 61 [SEP] 9, Egg, 0.944, 0.949, -1.879, 0, 0, 0, 67 [SEP] 10, Egg, -1.101, 0.214, 0.543, 0, 180, 0, 81 [SEP] 11, Cup, 0.761, 0.105, -1.892, 0, 0, 0, 66 [SEP] 12, Cup, 1.087, 0.860, 1.254, 0, 270, 0, 84 [SEP] 13, Plate, 1.194, 1.669, -0.593, 0, 270, 0, 70 [SEP] 14, Tomato, -0.587, 0.821, -0.745, 0, 90, 0, 82 [SEP] 15, Tomato, 0.905, 0.903, 0.967, 0, 270, 0, 84 [SEP] 16, SoapBottle, -0.912, 0.177, 0.608, 0, 180, 0, 81 [SEP] 17, SoapBottle, 0.913, 0.121, 0.398, 0, 270, 0, 56 [SEP] 18, Bowl, 1.026, 1.138, 1.158, 0, 270, 0, 84 [SEP] 19, SaltShaker, 0.754, 0.490, -0.690, 0, 270, 0, 65 [SEP] 20, PepperShaker, -1.292, 0.929, -0.118, 0, 0, 0, 61 [SEP] 21, PepperShaker, 1.101, 1.662, 0.025, 0, 270, 0, 69 [SEP] 22, PepperShaker, 0.996, 2.204, -1.082, 0, 270, 0, 68 [SEP] 23, Lettuce, 1.026, 1.212, 1.349, 0, 270, 0, 84 [SEP] 24, Bread, 1.029, 0.992, -0.034, 0, 0, 0, 62 [SEP] 25, Mug, 0.966, 1.638, 1.444, 0, 270, 0, 84 [SEP] 26, Apple, 0.944, 0.961, 0.139, 0, 0, 0, 62 [SEP] 27, Statue, -1.292, 0.936, -0.643, 0, 0, 0, 61 [SEP] 28, Glassbottle, 0.859, 0.912, -0.729, 0, 0, 0, 62 [SEP] 29, Bread, 1.114, 0.992, -0.381, 0, 0, 0, 62 [SEP] 30, CreditCard, 0.915, 0.700, -0.690, 0, 270, 0, 59 [SEP] 31, CellPhone, -1.292, 0.930, -0.905, 0, 0, 0, 61 [SEP] 32, Potato, 0.844, 1.673, 1.444, 0, 270, 0, 84 [SEP] 33, Knife, -1.167, 0.957, -0.118, 0, 0, 0, 61 [SEP] 34, Fork, -0.624, 0.934, 0.315, 0, 0, 0, 61 [SEP] 35, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 55 [SEP] 36, Lettuce, -0.772, 1.010, 0.239, 0, 0, 0, 61 [SEP] 37, Plate, 0.966, 1.405, 1.063, 0, 270, 0, 84 [SEP] 38, Apple, -1.054, 0.227, 0.641, 0, 180, 0, 81 [SEP] 39, Pot, -0.772, 0.936, -1.463, 0, 0, 0, 61 [SEP] 40, Spatula, 0.915, 0.717, -0.565, 0, 0, 0, 59 [SEP] 41, PaperTowelRoll, 0.688, 1.015, 0.313, 0, 0, 0, 62 [SEP] 42, Tomato, 0.965, 1.175, 1.540, 0, 270, 0, 84 [SEP] 43, Egg, 0.783, 1.439, 1.254, 0, 270, 0, 84 [SEP] 44, SaltShaker, -1.571, 0.878, 2.665, 0, 0, 0, 88 [SEP] 45, PepperShaker, -1.571, 0.878, 2.773, 0, 0, 0, 88 [SEP] 46, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 87 [SEP] 47, ButterKnife, 0.859, 0.911, -0.381, 0, 0, 0, 62 [SEP] 48, SoapBottle, 1.199, 0.911, -0.034, 0, 0, 0, 62 [SEP] 49, Vase, -1.363, 0.555, 2.822, 0, 0, 0, 87 [SEP] 50, Bowl, 0.966, 1.646, 0.967, 0, 270, 0, 84 [SEP] 51, DishSponge, 1.039, 2.207, -1.408, 0, 270, 0, 68 [SEP] 52, Spoon, -0.697, 0.777, -0.832, 0, 180, 0, 82 [SEP] 53, Cup, -1.363, 0.551, 2.667, 0, 0, 0, 87 [SEP] 54, Mug, 1.026, 0.858, 1.349, 0, 270, 0, 84 [SEP] 55, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 56, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 57, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 58, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 59, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 60, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 61, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 62, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 63, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 64, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 65, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 66, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 67, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 68, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 69, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 70, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 71, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 72, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 73, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 74, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 75, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 76, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 77, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 78, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 79, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 80, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 81, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 82, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 83, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 84, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 85, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 86, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 87, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 88, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 89, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 90, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 91, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 92, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 93, NorthWall, , , , , , , [SEP] 94, EastWall, , , , , , , [SEP] 95, SouthWall, , , , , , , [SEP] 96, WestWall, , , , , , , ", "output": ["STEP 1: Make a right and step forward then turn left at the island. | STEP 2: Open the cabinet and take out a salt shaker. Shut the cabinet. | STEP 3: Turn right then walk forward. Turn around once you are past the sink. | STEP 4: Open the second drawer and put the salt shaker inside. | STEP 5: Walk forward and make a right and face the oven. | STEP 6: Open the cabinet above the cabinet and take out a salt shaker. Shut the cabinet. | STEP 7: Take the shaker and turn around and step to the right. | STEP 8: Open the second drawer and put the salt shaker inside. | END"]} +{"id": "trial_T20190912_221141_608117-2", "input": "Put two shakers in the 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, -0.25, 0.900, 2.25, 0, 270, 0, [SEP] 1, Statue, -1.355, 0.936, -0.380, 0, 0, 0, 61 [SEP] 2, Potato, 0.688, 0.941, -2.308, 0, 0, 0, 67 [SEP] 3, Potato, 1.199, 0.941, 0.139, 0, 0, 0, 62 [SEP] 4, ButterKnife, 0.773, 0.911, -0.208, 0, 0, 0, 62 [SEP] 5, ButterKnife, -0.624, 0.933, 0.086, 0, 0, 0, 61 [SEP] 6, Glassbottle, 1.126, 2.208, -1.191, 0, 270, 0, 68 [SEP] 7, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 57 [SEP] 8, Knife, -1.292, 0.957, -1.430, 0, 180, 0, 61 [SEP] 9, Egg, 0.944, 0.949, -1.879, 0, 0, 0, 67 [SEP] 10, Egg, -1.101, 0.214, 0.543, 0, 180, 0, 81 [SEP] 11, Cup, 0.761, 0.105, -1.892, 0, 0, 0, 66 [SEP] 12, Cup, 1.087, 0.860, 1.254, 0, 270, 0, 84 [SEP] 13, Plate, 1.194, 1.669, -0.593, 0, 270, 0, 70 [SEP] 14, Tomato, -0.587, 0.821, -0.745, 0, 90, 0, 82 [SEP] 15, Tomato, 0.905, 0.903, 0.967, 0, 270, 0, 84 [SEP] 16, SoapBottle, -0.912, 0.177, 0.608, 0, 180, 0, 81 [SEP] 17, SoapBottle, 0.913, 0.121, 0.398, 0, 270, 0, 56 [SEP] 18, Bowl, 1.026, 1.138, 1.158, 0, 270, 0, 84 [SEP] 19, SaltShaker, 0.754, 0.490, -0.690, 0, 270, 0, 65 [SEP] 20, PepperShaker, -1.292, 0.929, -0.118, 0, 0, 0, 61 [SEP] 21, PepperShaker, 1.101, 1.662, 0.025, 0, 270, 0, 69 [SEP] 22, PepperShaker, 0.996, 2.204, -1.082, 0, 270, 0, 68 [SEP] 23, Lettuce, 1.026, 1.212, 1.349, 0, 270, 0, 84 [SEP] 24, Bread, 1.029, 0.992, -0.034, 0, 0, 0, 62 [SEP] 25, Mug, 0.966, 1.638, 1.444, 0, 270, 0, 84 [SEP] 26, Apple, 0.944, 0.961, 0.139, 0, 0, 0, 62 [SEP] 27, Statue, -1.292, 0.936, -0.643, 0, 0, 0, 61 [SEP] 28, Glassbottle, 0.859, 0.912, -0.729, 0, 0, 0, 62 [SEP] 29, Bread, 1.114, 0.992, -0.381, 0, 0, 0, 62 [SEP] 30, CreditCard, 0.915, 0.700, -0.690, 0, 270, 0, 59 [SEP] 31, CellPhone, -1.292, 0.930, -0.905, 0, 0, 0, 61 [SEP] 32, Potato, 0.844, 1.673, 1.444, 0, 270, 0, 84 [SEP] 33, Knife, -1.167, 0.957, -0.118, 0, 0, 0, 61 [SEP] 34, Fork, -0.624, 0.934, 0.315, 0, 0, 0, 61 [SEP] 35, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 55 [SEP] 36, Lettuce, -0.772, 1.010, 0.239, 0, 0, 0, 61 [SEP] 37, Plate, 0.966, 1.405, 1.063, 0, 270, 0, 84 [SEP] 38, Apple, -1.054, 0.227, 0.641, 0, 180, 0, 81 [SEP] 39, Pot, -0.772, 0.936, -1.463, 0, 0, 0, 61 [SEP] 40, Spatula, 0.915, 0.717, -0.565, 0, 0, 0, 59 [SEP] 41, PaperTowelRoll, 0.688, 1.015, 0.313, 0, 0, 0, 62 [SEP] 42, Tomato, 0.965, 1.175, 1.540, 0, 270, 0, 84 [SEP] 43, Egg, 0.783, 1.439, 1.254, 0, 270, 0, 84 [SEP] 44, SaltShaker, -1.571, 0.878, 2.665, 0, 0, 0, 88 [SEP] 45, PepperShaker, -1.571, 0.878, 2.773, 0, 0, 0, 88 [SEP] 46, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 87 [SEP] 47, ButterKnife, 0.859, 0.911, -0.381, 0, 0, 0, 62 [SEP] 48, SoapBottle, 1.199, 0.911, -0.034, 0, 0, 0, 62 [SEP] 49, Vase, -1.363, 0.555, 2.822, 0, 0, 0, 87 [SEP] 50, Bowl, 0.966, 1.646, 0.967, 0, 270, 0, 84 [SEP] 51, DishSponge, 1.039, 2.207, -1.408, 0, 270, 0, 68 [SEP] 52, Spoon, -0.697, 0.777, -0.832, 0, 180, 0, 82 [SEP] 53, Cup, -1.363, 0.551, 2.667, 0, 0, 0, 87 [SEP] 54, Mug, 1.026, 0.858, 1.349, 0, 270, 0, 84 [SEP] 55, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 56, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 57, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 58, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 59, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 60, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 61, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 62, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 63, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 64, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 65, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 66, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 67, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 68, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 69, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 70, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 71, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 72, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 73, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 74, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 75, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 76, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 77, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 78, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 79, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 80, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 81, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 82, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 83, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 84, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 85, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 86, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 87, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 88, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 89, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 90, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 91, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 92, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 93, NorthWall, , , , , , , [SEP] 94, EastWall, , , , , , , [SEP] 95, SouthWall, , , , , , , [SEP] 96, WestWall, , , , , , , ", "output": ["STEP 1: move to the counter to the left of the stove | STEP 2: pick up a shaker from the cabinet | STEP 3: move to the drawer to the left of the stove | STEP 4: put the shaker in the drawer | STEP 5: Turn to the right of you | STEP 6: pick up a shaker from the cabinet | STEP 7: move to the drawer to the left of the stove | STEP 8: put the shaker in the drawer | END"]} +{"id": "trial_T20190907_074106_050405-0", "input": "Put a wet soap 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, 0.901, 1.75, 0, 0, 0, [SEP] 1, SprayBottle, -0.382, 0.077, 2.698, 0, 0, 0, 22 [SEP] 2, Candle, -0.432, 0.075, 2.381, 0, 0, 0, 27 [SEP] 3, SoapBar, -0.127, 0.075, 2.291, 0, 0, 0, 27 [SEP] 4, SoapBar, -0.131, 0.953, 1.356, 0, 0, 0, 33 [SEP] 5, SoapBar, -0.131, 0.953, 1.544, 0, 0, 0, 33 [SEP] 6, SoapBottle, -0.331, 0.077, 3.372, 0, 0, 0, 26 [SEP] 7, HandTowel, -0.038, 1.619, 1.887, 0, 90, 0, 31 [SEP] 8, HandTowel, -0.038, 1.619, 3.799, 0, 90, 0, 32 [SEP] 9, Towel, -1.082, 1.326, 1.302, 0, 0, 0, 28 [SEP] 10, SoapBar, -0.202, 0.954, 2.843, 0, 0, 0, 25 [SEP] 11, ToiletPaper, -0.117, 0.945, 1.629, 0, 0, 0, 33 [SEP] 12, Plunger, -0.112, -0.000, 1.848, 0, 0, 0, [SEP] 13, Candle, -0.388, 0.954, 2.772, 0, 0, 0, 25 [SEP] 14, ToiletPaper, -0.280, 0.654, 1.985, 0, 180, 90, 30 [SEP] 15, SprayBottle, -0.450, 0.955, 2.948, 0, 0, 0, 25 [SEP] 16, Cloth, -0.330, 0.075, 2.202, 0, 90, 0, 27 [SEP] 17, ScrubBrush, -0.322, 3.109, 1.950, 0, 0, 0, [SEP] 18, SoapBottle, -0.326, 0.955, 2.843, 0, 0, 0, 25 [SEP] 19, Mirror, -0.030, 1.544, 2.864, 0, 0, 0, [SEP] 20, Sink, -0.302, 0.799, 3.263, 0, 270, 0, [SEP] 21, Cabinet, -0.491, 0.404, 2.863, 0, 0, 0, [SEP] 22, Cabinet, -0.495, 0.384, 2.842, 0, 0, 0, [SEP] 23, ShowerDoor, -1.647, 1.017, 1.180, 0, 0, 0, [SEP] 24, ShowerGlass, -0.909, 0.788, 0.485, 0, 0, 0, [SEP] 25, CounterTop, -0.261, 0.927, 2.843, 0, 0, 0, [SEP] 26, Cabinet, -0.495, 0.384, 3.650, 0, 0, 0, [SEP] 27, Cabinet, -0.491, 0.404, 2.055, 0, 0, 0, [SEP] 28, TowelHolder, -1.082, 1.312, 1.195, 0, 0, 0, [SEP] 29, LightSwitch, -2.424, 1.447, 3.338, 0, 90, 0, [SEP] 30, ToiletPaperHanger, -0.266, 0.786, 2.043, 0, 180, 0, [SEP] 31, HandTowelHolder, 0.000, 1.721, 1.887, 0, 180, 0, [SEP] 32, HandTowelHolder, 0.000, 1.721, 3.799, 0, 180, 0, [SEP] 33, Toilet, -0.542, 3.109, 1.493, 0, 270, 0, [SEP] 34, GarbageCan, -2.159, -0.000, 3.756, 0, 0, 0, [SEP] 35, SinkBasin, -0.308, 0.820, 3.266, 0, 0, 0, [SEP] 36, ShowerHead, -0.134, 1.888, 0.564, 0, 90, 0, [SEP] 37, Faucet, 0.0, 1.009, 3.265, 0, 0, 0, [SEP] 38, Faucet, 0.0, 1.009, 2.421, 0, 0, 0, [SEP] 39, SinkBasin, -0.308, 0.820, 2.422, 0, 0, 0, [SEP] 40, Sink, -0.302, 0.799, 2.419, 0, 270, 0, [SEP] 41, NorthWall, , , , , , , [SEP] 42, SouthWall, , , , , , , [SEP] 43, SouthWall, , , , , , , ", "output": ["STEP 1: Turn to the right and go to the sink. | STEP 2: Pick up the bar of soap from the counter. | STEP 3: Move to the right and put the soap in the right sink. | STEP 4: Wet the soap with water. | STEP 5: Pick up the soap from the sink and bring it to the counter on the left. | STEP 6: Put the soap back on the counter. | END"]} +{"id": "trial_T20190907_074106_050405-1", "input": "Put wet soap 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, 0.901, 1.75, 0, 0, 0, [SEP] 1, SprayBottle, -0.382, 0.077, 2.698, 0, 0, 0, 22 [SEP] 2, Candle, -0.432, 0.075, 2.381, 0, 0, 0, 27 [SEP] 3, SoapBar, -0.127, 0.075, 2.291, 0, 0, 0, 27 [SEP] 4, SoapBar, -0.131, 0.953, 1.356, 0, 0, 0, 33 [SEP] 5, SoapBar, -0.131, 0.953, 1.544, 0, 0, 0, 33 [SEP] 6, SoapBottle, -0.331, 0.077, 3.372, 0, 0, 0, 26 [SEP] 7, HandTowel, -0.038, 1.619, 1.887, 0, 90, 0, 31 [SEP] 8, HandTowel, -0.038, 1.619, 3.799, 0, 90, 0, 32 [SEP] 9, Towel, -1.082, 1.326, 1.302, 0, 0, 0, 28 [SEP] 10, SoapBar, -0.202, 0.954, 2.843, 0, 0, 0, 25 [SEP] 11, ToiletPaper, -0.117, 0.945, 1.629, 0, 0, 0, 33 [SEP] 12, Plunger, -0.112, -0.000, 1.848, 0, 0, 0, [SEP] 13, Candle, -0.388, 0.954, 2.772, 0, 0, 0, 25 [SEP] 14, ToiletPaper, -0.280, 0.654, 1.985, 0, 180, 90, 30 [SEP] 15, SprayBottle, -0.450, 0.955, 2.948, 0, 0, 0, 25 [SEP] 16, Cloth, -0.330, 0.075, 2.202, 0, 90, 0, 27 [SEP] 17, ScrubBrush, -0.322, 3.109, 1.950, 0, 0, 0, [SEP] 18, SoapBottle, -0.326, 0.955, 2.843, 0, 0, 0, 25 [SEP] 19, Mirror, -0.030, 1.544, 2.864, 0, 0, 0, [SEP] 20, Sink, -0.302, 0.799, 3.263, 0, 270, 0, [SEP] 21, Cabinet, -0.491, 0.404, 2.863, 0, 0, 0, [SEP] 22, Cabinet, -0.495, 0.384, 2.842, 0, 0, 0, [SEP] 23, ShowerDoor, -1.647, 1.017, 1.180, 0, 0, 0, [SEP] 24, ShowerGlass, -0.909, 0.788, 0.485, 0, 0, 0, [SEP] 25, CounterTop, -0.261, 0.927, 2.843, 0, 0, 0, [SEP] 26, Cabinet, -0.495, 0.384, 3.650, 0, 0, 0, [SEP] 27, Cabinet, -0.491, 0.404, 2.055, 0, 0, 0, [SEP] 28, TowelHolder, -1.082, 1.312, 1.195, 0, 0, 0, [SEP] 29, LightSwitch, -2.424, 1.447, 3.338, 0, 90, 0, [SEP] 30, ToiletPaperHanger, -0.266, 0.786, 2.043, 0, 180, 0, [SEP] 31, HandTowelHolder, 0.000, 1.721, 1.887, 0, 180, 0, [SEP] 32, HandTowelHolder, 0.000, 1.721, 3.799, 0, 180, 0, [SEP] 33, Toilet, -0.542, 3.109, 1.493, 0, 270, 0, [SEP] 34, GarbageCan, -2.159, -0.000, 3.756, 0, 0, 0, [SEP] 35, SinkBasin, -0.308, 0.820, 3.266, 0, 0, 0, [SEP] 36, ShowerHead, -0.134, 1.888, 0.564, 0, 90, 0, [SEP] 37, Faucet, 0.0, 1.009, 3.265, 0, 0, 0, [SEP] 38, Faucet, 0.0, 1.009, 2.421, 0, 0, 0, [SEP] 39, SinkBasin, -0.308, 0.820, 2.422, 0, 0, 0, [SEP] 40, Sink, -0.302, 0.799, 2.419, 0, 270, 0, [SEP] 41, NorthWall, , , , , , , [SEP] 42, SouthWall, , , , , , , [SEP] 43, SouthWall, , , , , , , ", "output": ["STEP 1: Go forward and to the sink on your right. | STEP 2: Pick up the soap. | STEP 3: Move right an go to the sink on the right. | STEP 4: Put the soap in the sink and get it wet. | STEP 5: Move slightly to the left. | STEP 6: Put the soap on the counter. | END"]} +{"id": "trial_T20190907_074106_050405-2", "input": "Put clean soap 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, 0.901, 1.75, 0, 0, 0, [SEP] 1, SprayBottle, -0.382, 0.077, 2.698, 0, 0, 0, 22 [SEP] 2, Candle, -0.432, 0.075, 2.381, 0, 0, 0, 27 [SEP] 3, SoapBar, -0.127, 0.075, 2.291, 0, 0, 0, 27 [SEP] 4, SoapBar, -0.131, 0.953, 1.356, 0, 0, 0, 33 [SEP] 5, SoapBar, -0.131, 0.953, 1.544, 0, 0, 0, 33 [SEP] 6, SoapBottle, -0.331, 0.077, 3.372, 0, 0, 0, 26 [SEP] 7, HandTowel, -0.038, 1.619, 1.887, 0, 90, 0, 31 [SEP] 8, HandTowel, -0.038, 1.619, 3.799, 0, 90, 0, 32 [SEP] 9, Towel, -1.082, 1.326, 1.302, 0, 0, 0, 28 [SEP] 10, SoapBar, -0.202, 0.954, 2.843, 0, 0, 0, 25 [SEP] 11, ToiletPaper, -0.117, 0.945, 1.629, 0, 0, 0, 33 [SEP] 12, Plunger, -0.112, -0.000, 1.848, 0, 0, 0, [SEP] 13, Candle, -0.388, 0.954, 2.772, 0, 0, 0, 25 [SEP] 14, ToiletPaper, -0.280, 0.654, 1.985, 0, 180, 90, 30 [SEP] 15, SprayBottle, -0.450, 0.955, 2.948, 0, 0, 0, 25 [SEP] 16, Cloth, -0.330, 0.075, 2.202, 0, 90, 0, 27 [SEP] 17, ScrubBrush, -0.322, 3.109, 1.950, 0, 0, 0, [SEP] 18, SoapBottle, -0.326, 0.955, 2.843, 0, 0, 0, 25 [SEP] 19, Mirror, -0.030, 1.544, 2.864, 0, 0, 0, [SEP] 20, Sink, -0.302, 0.799, 3.263, 0, 270, 0, [SEP] 21, Cabinet, -0.491, 0.404, 2.863, 0, 0, 0, [SEP] 22, Cabinet, -0.495, 0.384, 2.842, 0, 0, 0, [SEP] 23, ShowerDoor, -1.647, 1.017, 1.180, 0, 0, 0, [SEP] 24, ShowerGlass, -0.909, 0.788, 0.485, 0, 0, 0, [SEP] 25, CounterTop, -0.261, 0.927, 2.843, 0, 0, 0, [SEP] 26, Cabinet, -0.495, 0.384, 3.650, 0, 0, 0, [SEP] 27, Cabinet, -0.491, 0.404, 2.055, 0, 0, 0, [SEP] 28, TowelHolder, -1.082, 1.312, 1.195, 0, 0, 0, [SEP] 29, LightSwitch, -2.424, 1.447, 3.338, 0, 90, 0, [SEP] 30, ToiletPaperHanger, -0.266, 0.786, 2.043, 0, 180, 0, [SEP] 31, HandTowelHolder, 0.000, 1.721, 1.887, 0, 180, 0, [SEP] 32, HandTowelHolder, 0.000, 1.721, 3.799, 0, 180, 0, [SEP] 33, Toilet, -0.542, 3.109, 1.493, 0, 270, 0, [SEP] 34, GarbageCan, -2.159, -0.000, 3.756, 0, 0, 0, [SEP] 35, SinkBasin, -0.308, 0.820, 3.266, 0, 0, 0, [SEP] 36, ShowerHead, -0.134, 1.888, 0.564, 0, 90, 0, [SEP] 37, Faucet, 0.0, 1.009, 3.265, 0, 0, 0, [SEP] 38, Faucet, 0.0, 1.009, 2.421, 0, 0, 0, [SEP] 39, SinkBasin, -0.308, 0.820, 2.422, 0, 0, 0, [SEP] 40, Sink, -0.302, 0.799, 2.419, 0, 270, 0, [SEP] 41, NorthWall, , , , , , , [SEP] 42, SouthWall, , , , , , , [SEP] 43, SouthWall, , , , , , , ", "output": ["STEP 1: Move forward, then turn right and go to the counter between the two sinks. | STEP 2: Pick up the bar of soap, behind the hand soap. | STEP 3: Turn around, then turn left, then turn left again to face the sink. | STEP 4: Wash the soap inside of the sink. | STEP 5: Turn left move forward then turn right to face the sink. | STEP 6: Place the soap on the counter between the sinks, in front of the candle. | END"]} +{"id": "trial_T20190907_061347_004735-0", "input": "Put a piece of apple on a counter near another cut apple. 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, -0.75, 0, 0, 0, [SEP] 1, Statue, -0.846, 0.936, -1.386, 0, 0, 0, 62 [SEP] 2, CreditCard, -1.881, 0.551, 2.874, 0, 0, 0, 88 [SEP] 3, CreditCard, 1.029, 0.908, -1.879, 0, 0, 0, 68 [SEP] 4, CellPhone, 0.874, 0.150, -0.690, 0, 270, 0, 65 [SEP] 5, DishSponge, -1.467, 0.553, 2.718, 0, 0, 0, 88 [SEP] 6, DishSponge, 0.811, 0.120, 0.374, 0, 270, 0, 57 [SEP] 7, ButterKnife, 0.773, 0.911, -0.208, 0, 180, 0, 63 [SEP] 8, Fork, 0.794, 0.495, -0.524, 0, 180, 0, 66 [SEP] 9, Spoon, 0.793, 0.154, -0.650, 0, 270, 0, 65 [SEP] 10, Knife, -0.550, 0.957, -0.143, 0, 0, 0, 62 [SEP] 11, Egg, -0.642, 0.818, -0.745, 0, 90, 0, 83 [SEP] 12, Egg, 0.688, 0.949, -2.136, 0, 0, 0, 68 [SEP] 13, Cup, 1.029, 0.908, -1.793, 0, 0, 0, 68 [SEP] 14, Cup, 0.844, 1.399, 0.967, 0, 270, 0, 85 [SEP] 15, Plate, 0.910, 0.111, -2.132, 0, 0, 0, 67 [SEP] 16, Tomato, 0.688, 0.952, -2.308, 0, 0, 0, 68 [SEP] 17, Tomato, 1.026, 1.683, 1.063, 0, 270, 0, 85 [SEP] 18, Bowl, 0.811, 0.111, -1.892, 0, 0, 0, 67 [SEP] 19, Bowl, 1.194, 1.669, -2.234, 0, 270, 0, 61 [SEP] 20, PepperShaker, -1.674, 0.878, 2.773, 0, 0, 0, 89 [SEP] 21, PepperShaker, 0.773, 0.907, -0.381, 0, 0, 0, 63 [SEP] 22, Lettuce, -0.550, 1.010, -1.231, 0, 0, 0, 62 [SEP] 23, Lettuce, 1.026, 1.720, 1.254, 0, 270, 0, 85 [SEP] 24, Bread, 0.966, 0.944, 1.349, 0, 270, 0, 85 [SEP] 25, Apple, -1.007, 0.227, 0.543, 0, 180, 0, 82 [SEP] 26, Apple, -0.753, 0.830, -0.659, 0, 90, 0, 83 [SEP] 27, Apple, 0.844, 1.185, 1.540, 0, 270, 0, 85 [SEP] 28, Statue, 0.773, 0.914, -0.555, 0, 180, 0, 63 [SEP] 29, Glassbottle, -1.778, 0.554, 2.822, 0, 0, 0, 88 [SEP] 30, Bread, 0.905, 1.482, 1.444, 0, 270, 0, 85 [SEP] 31, CreditCard, 0.688, 0.908, -1.793, 0, 0, 0, 68 [SEP] 32, CellPhone, 1.199, 0.908, -0.208, 0, 0, 0, 63 [SEP] 33, Potato, -1.007, 0.207, 0.641, 0, 180, 0, 82 [SEP] 34, Knife, -0.772, 0.957, -1.618, 0, 0, 0, 62 [SEP] 35, Fork, 0.875, 0.494, -0.607, 0, 0, 0, 66 [SEP] 36, Pan, 0.842, 0.950, -1.504, 0, 0, 0, 59 [SEP] 37, Lettuce, 0.944, 0.988, 0.139, 0, 0, 0, 63 [SEP] 38, Plate, 1.148, 1.669, -0.593, 0, 270, 0, 71 [SEP] 39, Apple, -0.808, 0.830, -0.400, 0, 90, 0, 83 [SEP] 40, Pot, 0.842, 0.950, -1.098, 0, 0, 0, 56 [SEP] 41, Spatula, 0.754, 0.717, -0.565, 0, 180, 0, 60 [SEP] 42, PaperTowelRoll, 0.859, 1.015, -1.879, 0, 0, 0, 68 [SEP] 43, Tomato, 0.844, 0.903, 1.063, 0, 270, 0, 85 [SEP] 44, Egg, 1.028, 1.821, -1.236, 0, 270, 0, 84 [SEP] 45, SaltShaker, -1.571, 0.878, 2.746, 0, 0, 0, 89 [SEP] 46, PepperShaker, -1.041, 0.929, -0.643, 0, 0, 0, 62 [SEP] 47, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 88 [SEP] 48, ButterKnife, -1.325, 0.919, -0.884, 0, 10.678, 0, 62 [SEP] 49, SoapBottle, -1.229, 0.933, 0.144, 0, 0, 0, 62 [SEP] 50, Vase, -1.878, 0.882, 2.719, 0, 0, 0, 89 [SEP] 51, Bowl, 0.844, 1.405, 1.254, 0, 270, 0, 85 [SEP] 52, DishSponge, 0.688, 0.910, -1.965, 0, 0, 0, 68 [SEP] 53, Spoon, 1.114, 0.912, -1.879, 0, 90, 0, 68 [SEP] 54, Cup, 1.240, 1.663, -2.029, 0, 270, 0, 61 [SEP] 55, Mug, -1.985, 0.549, 2.822, 0, 0, 0, 88 [SEP] 56, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 57, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 58, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 59, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 60, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 61, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 62, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 63, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 64, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 65, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 66, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 67, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 68, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 69, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 70, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 71, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 72, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 73, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 74, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 75, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 76, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 77, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 78, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 79, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 80, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 81, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 82, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 83, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 84, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 85, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 86, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 87, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 88, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 89, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 90, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 91, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 92, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 93, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 94, NorthWall, , , , , , , [SEP] 95, EastWall, , , , , , , [SEP] 96, SouthWall, , , , , , , [SEP] 97, WestWall, , , , , , , ", "output": ["STEP 1: Go straight, turn right after passing the kitchen island, go straight to the fridge, turn right, go straight, turn right at the sink. | STEP 2: Take the apple on the right from the sink. | STEP 3: Turn around, go to the counter over the dishwasher. | STEP 4: Put the apple on the right of the statue and in front of the salt. | STEP 5: Stay at the counter. | STEP 6: Take the knife from the counter. | STEP 7: Stay at the counter. | STEP 8: Cut the apple into pieces. | STEP 9: Turn around, go to the sink. | STEP 10: Cut the apple in the sink into pieces. | STEP 11: Put the knife in the sink. | STEP 12: Take a piece of apple from the sink. | STEP 13: Turn around, go to the counter over the dishwasher. | STEP 14: Put the piece of apple to the left of the other cut apple. | END"]} +{"id": "trial_T20190907_061347_004735-1", "input": "Put four apple slices 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, -2.75, 0.900, -0.75, 0, 0, 0, [SEP] 1, Statue, -0.846, 0.936, -1.386, 0, 0, 0, 62 [SEP] 2, CreditCard, -1.881, 0.551, 2.874, 0, 0, 0, 88 [SEP] 3, CreditCard, 1.029, 0.908, -1.879, 0, 0, 0, 68 [SEP] 4, CellPhone, 0.874, 0.150, -0.690, 0, 270, 0, 65 [SEP] 5, DishSponge, -1.467, 0.553, 2.718, 0, 0, 0, 88 [SEP] 6, DishSponge, 0.811, 0.120, 0.374, 0, 270, 0, 57 [SEP] 7, ButterKnife, 0.773, 0.911, -0.208, 0, 180, 0, 63 [SEP] 8, Fork, 0.794, 0.495, -0.524, 0, 180, 0, 66 [SEP] 9, Spoon, 0.793, 0.154, -0.650, 0, 270, 0, 65 [SEP] 10, Knife, -0.550, 0.957, -0.143, 0, 0, 0, 62 [SEP] 11, Egg, -0.642, 0.818, -0.745, 0, 90, 0, 83 [SEP] 12, Egg, 0.688, 0.949, -2.136, 0, 0, 0, 68 [SEP] 13, Cup, 1.029, 0.908, -1.793, 0, 0, 0, 68 [SEP] 14, Cup, 0.844, 1.399, 0.967, 0, 270, 0, 85 [SEP] 15, Plate, 0.910, 0.111, -2.132, 0, 0, 0, 67 [SEP] 16, Tomato, 0.688, 0.952, -2.308, 0, 0, 0, 68 [SEP] 17, Tomato, 1.026, 1.683, 1.063, 0, 270, 0, 85 [SEP] 18, Bowl, 0.811, 0.111, -1.892, 0, 0, 0, 67 [SEP] 19, Bowl, 1.194, 1.669, -2.234, 0, 270, 0, 61 [SEP] 20, PepperShaker, -1.674, 0.878, 2.773, 0, 0, 0, 89 [SEP] 21, PepperShaker, 0.773, 0.907, -0.381, 0, 0, 0, 63 [SEP] 22, Lettuce, -0.550, 1.010, -1.231, 0, 0, 0, 62 [SEP] 23, Lettuce, 1.026, 1.720, 1.254, 0, 270, 0, 85 [SEP] 24, Bread, 0.966, 0.944, 1.349, 0, 270, 0, 85 [SEP] 25, Apple, -1.007, 0.227, 0.543, 0, 180, 0, 82 [SEP] 26, Apple, -0.753, 0.830, -0.659, 0, 90, 0, 83 [SEP] 27, Apple, 0.844, 1.185, 1.540, 0, 270, 0, 85 [SEP] 28, Statue, 0.773, 0.914, -0.555, 0, 180, 0, 63 [SEP] 29, Glassbottle, -1.778, 0.554, 2.822, 0, 0, 0, 88 [SEP] 30, Bread, 0.905, 1.482, 1.444, 0, 270, 0, 85 [SEP] 31, CreditCard, 0.688, 0.908, -1.793, 0, 0, 0, 68 [SEP] 32, CellPhone, 1.199, 0.908, -0.208, 0, 0, 0, 63 [SEP] 33, Potato, -1.007, 0.207, 0.641, 0, 180, 0, 82 [SEP] 34, Knife, -0.772, 0.957, -1.618, 0, 0, 0, 62 [SEP] 35, Fork, 0.875, 0.494, -0.607, 0, 0, 0, 66 [SEP] 36, Pan, 0.842, 0.950, -1.504, 0, 0, 0, 59 [SEP] 37, Lettuce, 0.944, 0.988, 0.139, 0, 0, 0, 63 [SEP] 38, Plate, 1.148, 1.669, -0.593, 0, 270, 0, 71 [SEP] 39, Apple, -0.808, 0.830, -0.400, 0, 90, 0, 83 [SEP] 40, Pot, 0.842, 0.950, -1.098, 0, 0, 0, 56 [SEP] 41, Spatula, 0.754, 0.717, -0.565, 0, 180, 0, 60 [SEP] 42, PaperTowelRoll, 0.859, 1.015, -1.879, 0, 0, 0, 68 [SEP] 43, Tomato, 0.844, 0.903, 1.063, 0, 270, 0, 85 [SEP] 44, Egg, 1.028, 1.821, -1.236, 0, 270, 0, 84 [SEP] 45, SaltShaker, -1.571, 0.878, 2.746, 0, 0, 0, 89 [SEP] 46, PepperShaker, -1.041, 0.929, -0.643, 0, 0, 0, 62 [SEP] 47, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 88 [SEP] 48, ButterKnife, -1.325, 0.919, -0.884, 0, 10.678, 0, 62 [SEP] 49, SoapBottle, -1.229, 0.933, 0.144, 0, 0, 0, 62 [SEP] 50, Vase, -1.878, 0.882, 2.719, 0, 0, 0, 89 [SEP] 51, Bowl, 0.844, 1.405, 1.254, 0, 270, 0, 85 [SEP] 52, DishSponge, 0.688, 0.910, -1.965, 0, 0, 0, 68 [SEP] 53, Spoon, 1.114, 0.912, -1.879, 0, 90, 0, 68 [SEP] 54, Cup, 1.240, 1.663, -2.029, 0, 270, 0, 61 [SEP] 55, Mug, -1.985, 0.549, 2.822, 0, 0, 0, 88 [SEP] 56, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 57, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 58, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 59, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 60, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 61, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 62, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 63, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 64, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 65, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 66, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 67, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 68, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 69, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 70, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 71, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 72, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 73, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 74, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 75, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 76, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 77, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 78, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 79, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 80, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 81, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 82, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 83, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 84, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 85, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 86, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 87, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 88, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 89, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 90, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 91, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 92, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 93, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 94, NorthWall, , , , , , , [SEP] 95, EastWall, , , , , , , [SEP] 96, SouthWall, , , , , , , [SEP] 97, WestWall, , , , , , , ", "output": ["STEP 1: Walk towards the fridge, then turn right and walk forward and turn right to face the counter. | STEP 2: Pick up the green up inside the sink on the right side. | STEP 3: Turn around to face the counter. | STEP 4: Put the apple down in front of the salt shaker. | STEP 5: Look down towards the edge of the counter. | STEP 6: Pick up the knife from the edge of the counter. | STEP 7: Move towards the apple with the knife. | STEP 8: Cut the apple on the counter with the knife. | STEP 9: Turn around and face the sink. | STEP 10: Cut the apple that is inside of the sink. | STEP 11: Place the knife into the sink. | STEP 12: Pick up an apple slice out of the sink. | STEP 13: Turn around to face the counter. | STEP 14: Place the apple slice the the left of the previously sliced apple. | END"]} +{"id": "trial_T20190907_061347_004735-2", "input": "Put a slice of lime 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, -2.75, 0.900, -0.75, 0, 0, 0, [SEP] 1, Statue, -0.846, 0.936, -1.386, 0, 0, 0, 62 [SEP] 2, CreditCard, -1.881, 0.551, 2.874, 0, 0, 0, 88 [SEP] 3, CreditCard, 1.029, 0.908, -1.879, 0, 0, 0, 68 [SEP] 4, CellPhone, 0.874, 0.150, -0.690, 0, 270, 0, 65 [SEP] 5, DishSponge, -1.467, 0.553, 2.718, 0, 0, 0, 88 [SEP] 6, DishSponge, 0.811, 0.120, 0.374, 0, 270, 0, 57 [SEP] 7, ButterKnife, 0.773, 0.911, -0.208, 0, 180, 0, 63 [SEP] 8, Fork, 0.794, 0.495, -0.524, 0, 180, 0, 66 [SEP] 9, Spoon, 0.793, 0.154, -0.650, 0, 270, 0, 65 [SEP] 10, Knife, -0.550, 0.957, -0.143, 0, 0, 0, 62 [SEP] 11, Egg, -0.642, 0.818, -0.745, 0, 90, 0, 83 [SEP] 12, Egg, 0.688, 0.949, -2.136, 0, 0, 0, 68 [SEP] 13, Cup, 1.029, 0.908, -1.793, 0, 0, 0, 68 [SEP] 14, Cup, 0.844, 1.399, 0.967, 0, 270, 0, 85 [SEP] 15, Plate, 0.910, 0.111, -2.132, 0, 0, 0, 67 [SEP] 16, Tomato, 0.688, 0.952, -2.308, 0, 0, 0, 68 [SEP] 17, Tomato, 1.026, 1.683, 1.063, 0, 270, 0, 85 [SEP] 18, Bowl, 0.811, 0.111, -1.892, 0, 0, 0, 67 [SEP] 19, Bowl, 1.194, 1.669, -2.234, 0, 270, 0, 61 [SEP] 20, PepperShaker, -1.674, 0.878, 2.773, 0, 0, 0, 89 [SEP] 21, PepperShaker, 0.773, 0.907, -0.381, 0, 0, 0, 63 [SEP] 22, Lettuce, -0.550, 1.010, -1.231, 0, 0, 0, 62 [SEP] 23, Lettuce, 1.026, 1.720, 1.254, 0, 270, 0, 85 [SEP] 24, Bread, 0.966, 0.944, 1.349, 0, 270, 0, 85 [SEP] 25, Apple, -1.007, 0.227, 0.543, 0, 180, 0, 82 [SEP] 26, Apple, -0.753, 0.830, -0.659, 0, 90, 0, 83 [SEP] 27, Apple, 0.844, 1.185, 1.540, 0, 270, 0, 85 [SEP] 28, Statue, 0.773, 0.914, -0.555, 0, 180, 0, 63 [SEP] 29, Glassbottle, -1.778, 0.554, 2.822, 0, 0, 0, 88 [SEP] 30, Bread, 0.905, 1.482, 1.444, 0, 270, 0, 85 [SEP] 31, CreditCard, 0.688, 0.908, -1.793, 0, 0, 0, 68 [SEP] 32, CellPhone, 1.199, 0.908, -0.208, 0, 0, 0, 63 [SEP] 33, Potato, -1.007, 0.207, 0.641, 0, 180, 0, 82 [SEP] 34, Knife, -0.772, 0.957, -1.618, 0, 0, 0, 62 [SEP] 35, Fork, 0.875, 0.494, -0.607, 0, 0, 0, 66 [SEP] 36, Pan, 0.842, 0.950, -1.504, 0, 0, 0, 59 [SEP] 37, Lettuce, 0.944, 0.988, 0.139, 0, 0, 0, 63 [SEP] 38, Plate, 1.148, 1.669, -0.593, 0, 270, 0, 71 [SEP] 39, Apple, -0.808, 0.830, -0.400, 0, 90, 0, 83 [SEP] 40, Pot, 0.842, 0.950, -1.098, 0, 0, 0, 56 [SEP] 41, Spatula, 0.754, 0.717, -0.565, 0, 180, 0, 60 [SEP] 42, PaperTowelRoll, 0.859, 1.015, -1.879, 0, 0, 0, 68 [SEP] 43, Tomato, 0.844, 0.903, 1.063, 0, 270, 0, 85 [SEP] 44, Egg, 1.028, 1.821, -1.236, 0, 270, 0, 84 [SEP] 45, SaltShaker, -1.571, 0.878, 2.746, 0, 0, 0, 89 [SEP] 46, PepperShaker, -1.041, 0.929, -0.643, 0, 0, 0, 62 [SEP] 47, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 88 [SEP] 48, ButterKnife, -1.325, 0.919, -0.884, 0, 10.678, 0, 62 [SEP] 49, SoapBottle, -1.229, 0.933, 0.144, 0, 0, 0, 62 [SEP] 50, Vase, -1.878, 0.882, 2.719, 0, 0, 0, 89 [SEP] 51, Bowl, 0.844, 1.405, 1.254, 0, 270, 0, 85 [SEP] 52, DishSponge, 0.688, 0.910, -1.965, 0, 0, 0, 68 [SEP] 53, Spoon, 1.114, 0.912, -1.879, 0, 90, 0, 68 [SEP] 54, Cup, 1.240, 1.663, -2.029, 0, 270, 0, 61 [SEP] 55, Mug, -1.985, 0.549, 2.822, 0, 0, 0, 88 [SEP] 56, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 57, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 58, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 59, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 60, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 61, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 62, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 63, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 64, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 65, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 66, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 67, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 68, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 69, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 70, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 71, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 72, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 73, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 74, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 75, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 76, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 77, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 78, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 79, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 80, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 81, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 82, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 83, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 84, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 85, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 86, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 87, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 88, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 89, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 90, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 91, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 92, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 93, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 94, NorthWall, , , , , , , [SEP] 95, EastWall, , , , , , , [SEP] 96, SouthWall, , , , , , , [SEP] 97, WestWall, , , , , , , ", "output": ["STEP 1: Begin walking across the room, then hang a right and walk around the island to the sink. | STEP 2: Pick up the green apple in the right side of the sink basin. | STEP 3: Turn around and walk over to the section of counter above the dish washer. | STEP 4: Put the apple on the counter to the left of the golden statue. | STEP 5: Look down at the butter knife on the counter. | STEP 6: Pick up the butter knife off of the counter in front of you. | STEP 7: Look up at the green apple on the counter. | STEP 8: Cut the apple that is to the left of the statue into three pieces with the butter knife. | STEP 9: Turn right and walk over to the sink. | STEP 10: Use the butter knife to slice the lime in the sink into three pieces. | STEP 11: Put the butter knife into the sink below the potato. | STEP 12: Pick up middle lime slice out of the sink. | STEP 13: Turn right and walk to the section of counter above the dish washer. | STEP 14: Put the slice of lime onto the counter to the left of the sliced apple. | END"]} +{"id": "trial_T20190907_061347_004735-3", "input": "Cut and apple on the counter as well as cut up an apple in the sink plus placing a slice of it with the other apple. 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, -0.75, 0, 0, 0, [SEP] 1, Statue, -0.846, 0.936, -1.386, 0, 0, 0, 62 [SEP] 2, CreditCard, -1.881, 0.551, 2.874, 0, 0, 0, 88 [SEP] 3, CreditCard, 1.029, 0.908, -1.879, 0, 0, 0, 68 [SEP] 4, CellPhone, 0.874, 0.150, -0.690, 0, 270, 0, 65 [SEP] 5, DishSponge, -1.467, 0.553, 2.718, 0, 0, 0, 88 [SEP] 6, DishSponge, 0.811, 0.120, 0.374, 0, 270, 0, 57 [SEP] 7, ButterKnife, 0.773, 0.911, -0.208, 0, 180, 0, 63 [SEP] 8, Fork, 0.794, 0.495, -0.524, 0, 180, 0, 66 [SEP] 9, Spoon, 0.793, 0.154, -0.650, 0, 270, 0, 65 [SEP] 10, Knife, -0.550, 0.957, -0.143, 0, 0, 0, 62 [SEP] 11, Egg, -0.642, 0.818, -0.745, 0, 90, 0, 83 [SEP] 12, Egg, 0.688, 0.949, -2.136, 0, 0, 0, 68 [SEP] 13, Cup, 1.029, 0.908, -1.793, 0, 0, 0, 68 [SEP] 14, Cup, 0.844, 1.399, 0.967, 0, 270, 0, 85 [SEP] 15, Plate, 0.910, 0.111, -2.132, 0, 0, 0, 67 [SEP] 16, Tomato, 0.688, 0.952, -2.308, 0, 0, 0, 68 [SEP] 17, Tomato, 1.026, 1.683, 1.063, 0, 270, 0, 85 [SEP] 18, Bowl, 0.811, 0.111, -1.892, 0, 0, 0, 67 [SEP] 19, Bowl, 1.194, 1.669, -2.234, 0, 270, 0, 61 [SEP] 20, PepperShaker, -1.674, 0.878, 2.773, 0, 0, 0, 89 [SEP] 21, PepperShaker, 0.773, 0.907, -0.381, 0, 0, 0, 63 [SEP] 22, Lettuce, -0.550, 1.010, -1.231, 0, 0, 0, 62 [SEP] 23, Lettuce, 1.026, 1.720, 1.254, 0, 270, 0, 85 [SEP] 24, Bread, 0.966, 0.944, 1.349, 0, 270, 0, 85 [SEP] 25, Apple, -1.007, 0.227, 0.543, 0, 180, 0, 82 [SEP] 26, Apple, -0.753, 0.830, -0.659, 0, 90, 0, 83 [SEP] 27, Apple, 0.844, 1.185, 1.540, 0, 270, 0, 85 [SEP] 28, Statue, 0.773, 0.914, -0.555, 0, 180, 0, 63 [SEP] 29, Glassbottle, -1.778, 0.554, 2.822, 0, 0, 0, 88 [SEP] 30, Bread, 0.905, 1.482, 1.444, 0, 270, 0, 85 [SEP] 31, CreditCard, 0.688, 0.908, -1.793, 0, 0, 0, 68 [SEP] 32, CellPhone, 1.199, 0.908, -0.208, 0, 0, 0, 63 [SEP] 33, Potato, -1.007, 0.207, 0.641, 0, 180, 0, 82 [SEP] 34, Knife, -0.772, 0.957, -1.618, 0, 0, 0, 62 [SEP] 35, Fork, 0.875, 0.494, -0.607, 0, 0, 0, 66 [SEP] 36, Pan, 0.842, 0.950, -1.504, 0, 0, 0, 59 [SEP] 37, Lettuce, 0.944, 0.988, 0.139, 0, 0, 0, 63 [SEP] 38, Plate, 1.148, 1.669, -0.593, 0, 270, 0, 71 [SEP] 39, Apple, -0.808, 0.830, -0.400, 0, 90, 0, 83 [SEP] 40, Pot, 0.842, 0.950, -1.098, 0, 0, 0, 56 [SEP] 41, Spatula, 0.754, 0.717, -0.565, 0, 180, 0, 60 [SEP] 42, PaperTowelRoll, 0.859, 1.015, -1.879, 0, 0, 0, 68 [SEP] 43, Tomato, 0.844, 0.903, 1.063, 0, 270, 0, 85 [SEP] 44, Egg, 1.028, 1.821, -1.236, 0, 270, 0, 84 [SEP] 45, SaltShaker, -1.571, 0.878, 2.746, 0, 0, 0, 89 [SEP] 46, PepperShaker, -1.041, 0.929, -0.643, 0, 0, 0, 62 [SEP] 47, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 88 [SEP] 48, ButterKnife, -1.325, 0.919, -0.884, 0, 10.678, 0, 62 [SEP] 49, SoapBottle, -1.229, 0.933, 0.144, 0, 0, 0, 62 [SEP] 50, Vase, -1.878, 0.882, 2.719, 0, 0, 0, 89 [SEP] 51, Bowl, 0.844, 1.405, 1.254, 0, 270, 0, 85 [SEP] 52, DishSponge, 0.688, 0.910, -1.965, 0, 0, 0, 68 [SEP] 53, Spoon, 1.114, 0.912, -1.879, 0, 90, 0, 68 [SEP] 54, Cup, 1.240, 1.663, -2.029, 0, 270, 0, 61 [SEP] 55, Mug, -1.985, 0.549, 2.822, 0, 0, 0, 88 [SEP] 56, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 57, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 58, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 59, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 60, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 61, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 62, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 63, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 64, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 65, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 66, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 67, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 68, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 69, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 70, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 71, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 72, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 73, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 74, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 75, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 76, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 77, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 78, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 79, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 80, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 81, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 82, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 83, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 84, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 85, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 86, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 87, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 88, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 89, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 90, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 91, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 92, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 93, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 94, NorthWall, , , , , , , [SEP] 95, EastWall, , , , , , , [SEP] 96, SouthWall, , , , , , , [SEP] 97, WestWall, , , , , , , ", "output": ["STEP 1: Walk around the room the face the sink. | STEP 2: take an apple from the sink. | STEP 3: Turn around to face the counter. | STEP 4: Place the apple on the counter. | STEP 5: Turn to face the knife on the sink. | STEP 6: Pick up the knife on the counter. | STEP 7: Turn to face the apple on the counter. | STEP 8: Cut the apple into 3 slices. | STEP 9: Turn around to face the sink. | STEP 10: Cut the apple in the sink into 3 slices. | STEP 11: Put the knife in the sink. | STEP 12: Pick up a piece of apple from in the sink. | STEP 13: Turn around to face the counter. | STEP 14: place the piece of apple to the left of the other apple. | END"]} +{"id": "trial_T20190910_122059_929600-0", "input": "To heat a piece of apple and place it 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, -3.75, 0.900, -2.0, 0, 180, 0, [SEP] 1, Vase, -1.881, 0.555, 2.822, 0, 0, 0, 80 [SEP] 2, CellPhone, 0.688, 0.908, -2.051, 0, 0, 0, 60 [SEP] 3, DishSponge, -1.367, 0.881, 2.692, 0, 0, 0, 80 [SEP] 4, DishSponge, -0.960, 0.178, 0.608, 0, 180, 0, 74 [SEP] 5, ButterKnife, 0.773, 0.911, 0.313, 0, 0, 0, 55 [SEP] 6, Glassbottle, 1.114, 0.912, -1.793, 0, 0, 0, 60 [SEP] 7, Spoon, 0.794, 0.495, -0.648, 0, 90, 0, 58 [SEP] 8, Egg, -1.229, 0.971, -0.118, 0, 0, 0, 54 [SEP] 9, Cup, 1.087, 0.860, 1.254, 0, 270, 0, 77 [SEP] 10, Cup, 1.060, 1.792, -1.339, 0, 270, 0, 76 [SEP] 11, SaltShaker, -1.981, 0.878, 2.746, 0, 0, 0, 81 [SEP] 12, PepperShaker, -1.571, 0.878, 2.746, 0, 0, 0, 81 [SEP] 13, PepperShaker, 0.833, 0.150, -0.729, 0, 270, 0, 57 [SEP] 14, Lettuce, 0.905, 0.940, 1.063, 0, 270, 0, 77 [SEP] 15, Bread, 0.905, 1.216, 1.349, 0, 270, 0, 77 [SEP] 16, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 73 [SEP] 17, Mug, 1.199, 0.906, 0.313, 0, 180, 0, 55 [SEP] 18, Apple, 0.773, 0.961, -0.729, 0, 0, 0, 55 [SEP] 19, Apple, -0.642, 0.830, -0.573, 0, 90, 0, 75 [SEP] 20, Statue, -1.104, 0.936, -0.905, 0, 0, 0, 54 [SEP] 21, Glassbottle, -1.041, 0.934, -1.430, 0, 0, 0, 54 [SEP] 22, Bread, -1.355, 1.014, -0.118, 0, 0, 0, 54 [SEP] 23, CreditCard, 1.199, 0.908, -0.208, 0, 0, 0, 55 [SEP] 24, CellPhone, 0.944, 0.908, -0.208, 0, 0, 0, 55 [SEP] 25, Potato, -0.865, 0.207, 0.575, 0, 180, 0, 74 [SEP] 26, Knife, 0.688, 0.934, 0.139, 0, 270, 0, 55 [SEP] 27, Fork, 1.029, 0.911, -0.034, 0, 90, 0, 55 [SEP] 28, Pan, 0.842, 0.950, -1.098, 0, 0, 0, 48 [SEP] 29, Lettuce, 0.773, 0.988, -0.381, 0, 0, 0, 55 [SEP] 30, Plate, 1.026, 1.405, 1.254, 0, 270, 0, 77 [SEP] 31, Apple, -0.808, 0.830, -0.400, 0, 90, 0, 75 [SEP] 32, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 50 [SEP] 33, Spatula, 0.754, 0.717, -0.524, 0, 180, 0, 52 [SEP] 34, PaperTowelRoll, 1.199, 1.015, -1.793, 0, 180, 0, 60 [SEP] 35, Tomato, -0.624, 0.974, 0.086, 0, 0, 0, 54 [SEP] 36, Egg, -0.642, 0.818, -0.918, 0, 90, 0, 75 [SEP] 37, SaltShaker, 0.915, 0.491, -0.731, 0, 270, 0, 58 [SEP] 38, PepperShaker, 0.834, 0.491, -0.690, 0, 270, 0, 58 [SEP] 39, Vase, 1.055, 1.666, -2.097, 0, 270, 0, 53 [SEP] 40, ButterKnife, -0.846, 0.933, -1.463, 0, 0, 0, 54 [SEP] 41, SoapBottle, 1.101, 1.666, 0.280, 0, 270, 0, 62 [SEP] 42, Vase, -1.104, 0.934, 0.144, 0, 0, 0, 54 [SEP] 43, Bowl, -0.772, 0.936, -1.231, 0, 0, 0, 54 [SEP] 44, DishSponge, 1.114, 0.910, -0.034, 0, 0, 0, 55 [SEP] 45, Spoon, -0.697, 0.777, -0.832, 0, 90, 0, 75 [SEP] 46, Cup, 0.944, 0.908, -0.381, 0, 0, 0, 55 [SEP] 47, Mug, 0.773, 0.906, -1.879, 0, 0, 0, 60 [SEP] 48, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 49, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 50, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 51, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 52, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 53, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 54, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 55, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 56, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 57, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 58, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 59, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 60, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 61, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 62, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 63, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 64, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 65, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 66, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 67, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 68, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 69, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 70, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 71, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 72, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 73, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 74, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 75, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 76, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 77, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 78, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 79, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 80, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 81, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 82, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 83, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 84, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 85, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 86, NorthWall, , , , , , , [SEP] 87, EastWall, , , , , , , [SEP] 88, SouthWall, , , , , , , [SEP] 89, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and walk across the room, then turn left and walk to the end of the counter and turn right to face the end of the counter. | STEP 2: Pick up the knife on the counter. | STEP 3: Take a step to the right to face the counter. | STEP 4: Cut the apple on the counter into three pieces. | STEP 5: Turn around and step forward to face the sink. | STEP 6: Place the knife in the sink. | STEP 7: Turn around and step forward to face the apple on the counter. | STEP 8: Pick up a piece of apple on the counter. | STEP 9: Take a step to the right and look up to face the microwave. | STEP 10: Head the piece of apple in the microwave and then remove it. | STEP 11: Take a step to the right to face the counter to the right of the stove. | STEP 12: Place the piece of apple on the counter. | END"]} +{"id": "trial_T20190910_122059_929600-1", "input": "Put cooked 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, -3.75, 0.900, -2.0, 0, 180, 0, [SEP] 1, Vase, -1.881, 0.555, 2.822, 0, 0, 0, 80 [SEP] 2, CellPhone, 0.688, 0.908, -2.051, 0, 0, 0, 60 [SEP] 3, DishSponge, -1.367, 0.881, 2.692, 0, 0, 0, 80 [SEP] 4, DishSponge, -0.960, 0.178, 0.608, 0, 180, 0, 74 [SEP] 5, ButterKnife, 0.773, 0.911, 0.313, 0, 0, 0, 55 [SEP] 6, Glassbottle, 1.114, 0.912, -1.793, 0, 0, 0, 60 [SEP] 7, Spoon, 0.794, 0.495, -0.648, 0, 90, 0, 58 [SEP] 8, Egg, -1.229, 0.971, -0.118, 0, 0, 0, 54 [SEP] 9, Cup, 1.087, 0.860, 1.254, 0, 270, 0, 77 [SEP] 10, Cup, 1.060, 1.792, -1.339, 0, 270, 0, 76 [SEP] 11, SaltShaker, -1.981, 0.878, 2.746, 0, 0, 0, 81 [SEP] 12, PepperShaker, -1.571, 0.878, 2.746, 0, 0, 0, 81 [SEP] 13, PepperShaker, 0.833, 0.150, -0.729, 0, 270, 0, 57 [SEP] 14, Lettuce, 0.905, 0.940, 1.063, 0, 270, 0, 77 [SEP] 15, Bread, 0.905, 1.216, 1.349, 0, 270, 0, 77 [SEP] 16, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 73 [SEP] 17, Mug, 1.199, 0.906, 0.313, 0, 180, 0, 55 [SEP] 18, Apple, 0.773, 0.961, -0.729, 0, 0, 0, 55 [SEP] 19, Apple, -0.642, 0.830, -0.573, 0, 90, 0, 75 [SEP] 20, Statue, -1.104, 0.936, -0.905, 0, 0, 0, 54 [SEP] 21, Glassbottle, -1.041, 0.934, -1.430, 0, 0, 0, 54 [SEP] 22, Bread, -1.355, 1.014, -0.118, 0, 0, 0, 54 [SEP] 23, CreditCard, 1.199, 0.908, -0.208, 0, 0, 0, 55 [SEP] 24, CellPhone, 0.944, 0.908, -0.208, 0, 0, 0, 55 [SEP] 25, Potato, -0.865, 0.207, 0.575, 0, 180, 0, 74 [SEP] 26, Knife, 0.688, 0.934, 0.139, 0, 270, 0, 55 [SEP] 27, Fork, 1.029, 0.911, -0.034, 0, 90, 0, 55 [SEP] 28, Pan, 0.842, 0.950, -1.098, 0, 0, 0, 48 [SEP] 29, Lettuce, 0.773, 0.988, -0.381, 0, 0, 0, 55 [SEP] 30, Plate, 1.026, 1.405, 1.254, 0, 270, 0, 77 [SEP] 31, Apple, -0.808, 0.830, -0.400, 0, 90, 0, 75 [SEP] 32, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 50 [SEP] 33, Spatula, 0.754, 0.717, -0.524, 0, 180, 0, 52 [SEP] 34, PaperTowelRoll, 1.199, 1.015, -1.793, 0, 180, 0, 60 [SEP] 35, Tomato, -0.624, 0.974, 0.086, 0, 0, 0, 54 [SEP] 36, Egg, -0.642, 0.818, -0.918, 0, 90, 0, 75 [SEP] 37, SaltShaker, 0.915, 0.491, -0.731, 0, 270, 0, 58 [SEP] 38, PepperShaker, 0.834, 0.491, -0.690, 0, 270, 0, 58 [SEP] 39, Vase, 1.055, 1.666, -2.097, 0, 270, 0, 53 [SEP] 40, ButterKnife, -0.846, 0.933, -1.463, 0, 0, 0, 54 [SEP] 41, SoapBottle, 1.101, 1.666, 0.280, 0, 270, 0, 62 [SEP] 42, Vase, -1.104, 0.934, 0.144, 0, 0, 0, 54 [SEP] 43, Bowl, -0.772, 0.936, -1.231, 0, 0, 0, 54 [SEP] 44, DishSponge, 1.114, 0.910, -0.034, 0, 0, 0, 55 [SEP] 45, Spoon, -0.697, 0.777, -0.832, 0, 90, 0, 75 [SEP] 46, Cup, 0.944, 0.908, -0.381, 0, 0, 0, 55 [SEP] 47, Mug, 0.773, 0.906, -1.879, 0, 0, 0, 60 [SEP] 48, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 49, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 50, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 51, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 52, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 53, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 54, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 55, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 56, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 57, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 58, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 59, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 60, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 61, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 62, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 63, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 64, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 65, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 66, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 67, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 68, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 69, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 70, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 71, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 72, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 73, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 74, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 75, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 76, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 77, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 78, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 79, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 80, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 81, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 82, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 83, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 84, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 85, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 86, NorthWall, , , , , , , [SEP] 87, EastWall, , , , , , , [SEP] 88, SouthWall, , , , , , , [SEP] 89, WestWall, , , , , , , ", "output": ["STEP 1: Turn left, go past the counter, turn left walk to the toaster, turn to face the counter. | STEP 2: Pick up yellow-handled knife from the counter. | STEP 3: Walk to the right toward the stove, turn to face the counter with apple on it., | STEP 4: Cut apple on the counter in thirds. | STEP 5: Turn completely around to face the sink. | STEP 6: Put the knife in the sink. | STEP 7: Turn around to face the counter. | STEP 8: Pick up one of the pieces of the apple. | STEP 9: Move a little to your right to face the stove and microwave. | STEP 10: Put the apple in the microwave, heat it, and take it out of the microwave. | STEP 11: Move a little to your right to counter with coffeemaker on it. | STEP 12: Put the apple to the left of the left-hand coffee mug on the counter. | END"]} +{"id": "trial_T20190910_122059_929600-2", "input": "cook an apple 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, -3.75, 0.900, -2.0, 0, 180, 0, [SEP] 1, Vase, -1.881, 0.555, 2.822, 0, 0, 0, 80 [SEP] 2, CellPhone, 0.688, 0.908, -2.051, 0, 0, 0, 60 [SEP] 3, DishSponge, -1.367, 0.881, 2.692, 0, 0, 0, 80 [SEP] 4, DishSponge, -0.960, 0.178, 0.608, 0, 180, 0, 74 [SEP] 5, ButterKnife, 0.773, 0.911, 0.313, 0, 0, 0, 55 [SEP] 6, Glassbottle, 1.114, 0.912, -1.793, 0, 0, 0, 60 [SEP] 7, Spoon, 0.794, 0.495, -0.648, 0, 90, 0, 58 [SEP] 8, Egg, -1.229, 0.971, -0.118, 0, 0, 0, 54 [SEP] 9, Cup, 1.087, 0.860, 1.254, 0, 270, 0, 77 [SEP] 10, Cup, 1.060, 1.792, -1.339, 0, 270, 0, 76 [SEP] 11, SaltShaker, -1.981, 0.878, 2.746, 0, 0, 0, 81 [SEP] 12, PepperShaker, -1.571, 0.878, 2.746, 0, 0, 0, 81 [SEP] 13, PepperShaker, 0.833, 0.150, -0.729, 0, 270, 0, 57 [SEP] 14, Lettuce, 0.905, 0.940, 1.063, 0, 270, 0, 77 [SEP] 15, Bread, 0.905, 1.216, 1.349, 0, 270, 0, 77 [SEP] 16, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 73 [SEP] 17, Mug, 1.199, 0.906, 0.313, 0, 180, 0, 55 [SEP] 18, Apple, 0.773, 0.961, -0.729, 0, 0, 0, 55 [SEP] 19, Apple, -0.642, 0.830, -0.573, 0, 90, 0, 75 [SEP] 20, Statue, -1.104, 0.936, -0.905, 0, 0, 0, 54 [SEP] 21, Glassbottle, -1.041, 0.934, -1.430, 0, 0, 0, 54 [SEP] 22, Bread, -1.355, 1.014, -0.118, 0, 0, 0, 54 [SEP] 23, CreditCard, 1.199, 0.908, -0.208, 0, 0, 0, 55 [SEP] 24, CellPhone, 0.944, 0.908, -0.208, 0, 0, 0, 55 [SEP] 25, Potato, -0.865, 0.207, 0.575, 0, 180, 0, 74 [SEP] 26, Knife, 0.688, 0.934, 0.139, 0, 270, 0, 55 [SEP] 27, Fork, 1.029, 0.911, -0.034, 0, 90, 0, 55 [SEP] 28, Pan, 0.842, 0.950, -1.098, 0, 0, 0, 48 [SEP] 29, Lettuce, 0.773, 0.988, -0.381, 0, 0, 0, 55 [SEP] 30, Plate, 1.026, 1.405, 1.254, 0, 270, 0, 77 [SEP] 31, Apple, -0.808, 0.830, -0.400, 0, 90, 0, 75 [SEP] 32, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 50 [SEP] 33, Spatula, 0.754, 0.717, -0.524, 0, 180, 0, 52 [SEP] 34, PaperTowelRoll, 1.199, 1.015, -1.793, 0, 180, 0, 60 [SEP] 35, Tomato, -0.624, 0.974, 0.086, 0, 0, 0, 54 [SEP] 36, Egg, -0.642, 0.818, -0.918, 0, 90, 0, 75 [SEP] 37, SaltShaker, 0.915, 0.491, -0.731, 0, 270, 0, 58 [SEP] 38, PepperShaker, 0.834, 0.491, -0.690, 0, 270, 0, 58 [SEP] 39, Vase, 1.055, 1.666, -2.097, 0, 270, 0, 53 [SEP] 40, ButterKnife, -0.846, 0.933, -1.463, 0, 0, 0, 54 [SEP] 41, SoapBottle, 1.101, 1.666, 0.280, 0, 270, 0, 62 [SEP] 42, Vase, -1.104, 0.934, 0.144, 0, 0, 0, 54 [SEP] 43, Bowl, -0.772, 0.936, -1.231, 0, 0, 0, 54 [SEP] 44, DishSponge, 1.114, 0.910, -0.034, 0, 0, 0, 55 [SEP] 45, Spoon, -0.697, 0.777, -0.832, 0, 90, 0, 75 [SEP] 46, Cup, 0.944, 0.908, -0.381, 0, 0, 0, 55 [SEP] 47, Mug, 0.773, 0.906, -1.879, 0, 0, 0, 60 [SEP] 48, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 49, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 50, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 51, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 52, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 53, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 54, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 55, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 56, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 57, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 58, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 59, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 60, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 61, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 62, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 63, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 64, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 65, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 66, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 67, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 68, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 69, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 70, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 71, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 72, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 73, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 74, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 75, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 76, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 77, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 78, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 79, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 80, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 81, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 82, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 83, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 84, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 85, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 86, NorthWall, , , , , , , [SEP] 87, EastWall, , , , , , , [SEP] 88, SouthWall, , , , , , , [SEP] 89, WestWall, , , , , , , ", "output": ["STEP 1: turn left, walk across room to counter, turn left, walk forward, turn right to face counter | STEP 2: pick up the knife that is on the counter | STEP 3: turn right, take a few steps, turn left to face counter to the left of the stove | STEP 4: slice the apple that is on the counter | STEP 5: turn around to face the sink | STEP 6: put the knife in the sink | STEP 7: turn around to face the counter | STEP 8: pick up the apple slice that is on the counter | STEP 9: take two steps to the right to face stove | STEP 10: put apple slice in the microwave, turn it on, take apple slice out when it turns off | STEP 11: take a few steps to the right to face the coffee maker | STEP 12: put the apple slice on the counter | END"]} +{"id": "trial_T20190908_213533_897289-0", "input": "Put a clean yellow plate 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, -3.75, 0.900, 0.5, 0, 270, 0, [SEP] 1, Statue, -0.846, 0.936, -0.067, 0, 0, 0, 61 [SEP] 2, Vase, 1.147, 1.667, 0.025, 0, 270, 0, 69 [SEP] 3, CreditCard, 0.914, 0.150, -0.611, 0, 270, 0, 64 [SEP] 4, CreditCard, -1.363, 0.551, 2.563, 0, 0, 0, 87 [SEP] 5, Spoon, -0.846, 0.934, -1.618, 0, 0, 0, 61 [SEP] 6, Spoon, -0.624, 0.934, 0.239, 0, 180, 0, 61 [SEP] 7, Spatula, -1.229, 0.948, -1.167, 0, 0, 0, 61 [SEP] 8, Spatula, -0.698, 0.948, -1.154, 0, 0, 0, 61 [SEP] 9, Egg, 1.060, 1.821, -1.236, 0, 270, 0, 83 [SEP] 10, Egg, -1.104, 0.971, -1.167, 0, 0, 0, 61 [SEP] 11, Cup, 0.844, 0.860, 1.444, 0, 270, 0, 84 [SEP] 12, Plate, 1.148, 1.669, -0.337, 0, 270, 0, 70 [SEP] 13, Plate, 0.966, 1.405, 1.063, 0, 270, 0, 84 [SEP] 14, Plate, -1.104, 0.936, -0.118, 0, 0, 0, 61 [SEP] 15, Tomato, -0.698, 0.974, 0.162, 0, 0, 0, 61 [SEP] 16, Tomato, 0.844, 1.175, 0.967, 0, 270, 0, 84 [SEP] 17, SoapBottle, 0.760, 0.121, 0.374, 0, 270, 0, 56 [SEP] 18, SoapBottle, -0.912, 0.179, 0.576, 0, 180, 0, 81 [SEP] 19, Bowl, 0.811, 0.111, -2.052, 0, 0, 0, 66 [SEP] 20, Bowl, -1.571, 0.885, 2.719, 0, 0, 0, 88 [SEP] 21, SaltShaker, 0.956, 0.490, -0.565, 0, 270, 0, 65 [SEP] 22, SaltShaker, 0.754, 0.698, -0.524, 0, 270, 0, 59 [SEP] 23, Lettuce, 1.026, 0.940, 1.444, 0, 270, 0, 84 [SEP] 24, Bread, -1.167, 1.014, 0.144, 0, 0, 0, 61 [SEP] 25, Mug, 1.194, 1.661, -1.893, 0, 270, 0, 60 [SEP] 26, Apple, 1.126, 1.845, -1.132, 0, 270, 0, 83 [SEP] 27, Statue, -1.292, 0.936, -0.905, 0, 0, 0, 61 [SEP] 28, Glassbottle, -1.054, 0.177, 0.608, 0, 180, 0, 81 [SEP] 29, Bread, 0.905, 1.216, 1.349, 0, 270, 0, 84 [SEP] 30, CreditCard, -1.570, 0.551, 2.615, 0, 0, 0, 87 [SEP] 31, CellPhone, -1.570, 0.550, 2.770, 0, 0, 0, 87 [SEP] 32, Potato, -1.054, 0.209, 0.510, 0, 180, 0, 81 [SEP] 33, Knife, 0.868, 0.700, -0.600, 90, 315, 0, 59 [SEP] 34, Fork, 0.793, 0.154, -0.769, 0, 180, 0, 64 [SEP] 35, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 55 [SEP] 36, Lettuce, 0.905, 0.940, 1.158, 0, 270, 0, 84 [SEP] 37, Plate, -0.624, 0.936, -1.308, 0, 0, 0, 61 [SEP] 38, Apple, -0.477, 0.983, 0.086, 0, 0, 0, 61 [SEP] 39, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 57 [SEP] 40, Spatula, 0.915, 0.510, -0.690, 0, 0, 0, 65 [SEP] 41, PaperTowelRoll, -0.698, 1.037, -1.618, 0, 0, 0, 61 [SEP] 42, Tomato, 0.844, 1.442, 1.254, 0, 270, 0, 84 [SEP] 43, Egg, 0.844, 1.680, 0.967, 0, 270, 0, 84 [SEP] 44, SaltShaker, 0.754, 0.491, -0.772, 0, 270, 0, 65 [SEP] 45, PepperShaker, 0.794, 0.491, -0.565, 0, 270, 0, 65 [SEP] 46, Vase, 1.148, 1.666, -0.529, 0, 270, 0, 70 [SEP] 47, ButterKnife, -1.292, 0.933, -0.380, 0, 0, 0, 61 [SEP] 48, SoapBottle, 1.194, 1.666, -2.097, 0, 270, 0, 60 [SEP] 49, Vase, -1.363, 0.555, 2.718, 0, 0, 0, 87 [SEP] 50, Bowl, 1.082, 2.211, -1.517, 0, 270, 0, 68 [SEP] 51, DishSponge, -1.778, 0.553, 2.667, 0, 0, 0, 87 [SEP] 52, Spoon, -0.550, 0.934, -0.143, 0, 0, 0, 61 [SEP] 53, Cup, 1.087, 1.132, 0.967, 0, 270, 0, 84 [SEP] 54, Mug, 1.101, 1.661, 0.216, 0, 270, 0, 69 [SEP] 55, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 56, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 57, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 58, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 59, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 60, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 61, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 62, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 63, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 64, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 65, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 66, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 67, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 68, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 69, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 70, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 71, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 72, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 73, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 74, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 75, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 76, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 77, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 78, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 79, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 80, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 81, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 82, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 83, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 84, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 85, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 86, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 87, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 88, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 89, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 90, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 91, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 92, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 93, NorthWall, , , , , , , [SEP] 94, EastWall, , , , , , , [SEP] 95, SouthWall, , , , , , , [SEP] 96, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and walk towards the door, then turn right and walk over to the fridge, turn right again and walk up to the kitchen island | STEP 2: Pick up the rightmost dirty yellow plate off of the kitchen island. | STEP 3: Turn left and walk over to the sink. | STEP 4: Wash the dirty yellow plate clean in the sink then pick it back up. | STEP 5: Turn right and walk forward, then turn right to face the counter. | STEP 6: Put the clean yellow plate on the counter. | END"]} +{"id": "trial_T20190908_213533_897289-1", "input": "Wash a plate and 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, -3.75, 0.900, 0.5, 0, 270, 0, [SEP] 1, Statue, -0.846, 0.936, -0.067, 0, 0, 0, 61 [SEP] 2, Vase, 1.147, 1.667, 0.025, 0, 270, 0, 69 [SEP] 3, CreditCard, 0.914, 0.150, -0.611, 0, 270, 0, 64 [SEP] 4, CreditCard, -1.363, 0.551, 2.563, 0, 0, 0, 87 [SEP] 5, Spoon, -0.846, 0.934, -1.618, 0, 0, 0, 61 [SEP] 6, Spoon, -0.624, 0.934, 0.239, 0, 180, 0, 61 [SEP] 7, Spatula, -1.229, 0.948, -1.167, 0, 0, 0, 61 [SEP] 8, Spatula, -0.698, 0.948, -1.154, 0, 0, 0, 61 [SEP] 9, Egg, 1.060, 1.821, -1.236, 0, 270, 0, 83 [SEP] 10, Egg, -1.104, 0.971, -1.167, 0, 0, 0, 61 [SEP] 11, Cup, 0.844, 0.860, 1.444, 0, 270, 0, 84 [SEP] 12, Plate, 1.148, 1.669, -0.337, 0, 270, 0, 70 [SEP] 13, Plate, 0.966, 1.405, 1.063, 0, 270, 0, 84 [SEP] 14, Plate, -1.104, 0.936, -0.118, 0, 0, 0, 61 [SEP] 15, Tomato, -0.698, 0.974, 0.162, 0, 0, 0, 61 [SEP] 16, Tomato, 0.844, 1.175, 0.967, 0, 270, 0, 84 [SEP] 17, SoapBottle, 0.760, 0.121, 0.374, 0, 270, 0, 56 [SEP] 18, SoapBottle, -0.912, 0.179, 0.576, 0, 180, 0, 81 [SEP] 19, Bowl, 0.811, 0.111, -2.052, 0, 0, 0, 66 [SEP] 20, Bowl, -1.571, 0.885, 2.719, 0, 0, 0, 88 [SEP] 21, SaltShaker, 0.956, 0.490, -0.565, 0, 270, 0, 65 [SEP] 22, SaltShaker, 0.754, 0.698, -0.524, 0, 270, 0, 59 [SEP] 23, Lettuce, 1.026, 0.940, 1.444, 0, 270, 0, 84 [SEP] 24, Bread, -1.167, 1.014, 0.144, 0, 0, 0, 61 [SEP] 25, Mug, 1.194, 1.661, -1.893, 0, 270, 0, 60 [SEP] 26, Apple, 1.126, 1.845, -1.132, 0, 270, 0, 83 [SEP] 27, Statue, -1.292, 0.936, -0.905, 0, 0, 0, 61 [SEP] 28, Glassbottle, -1.054, 0.177, 0.608, 0, 180, 0, 81 [SEP] 29, Bread, 0.905, 1.216, 1.349, 0, 270, 0, 84 [SEP] 30, CreditCard, -1.570, 0.551, 2.615, 0, 0, 0, 87 [SEP] 31, CellPhone, -1.570, 0.550, 2.770, 0, 0, 0, 87 [SEP] 32, Potato, -1.054, 0.209, 0.510, 0, 180, 0, 81 [SEP] 33, Knife, 0.868, 0.700, -0.600, 90, 315, 0, 59 [SEP] 34, Fork, 0.793, 0.154, -0.769, 0, 180, 0, 64 [SEP] 35, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 55 [SEP] 36, Lettuce, 0.905, 0.940, 1.158, 0, 270, 0, 84 [SEP] 37, Plate, -0.624, 0.936, -1.308, 0, 0, 0, 61 [SEP] 38, Apple, -0.477, 0.983, 0.086, 0, 0, 0, 61 [SEP] 39, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 57 [SEP] 40, Spatula, 0.915, 0.510, -0.690, 0, 0, 0, 65 [SEP] 41, PaperTowelRoll, -0.698, 1.037, -1.618, 0, 0, 0, 61 [SEP] 42, Tomato, 0.844, 1.442, 1.254, 0, 270, 0, 84 [SEP] 43, Egg, 0.844, 1.680, 0.967, 0, 270, 0, 84 [SEP] 44, SaltShaker, 0.754, 0.491, -0.772, 0, 270, 0, 65 [SEP] 45, PepperShaker, 0.794, 0.491, -0.565, 0, 270, 0, 65 [SEP] 46, Vase, 1.148, 1.666, -0.529, 0, 270, 0, 70 [SEP] 47, ButterKnife, -1.292, 0.933, -0.380, 0, 0, 0, 61 [SEP] 48, SoapBottle, 1.194, 1.666, -2.097, 0, 270, 0, 60 [SEP] 49, Vase, -1.363, 0.555, 2.718, 0, 0, 0, 87 [SEP] 50, Bowl, 1.082, 2.211, -1.517, 0, 270, 0, 68 [SEP] 51, DishSponge, -1.778, 0.553, 2.667, 0, 0, 0, 87 [SEP] 52, Spoon, -0.550, 0.934, -0.143, 0, 0, 0, 61 [SEP] 53, Cup, 1.087, 1.132, 0.967, 0, 270, 0, 84 [SEP] 54, Mug, 1.101, 1.661, 0.216, 0, 270, 0, 69 [SEP] 55, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 56, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 57, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 58, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 59, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 60, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 61, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 62, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 63, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 64, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 65, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 66, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 67, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 68, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 69, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 70, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 71, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 72, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 73, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 74, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 75, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 76, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 77, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 78, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 79, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 80, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 81, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 82, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 83, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 84, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 85, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 86, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 87, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 88, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 89, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 90, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 91, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 92, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 93, NorthWall, , , , , , , [SEP] 94, EastWall, , , , , , , [SEP] 95, SouthWall, , , , , , , [SEP] 96, WestWall, , , , , , , ", "output": ["STEP 1: Turn around completely and walk forward. Turn to the right and go around the corner and turn right again to face the counter. | STEP 2: Pick up the plate from the counter. | STEP 3: Step to the left and then turn to the right to face the sink, | STEP 4: Place the plate in the sink and turn on the water and wash the plate. Turn off the water and take out the plate. | STEP 5: Turn to the left and turn around completely and face the other counter. | STEP 6: Place the plate on the counter. | END"]} +{"id": "trial_T20190908_213533_897289-2", "input": "Put a washed plate 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, -3.75, 0.900, 0.5, 0, 270, 0, [SEP] 1, Statue, -0.846, 0.936, -0.067, 0, 0, 0, 61 [SEP] 2, Vase, 1.147, 1.667, 0.025, 0, 270, 0, 69 [SEP] 3, CreditCard, 0.914, 0.150, -0.611, 0, 270, 0, 64 [SEP] 4, CreditCard, -1.363, 0.551, 2.563, 0, 0, 0, 87 [SEP] 5, Spoon, -0.846, 0.934, -1.618, 0, 0, 0, 61 [SEP] 6, Spoon, -0.624, 0.934, 0.239, 0, 180, 0, 61 [SEP] 7, Spatula, -1.229, 0.948, -1.167, 0, 0, 0, 61 [SEP] 8, Spatula, -0.698, 0.948, -1.154, 0, 0, 0, 61 [SEP] 9, Egg, 1.060, 1.821, -1.236, 0, 270, 0, 83 [SEP] 10, Egg, -1.104, 0.971, -1.167, 0, 0, 0, 61 [SEP] 11, Cup, 0.844, 0.860, 1.444, 0, 270, 0, 84 [SEP] 12, Plate, 1.148, 1.669, -0.337, 0, 270, 0, 70 [SEP] 13, Plate, 0.966, 1.405, 1.063, 0, 270, 0, 84 [SEP] 14, Plate, -1.104, 0.936, -0.118, 0, 0, 0, 61 [SEP] 15, Tomato, -0.698, 0.974, 0.162, 0, 0, 0, 61 [SEP] 16, Tomato, 0.844, 1.175, 0.967, 0, 270, 0, 84 [SEP] 17, SoapBottle, 0.760, 0.121, 0.374, 0, 270, 0, 56 [SEP] 18, SoapBottle, -0.912, 0.179, 0.576, 0, 180, 0, 81 [SEP] 19, Bowl, 0.811, 0.111, -2.052, 0, 0, 0, 66 [SEP] 20, Bowl, -1.571, 0.885, 2.719, 0, 0, 0, 88 [SEP] 21, SaltShaker, 0.956, 0.490, -0.565, 0, 270, 0, 65 [SEP] 22, SaltShaker, 0.754, 0.698, -0.524, 0, 270, 0, 59 [SEP] 23, Lettuce, 1.026, 0.940, 1.444, 0, 270, 0, 84 [SEP] 24, Bread, -1.167, 1.014, 0.144, 0, 0, 0, 61 [SEP] 25, Mug, 1.194, 1.661, -1.893, 0, 270, 0, 60 [SEP] 26, Apple, 1.126, 1.845, -1.132, 0, 270, 0, 83 [SEP] 27, Statue, -1.292, 0.936, -0.905, 0, 0, 0, 61 [SEP] 28, Glassbottle, -1.054, 0.177, 0.608, 0, 180, 0, 81 [SEP] 29, Bread, 0.905, 1.216, 1.349, 0, 270, 0, 84 [SEP] 30, CreditCard, -1.570, 0.551, 2.615, 0, 0, 0, 87 [SEP] 31, CellPhone, -1.570, 0.550, 2.770, 0, 0, 0, 87 [SEP] 32, Potato, -1.054, 0.209, 0.510, 0, 180, 0, 81 [SEP] 33, Knife, 0.868, 0.700, -0.600, 90, 315, 0, 59 [SEP] 34, Fork, 0.793, 0.154, -0.769, 0, 180, 0, 64 [SEP] 35, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 55 [SEP] 36, Lettuce, 0.905, 0.940, 1.158, 0, 270, 0, 84 [SEP] 37, Plate, -0.624, 0.936, -1.308, 0, 0, 0, 61 [SEP] 38, Apple, -0.477, 0.983, 0.086, 0, 0, 0, 61 [SEP] 39, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 57 [SEP] 40, Spatula, 0.915, 0.510, -0.690, 0, 0, 0, 65 [SEP] 41, PaperTowelRoll, -0.698, 1.037, -1.618, 0, 0, 0, 61 [SEP] 42, Tomato, 0.844, 1.442, 1.254, 0, 270, 0, 84 [SEP] 43, Egg, 0.844, 1.680, 0.967, 0, 270, 0, 84 [SEP] 44, SaltShaker, 0.754, 0.491, -0.772, 0, 270, 0, 65 [SEP] 45, PepperShaker, 0.794, 0.491, -0.565, 0, 270, 0, 65 [SEP] 46, Vase, 1.148, 1.666, -0.529, 0, 270, 0, 70 [SEP] 47, ButterKnife, -1.292, 0.933, -0.380, 0, 0, 0, 61 [SEP] 48, SoapBottle, 1.194, 1.666, -2.097, 0, 270, 0, 60 [SEP] 49, Vase, -1.363, 0.555, 2.718, 0, 0, 0, 87 [SEP] 50, Bowl, 1.082, 2.211, -1.517, 0, 270, 0, 68 [SEP] 51, DishSponge, -1.778, 0.553, 2.667, 0, 0, 0, 87 [SEP] 52, Spoon, -0.550, 0.934, -0.143, 0, 0, 0, 61 [SEP] 53, Cup, 1.087, 1.132, 0.967, 0, 270, 0, 84 [SEP] 54, Mug, 1.101, 1.661, 0.216, 0, 270, 0, 69 [SEP] 55, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 56, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 57, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 58, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 59, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 60, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 61, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 62, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 63, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 64, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 65, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 66, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 67, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 68, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 69, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 70, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 71, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 72, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 73, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 74, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 75, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 76, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 77, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 78, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 79, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 80, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 81, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 82, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 83, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 84, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 85, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 86, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 87, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 88, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 89, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 90, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 91, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 92, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 93, NorthWall, , , , , , , [SEP] 94, EastWall, , , , , , , [SEP] 95, SouthWall, , , , , , , [SEP] 96, WestWall, , , , , , , ", "output": ["STEP 1: Turn and go to the counter by the sink. | STEP 2: Pick up a dirty plate on the counter. | STEP 3: Turn and go to the sink. | STEP 4: Wash the dish in the sink. | STEP 5: Turn and go to the counter by the stove. | STEP 6: Put the plate on the counter by the stove. | END"]} +{"id": "trial_T20190907_080730_211959-0", "input": "Wash the spatula, put it in the first drawer 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, -2.25, 0, 270, 0, [SEP] 1, Statue, -1.292, 0.936, -0.905, 0, 0, 0, 49 [SEP] 2, Potato, -0.587, 0.811, -0.832, 0, 0, 0, 70 [SEP] 3, Potato, 1.199, 0.941, -0.034, 0, 0, 0, 50 [SEP] 4, CellPhone, 0.793, 0.150, -0.611, 0, 270, 0, 52 [SEP] 5, ButterKnife, -0.698, 0.776, -0.573, 0, 90, 0, 70 [SEP] 6, Glassbottle, 1.082, 2.208, -1.408, 0, 270, 0, 56 [SEP] 7, Glassbottle, 1.101, 1.667, -1.893, 0, 270, 0, 48 [SEP] 8, Knife, 0.944, 0.934, -0.034, 0, 0, 0, 50 [SEP] 9, Cup, 1.028, 1.792, -1.339, 0, 270, 0, 71 [SEP] 10, Tomato, -0.753, 0.821, -0.659, 0, 90, 0, 70 [SEP] 11, SoapBottle, 0.773, 0.911, -1.793, 0, 0, 0, 55 [SEP] 12, SoapBottle, -0.865, 0.177, 0.543, 0, 180, 0, 69 [SEP] 13, PepperShaker, -1.981, 0.878, 2.746, 0, 0, 0, 76 [SEP] 14, Lettuce, 0.966, 1.479, 1.063, 0, 270, 0, 72 [SEP] 15, Statue, 1.029, 0.914, -0.381, 0, 0, 0, 50 [SEP] 16, Glassbottle, 0.773, 0.912, -0.729, 0, 0, 0, 50 [SEP] 17, Bread, -1.167, 1.014, -0.643, 0, 0, 0, 49 [SEP] 18, CreditCard, -0.550, 0.930, -0.143, 0, 0, 0, 49 [SEP] 19, CellPhone, 0.688, 0.908, -1.965, 0, 0, 0, 55 [SEP] 20, Potato, 1.026, 1.673, 1.158, 0, 270, 0, 72 [SEP] 21, Knife, -0.772, 0.957, -1.308, 0, 0, 0, 49 [SEP] 22, Fork, 0.875, 0.703, -0.648, 0, 0, 0, 47 [SEP] 23, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 43 [SEP] 24, Lettuce, 0.966, 1.479, 1.349, 0, 270, 0, 72 [SEP] 25, Plate, -1.985, 0.557, 2.718, 0, 0, 0, 75 [SEP] 26, Apple, -0.642, 0.830, -0.573, 0, 90, 0, 70 [SEP] 27, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 45 [SEP] 28, Spatula, -0.698, 0.948, -1.618, 0, 0, 0, 49 [SEP] 29, PaperTowelRoll, 1.114, 1.015, -0.555, 0, 0, 0, 50 [SEP] 30, Tomato, 0.966, 1.175, 0.967, 0, 270, 0, 72 [SEP] 31, Egg, 0.966, 1.680, 1.444, 0, 270, 0, 72 [SEP] 32, SaltShaker, 0.956, 0.490, -0.731, 0, 270, 0, 53 [SEP] 33, PepperShaker, 0.834, 0.490, -0.565, 0, 270, 0, 53 [SEP] 34, Vase, -1.367, 0.881, 2.719, 0, 0, 0, 76 [SEP] 35, ButterKnife, 1.114, 0.911, -0.208, 0, 0, 0, 50 [SEP] 36, SoapBottle, -1.007, 0.179, 0.608, 0, 180, 0, 69 [SEP] 37, Vase, 1.194, 1.667, -0.529, 0, 270, 0, 58 [SEP] 38, Bowl, 0.844, 0.866, 1.444, 0, 270, 0, 72 [SEP] 39, DishSponge, -1.363, 0.553, 2.667, 0, 0, 0, 75 [SEP] 40, Spoon, -1.292, 0.934, 0.144, 0, 0, 0, 49 [SEP] 41, Cup, 1.240, 1.663, -2.234, 0, 270, 0, 48 [SEP] 42, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 68 [SEP] 43, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 44, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 45, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 46, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 47, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 48, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 49, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 50, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 51, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 52, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 53, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 54, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 55, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 56, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 57, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 58, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 59, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 60, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 61, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 62, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 63, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 64, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 65, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 66, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 67, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 68, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 69, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 70, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 71, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 72, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 73, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 74, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 75, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 76, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 77, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 78, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 79, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 80, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 81, NorthWall, , , , , , , [SEP] 82, EastWall, , , , , , , [SEP] 83, SouthWall, , , , , , , [SEP] 84, WestWall, , , , , , , ", "output": ["STEP 1: Turn around, walk to the kitchen island | STEP 2: Grab the spatula on the island | STEP 3: Turn right, and turn left, walk to the sink | STEP 4: Put the spatula in the sink, turn on the faucet, wash the spatula, turn off the faucet, take the spatula | STEP 5: Turn around to the drawers | STEP 6: Open the first drawer from the top, put the spatula in, close the drawer | END"]} +{"id": "trial_T20190907_080730_211959-1", "input": "Put a rinsed spatula in the drawer 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, -3.5, 0.900, -2.25, 0, 270, 0, [SEP] 1, Statue, -1.292, 0.936, -0.905, 0, 0, 0, 49 [SEP] 2, Potato, -0.587, 0.811, -0.832, 0, 0, 0, 70 [SEP] 3, Potato, 1.199, 0.941, -0.034, 0, 0, 0, 50 [SEP] 4, CellPhone, 0.793, 0.150, -0.611, 0, 270, 0, 52 [SEP] 5, ButterKnife, -0.698, 0.776, -0.573, 0, 90, 0, 70 [SEP] 6, Glassbottle, 1.082, 2.208, -1.408, 0, 270, 0, 56 [SEP] 7, Glassbottle, 1.101, 1.667, -1.893, 0, 270, 0, 48 [SEP] 8, Knife, 0.944, 0.934, -0.034, 0, 0, 0, 50 [SEP] 9, Cup, 1.028, 1.792, -1.339, 0, 270, 0, 71 [SEP] 10, Tomato, -0.753, 0.821, -0.659, 0, 90, 0, 70 [SEP] 11, SoapBottle, 0.773, 0.911, -1.793, 0, 0, 0, 55 [SEP] 12, SoapBottle, -0.865, 0.177, 0.543, 0, 180, 0, 69 [SEP] 13, PepperShaker, -1.981, 0.878, 2.746, 0, 0, 0, 76 [SEP] 14, Lettuce, 0.966, 1.479, 1.063, 0, 270, 0, 72 [SEP] 15, Statue, 1.029, 0.914, -0.381, 0, 0, 0, 50 [SEP] 16, Glassbottle, 0.773, 0.912, -0.729, 0, 0, 0, 50 [SEP] 17, Bread, -1.167, 1.014, -0.643, 0, 0, 0, 49 [SEP] 18, CreditCard, -0.550, 0.930, -0.143, 0, 0, 0, 49 [SEP] 19, CellPhone, 0.688, 0.908, -1.965, 0, 0, 0, 55 [SEP] 20, Potato, 1.026, 1.673, 1.158, 0, 270, 0, 72 [SEP] 21, Knife, -0.772, 0.957, -1.308, 0, 0, 0, 49 [SEP] 22, Fork, 0.875, 0.703, -0.648, 0, 0, 0, 47 [SEP] 23, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 43 [SEP] 24, Lettuce, 0.966, 1.479, 1.349, 0, 270, 0, 72 [SEP] 25, Plate, -1.985, 0.557, 2.718, 0, 0, 0, 75 [SEP] 26, Apple, -0.642, 0.830, -0.573, 0, 90, 0, 70 [SEP] 27, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 45 [SEP] 28, Spatula, -0.698, 0.948, -1.618, 0, 0, 0, 49 [SEP] 29, PaperTowelRoll, 1.114, 1.015, -0.555, 0, 0, 0, 50 [SEP] 30, Tomato, 0.966, 1.175, 0.967, 0, 270, 0, 72 [SEP] 31, Egg, 0.966, 1.680, 1.444, 0, 270, 0, 72 [SEP] 32, SaltShaker, 0.956, 0.490, -0.731, 0, 270, 0, 53 [SEP] 33, PepperShaker, 0.834, 0.490, -0.565, 0, 270, 0, 53 [SEP] 34, Vase, -1.367, 0.881, 2.719, 0, 0, 0, 76 [SEP] 35, ButterKnife, 1.114, 0.911, -0.208, 0, 0, 0, 50 [SEP] 36, SoapBottle, -1.007, 0.179, 0.608, 0, 180, 0, 69 [SEP] 37, Vase, 1.194, 1.667, -0.529, 0, 270, 0, 58 [SEP] 38, Bowl, 0.844, 0.866, 1.444, 0, 270, 0, 72 [SEP] 39, DishSponge, -1.363, 0.553, 2.667, 0, 0, 0, 75 [SEP] 40, Spoon, -1.292, 0.934, 0.144, 0, 0, 0, 49 [SEP] 41, Cup, 1.240, 1.663, -2.234, 0, 270, 0, 48 [SEP] 42, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 68 [SEP] 43, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 44, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 45, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 46, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 47, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 48, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 49, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 50, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 51, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 52, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 53, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 54, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 55, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 56, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 57, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 58, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 59, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 60, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 61, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 62, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 63, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 64, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 65, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 66, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 67, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 68, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 69, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 70, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 71, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 72, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 73, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 74, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 75, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 76, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 77, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 78, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 79, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 80, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 81, NorthWall, , , , , , , [SEP] 82, EastWall, , , , , , , [SEP] 83, SouthWall, , , , , , , [SEP] 84, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and walk to the island | STEP 2: Pick up the spatula from the island. | STEP 3: Walk around the island to the sink. | STEP 4: Rinse the spatula in the sink and pick it back up. | STEP 5: Turn around to face the stove. | STEP 6: Put the spatula in the drawer to the left of the stove. | END"]} +{"id": "trial_T20190907_080730_211959-2", "input": "To clean the spatula to 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, -3.5, 0.900, -2.25, 0, 270, 0, [SEP] 1, Statue, -1.292, 0.936, -0.905, 0, 0, 0, 49 [SEP] 2, Potato, -0.587, 0.811, -0.832, 0, 0, 0, 70 [SEP] 3, Potato, 1.199, 0.941, -0.034, 0, 0, 0, 50 [SEP] 4, CellPhone, 0.793, 0.150, -0.611, 0, 270, 0, 52 [SEP] 5, ButterKnife, -0.698, 0.776, -0.573, 0, 90, 0, 70 [SEP] 6, Glassbottle, 1.082, 2.208, -1.408, 0, 270, 0, 56 [SEP] 7, Glassbottle, 1.101, 1.667, -1.893, 0, 270, 0, 48 [SEP] 8, Knife, 0.944, 0.934, -0.034, 0, 0, 0, 50 [SEP] 9, Cup, 1.028, 1.792, -1.339, 0, 270, 0, 71 [SEP] 10, Tomato, -0.753, 0.821, -0.659, 0, 90, 0, 70 [SEP] 11, SoapBottle, 0.773, 0.911, -1.793, 0, 0, 0, 55 [SEP] 12, SoapBottle, -0.865, 0.177, 0.543, 0, 180, 0, 69 [SEP] 13, PepperShaker, -1.981, 0.878, 2.746, 0, 0, 0, 76 [SEP] 14, Lettuce, 0.966, 1.479, 1.063, 0, 270, 0, 72 [SEP] 15, Statue, 1.029, 0.914, -0.381, 0, 0, 0, 50 [SEP] 16, Glassbottle, 0.773, 0.912, -0.729, 0, 0, 0, 50 [SEP] 17, Bread, -1.167, 1.014, -0.643, 0, 0, 0, 49 [SEP] 18, CreditCard, -0.550, 0.930, -0.143, 0, 0, 0, 49 [SEP] 19, CellPhone, 0.688, 0.908, -1.965, 0, 0, 0, 55 [SEP] 20, Potato, 1.026, 1.673, 1.158, 0, 270, 0, 72 [SEP] 21, Knife, -0.772, 0.957, -1.308, 0, 0, 0, 49 [SEP] 22, Fork, 0.875, 0.703, -0.648, 0, 0, 0, 47 [SEP] 23, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 43 [SEP] 24, Lettuce, 0.966, 1.479, 1.349, 0, 270, 0, 72 [SEP] 25, Plate, -1.985, 0.557, 2.718, 0, 0, 0, 75 [SEP] 26, Apple, -0.642, 0.830, -0.573, 0, 90, 0, 70 [SEP] 27, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 45 [SEP] 28, Spatula, -0.698, 0.948, -1.618, 0, 0, 0, 49 [SEP] 29, PaperTowelRoll, 1.114, 1.015, -0.555, 0, 0, 0, 50 [SEP] 30, Tomato, 0.966, 1.175, 0.967, 0, 270, 0, 72 [SEP] 31, Egg, 0.966, 1.680, 1.444, 0, 270, 0, 72 [SEP] 32, SaltShaker, 0.956, 0.490, -0.731, 0, 270, 0, 53 [SEP] 33, PepperShaker, 0.834, 0.490, -0.565, 0, 270, 0, 53 [SEP] 34, Vase, -1.367, 0.881, 2.719, 0, 0, 0, 76 [SEP] 35, ButterKnife, 1.114, 0.911, -0.208, 0, 0, 0, 50 [SEP] 36, SoapBottle, -1.007, 0.179, 0.608, 0, 180, 0, 69 [SEP] 37, Vase, 1.194, 1.667, -0.529, 0, 270, 0, 58 [SEP] 38, Bowl, 0.844, 0.866, 1.444, 0, 270, 0, 72 [SEP] 39, DishSponge, -1.363, 0.553, 2.667, 0, 0, 0, 75 [SEP] 40, Spoon, -1.292, 0.934, 0.144, 0, 0, 0, 49 [SEP] 41, Cup, 1.240, 1.663, -2.234, 0, 270, 0, 48 [SEP] 42, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 68 [SEP] 43, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 44, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 45, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 46, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 47, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 48, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 49, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 50, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 51, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 52, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 53, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 54, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 55, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 56, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 57, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 58, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 59, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 60, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 61, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 62, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 63, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 64, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 65, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 66, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 67, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 68, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 69, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 70, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 71, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 72, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 73, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 74, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 75, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 76, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 77, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 78, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 79, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 80, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 81, NorthWall, , , , , , , [SEP] 82, EastWall, , , , , , , [SEP] 83, SouthWall, , , , , , , [SEP] 84, WestWall, , , , , , , ", "output": ["STEP 1: Turn around to walk to the end of the island and turn left to face it. | STEP 2: Take the spatula on the counter. | STEP 3: Turn right and then left going around the island and then left to face the sink. | STEP 4: Put the spatula in the sink and turn the water on. Turn off the water and take the spatula back out. | STEP 5: Turn left then right to face the stove and then look down below. | STEP 6: Pull out the first drawer next to the stove and put the spatula in the front below the fork and shut the drawer. | END"]} +{"id": "trial_T20190906_214706_219505-0", "input": "Pick up baseball bat, 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, 0.5, 0.900, -1.5, 0, 90, 0, [SEP] 1, Bowl, -0.483, 0.861, -1.529, 0, 0, 0, 37 [SEP] 2, CellPhone, 1.612, 0.784, 0.787, 0, 0, 0, 28 [SEP] 3, CellPhone, -0.473, 0.650, -0.852, 0, 0, 0, 35 [SEP] 4, Pen, -0.549, 0.370, -0.933, 0, 0, 0, 38 [SEP] 5, Pen, -1.914, 0.673, 0.758, 0, 0, 0, 48 [SEP] 6, Pencil, -0.567, 0.861, -1.010, 0, 0, 0, 37 [SEP] 7, Pencil, -1.994, 0.390, 0.683, 0, 0, 0, 49 [SEP] 8, CreditCard, -2.091, 0.878, 0.832, 0, 0, 0, 47 [SEP] 9, KeyChain, -1.918, 0.879, 0.330, 0, 90, 0, 40 [SEP] 10, Book, 0.800, 0.783, 1.655, 0, 0, 0, 28 [SEP] 11, Book, -2.074, 0.104, 0.721, 0, 0, 0, 50 [SEP] 12, Laptop, 1.409, 0.781, 1.945, 0, 0, 0, 28 [SEP] 13, AlarmClock, -2.091, 0.879, 0.581, 0, 0, 0, 47 [SEP] 14, Book, 1.815, 0.783, 2.234, 0, 0, 0, 28 [SEP] 15, AlarmClock, -1.179, 1.724, 0.489, 0, 0, 0, 41 [SEP] 16, BasketBall, 1.976, 0.120, 0.211, 0, 331.076, 0, [SEP] 17, Pen, -1.918, 0.884, 0.581, 0, 0, 0, 47 [SEP] 18, Laptop, 0.800, 0.781, 1.366, 0, 0, 0, 28 [SEP] 19, BaseballBat, 1.953, 0.659, -1.81, 346.388, 0, 0, [SEP] 20, Bowl, -0.567, 0.861, -0.663, 0, 0, 0, 37 [SEP] 21, Pillow, 1.118, 0.867, 2.464, 0, 0, 0, 28 [SEP] 22, KeyChain, -2.240, 0.039, 2.522, 0, 180, 0, 52 [SEP] 23, CreditCard, -0.473, 0.649, -0.772, 0, 0, 0, 35 [SEP] 24, CellPhone, -2.031, 0.040, 2.575, 0, 180, 0, 52 [SEP] 25, CD, -0.903, 0.857, -1.529, 0, 0, 0, 37 [SEP] 26, Pencil, -1.834, 0.886, 0.366, 0, 0, 0, 40 [SEP] 27, Mug, -1.834, 0.880, 0.489, 0, 0, 0, 47 [SEP] 28, Bed, 1.227, -0.002, 1.664, 0, 0, 0, [SEP] 29, LightSwitch, 2.151, 1.233, -0.518, 0, 270, 0, [SEP] 30, GarbageCan, -0.747, 0.014, -0.327, 0, 0, 0, [SEP] 31, Mirror, -1.358, 1.427, 2.855, 0, 0, 0, [SEP] 32, DeskLamp, -2.296, 0.858, 0.750, 0, 0, 0, [SEP] 33, Window, -0.421, 1.534, -1.947, 90, 0, 0, [SEP] 34, Window, 0.579, 1.534, -1.947, 90, 0, 0, [SEP] 35, Drawer, -0.491, 0.739, -0.855, 0, 90, 0, [SEP] 36, Drawer, -0.491, 0.204, -0.855, 0, 90, 0, [SEP] 37, Desk, -0.639, 0.009, -1.187, 0, 90, 0, [SEP] 38, Drawer, -0.491, 0.487, -0.855, 0, 90, 0, [SEP] 39, Shelf, -1.965, 1.514, 0.416, 0, 0, 0, [SEP] 40, Shelf, -1.965, 1.092, 0.416, 0, 0, 0, [SEP] 41, Shelf, -1.312, 1.888, 0.416, 0, 0, 0, [SEP] 42, Shelf, -1.965, 1.888, 0.416, 0, 0, 0, [SEP] 43, Shelf, -1.312, 1.092, 0.416, 0, 0, 0, [SEP] 44, Shelf, -1.312, 1.514, 0.416, 0, 0, 0, [SEP] 45, Blinds, 0.601, 2.161, -1.916, 0, 0, 0, [SEP] 46, Blinds, -0.402, 2.161, -1.916, 0, 0, 0, [SEP] 47, Desk, -1.726, 0.001, 0.575, 0, 0, 0, [SEP] 48, Drawer, -2.058, 0.733, 0.734, 0, 0, 0, [SEP] 49, Drawer, -2.058, 0.482, 0.734, 0, 0, 0, [SEP] 50, Drawer, -2.058, 0.198, 0.735, 0, 0, 0, [SEP] 51, Chair, -0.137, 0.000, -1.587, 0, 315, 0, [SEP] 52, Safe, -2.183, -7.748, 2.576, 0, 180, 0, [SEP] 53, Chair, -1.433, 0.009, 0.780, 357.672, 206.726, 0, [SEP] 54, LaundryHamper, 0.163, 0.003, 2.635, 0, 86.390, 0, [SEP] 55, NorthWall, , , , , , , [SEP] 56, EastWall, , , , , , , [SEP] 57, SouthWall, , , , , , , [SEP] 58, WestWall, , , , , , , ", "output": ["STEP 1: Go to baseball bat to right of the door | STEP 2: Pick up baseball bat next to door | STEP 3: Go toward safe in far, opposite corner, turn right, face desk with lamp | STEP 4: turn on lamp on the desk | END"]} +{"id": "trial_T20190906_214706_219505-1", "input": "Examine a baseball bat 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, 0.900, -1.5, 0, 90, 0, [SEP] 1, Bowl, -0.483, 0.861, -1.529, 0, 0, 0, 37 [SEP] 2, CellPhone, 1.612, 0.784, 0.787, 0, 0, 0, 28 [SEP] 3, CellPhone, -0.473, 0.650, -0.852, 0, 0, 0, 35 [SEP] 4, Pen, -0.549, 0.370, -0.933, 0, 0, 0, 38 [SEP] 5, Pen, -1.914, 0.673, 0.758, 0, 0, 0, 48 [SEP] 6, Pencil, -0.567, 0.861, -1.010, 0, 0, 0, 37 [SEP] 7, Pencil, -1.994, 0.390, 0.683, 0, 0, 0, 49 [SEP] 8, CreditCard, -2.091, 0.878, 0.832, 0, 0, 0, 47 [SEP] 9, KeyChain, -1.918, 0.879, 0.330, 0, 90, 0, 40 [SEP] 10, Book, 0.800, 0.783, 1.655, 0, 0, 0, 28 [SEP] 11, Book, -2.074, 0.104, 0.721, 0, 0, 0, 50 [SEP] 12, Laptop, 1.409, 0.781, 1.945, 0, 0, 0, 28 [SEP] 13, AlarmClock, -2.091, 0.879, 0.581, 0, 0, 0, 47 [SEP] 14, Book, 1.815, 0.783, 2.234, 0, 0, 0, 28 [SEP] 15, AlarmClock, -1.179, 1.724, 0.489, 0, 0, 0, 41 [SEP] 16, BasketBall, 1.976, 0.120, 0.211, 0, 331.076, 0, [SEP] 17, Pen, -1.918, 0.884, 0.581, 0, 0, 0, 47 [SEP] 18, Laptop, 0.800, 0.781, 1.366, 0, 0, 0, 28 [SEP] 19, BaseballBat, 1.953, 0.659, -1.81, 346.388, 0, 0, [SEP] 20, Bowl, -0.567, 0.861, -0.663, 0, 0, 0, 37 [SEP] 21, Pillow, 1.118, 0.867, 2.464, 0, 0, 0, 28 [SEP] 22, KeyChain, -2.240, 0.039, 2.522, 0, 180, 0, 52 [SEP] 23, CreditCard, -0.473, 0.649, -0.772, 0, 0, 0, 35 [SEP] 24, CellPhone, -2.031, 0.040, 2.575, 0, 180, 0, 52 [SEP] 25, CD, -0.903, 0.857, -1.529, 0, 0, 0, 37 [SEP] 26, Pencil, -1.834, 0.886, 0.366, 0, 0, 0, 40 [SEP] 27, Mug, -1.834, 0.880, 0.489, 0, 0, 0, 47 [SEP] 28, Bed, 1.227, -0.002, 1.664, 0, 0, 0, [SEP] 29, LightSwitch, 2.151, 1.233, -0.518, 0, 270, 0, [SEP] 30, GarbageCan, -0.747, 0.014, -0.327, 0, 0, 0, [SEP] 31, Mirror, -1.358, 1.427, 2.855, 0, 0, 0, [SEP] 32, DeskLamp, -2.296, 0.858, 0.750, 0, 0, 0, [SEP] 33, Window, -0.421, 1.534, -1.947, 90, 0, 0, [SEP] 34, Window, 0.579, 1.534, -1.947, 90, 0, 0, [SEP] 35, Drawer, -0.491, 0.739, -0.855, 0, 90, 0, [SEP] 36, Drawer, -0.491, 0.204, -0.855, 0, 90, 0, [SEP] 37, Desk, -0.639, 0.009, -1.187, 0, 90, 0, [SEP] 38, Drawer, -0.491, 0.487, -0.855, 0, 90, 0, [SEP] 39, Shelf, -1.965, 1.514, 0.416, 0, 0, 0, [SEP] 40, Shelf, -1.965, 1.092, 0.416, 0, 0, 0, [SEP] 41, Shelf, -1.312, 1.888, 0.416, 0, 0, 0, [SEP] 42, Shelf, -1.965, 1.888, 0.416, 0, 0, 0, [SEP] 43, Shelf, -1.312, 1.092, 0.416, 0, 0, 0, [SEP] 44, Shelf, -1.312, 1.514, 0.416, 0, 0, 0, [SEP] 45, Blinds, 0.601, 2.161, -1.916, 0, 0, 0, [SEP] 46, Blinds, -0.402, 2.161, -1.916, 0, 0, 0, [SEP] 47, Desk, -1.726, 0.001, 0.575, 0, 0, 0, [SEP] 48, Drawer, -2.058, 0.733, 0.734, 0, 0, 0, [SEP] 49, Drawer, -2.058, 0.482, 0.734, 0, 0, 0, [SEP] 50, Drawer, -2.058, 0.198, 0.735, 0, 0, 0, [SEP] 51, Chair, -0.137, 0.000, -1.587, 0, 315, 0, [SEP] 52, Safe, -2.183, -7.748, 2.576, 0, 180, 0, [SEP] 53, Chair, -1.433, 0.009, 0.780, 357.672, 206.726, 0, [SEP] 54, LaundryHamper, 0.163, 0.003, 2.635, 0, 86.390, 0, [SEP] 55, NorthWall, , , , , , , [SEP] 56, EastWall, , , , , , , [SEP] 57, SouthWall, , , , , , , [SEP] 58, WestWall, , , , , , , ", "output": ["STEP 1: Head towards the door and turn right to face the baseball bat on the floor. | STEP 2: Pick up the bat from the floor. | STEP 3: Turn around, head towards the bed, turn left towards the edge of the bed, turn right towards the middle of the bed, turn left towards the wall, and then turn left to face the lamp on the desk. | STEP 4: Turn on the lamp. | END"]} +{"id": "trial_T20190906_214706_219505-2", "input": "Examine a black baseball bat in 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, 0.5, 0.900, -1.5, 0, 90, 0, [SEP] 1, Bowl, -0.483, 0.861, -1.529, 0, 0, 0, 37 [SEP] 2, CellPhone, 1.612, 0.784, 0.787, 0, 0, 0, 28 [SEP] 3, CellPhone, -0.473, 0.650, -0.852, 0, 0, 0, 35 [SEP] 4, Pen, -0.549, 0.370, -0.933, 0, 0, 0, 38 [SEP] 5, Pen, -1.914, 0.673, 0.758, 0, 0, 0, 48 [SEP] 6, Pencil, -0.567, 0.861, -1.010, 0, 0, 0, 37 [SEP] 7, Pencil, -1.994, 0.390, 0.683, 0, 0, 0, 49 [SEP] 8, CreditCard, -2.091, 0.878, 0.832, 0, 0, 0, 47 [SEP] 9, KeyChain, -1.918, 0.879, 0.330, 0, 90, 0, 40 [SEP] 10, Book, 0.800, 0.783, 1.655, 0, 0, 0, 28 [SEP] 11, Book, -2.074, 0.104, 0.721, 0, 0, 0, 50 [SEP] 12, Laptop, 1.409, 0.781, 1.945, 0, 0, 0, 28 [SEP] 13, AlarmClock, -2.091, 0.879, 0.581, 0, 0, 0, 47 [SEP] 14, Book, 1.815, 0.783, 2.234, 0, 0, 0, 28 [SEP] 15, AlarmClock, -1.179, 1.724, 0.489, 0, 0, 0, 41 [SEP] 16, BasketBall, 1.976, 0.120, 0.211, 0, 331.076, 0, [SEP] 17, Pen, -1.918, 0.884, 0.581, 0, 0, 0, 47 [SEP] 18, Laptop, 0.800, 0.781, 1.366, 0, 0, 0, 28 [SEP] 19, BaseballBat, 1.953, 0.659, -1.81, 346.388, 0, 0, [SEP] 20, Bowl, -0.567, 0.861, -0.663, 0, 0, 0, 37 [SEP] 21, Pillow, 1.118, 0.867, 2.464, 0, 0, 0, 28 [SEP] 22, KeyChain, -2.240, 0.039, 2.522, 0, 180, 0, 52 [SEP] 23, CreditCard, -0.473, 0.649, -0.772, 0, 0, 0, 35 [SEP] 24, CellPhone, -2.031, 0.040, 2.575, 0, 180, 0, 52 [SEP] 25, CD, -0.903, 0.857, -1.529, 0, 0, 0, 37 [SEP] 26, Pencil, -1.834, 0.886, 0.366, 0, 0, 0, 40 [SEP] 27, Mug, -1.834, 0.880, 0.489, 0, 0, 0, 47 [SEP] 28, Bed, 1.227, -0.002, 1.664, 0, 0, 0, [SEP] 29, LightSwitch, 2.151, 1.233, -0.518, 0, 270, 0, [SEP] 30, GarbageCan, -0.747, 0.014, -0.327, 0, 0, 0, [SEP] 31, Mirror, -1.358, 1.427, 2.855, 0, 0, 0, [SEP] 32, DeskLamp, -2.296, 0.858, 0.750, 0, 0, 0, [SEP] 33, Window, -0.421, 1.534, -1.947, 90, 0, 0, [SEP] 34, Window, 0.579, 1.534, -1.947, 90, 0, 0, [SEP] 35, Drawer, -0.491, 0.739, -0.855, 0, 90, 0, [SEP] 36, Drawer, -0.491, 0.204, -0.855, 0, 90, 0, [SEP] 37, Desk, -0.639, 0.009, -1.187, 0, 90, 0, [SEP] 38, Drawer, -0.491, 0.487, -0.855, 0, 90, 0, [SEP] 39, Shelf, -1.965, 1.514, 0.416, 0, 0, 0, [SEP] 40, Shelf, -1.965, 1.092, 0.416, 0, 0, 0, [SEP] 41, Shelf, -1.312, 1.888, 0.416, 0, 0, 0, [SEP] 42, Shelf, -1.965, 1.888, 0.416, 0, 0, 0, [SEP] 43, Shelf, -1.312, 1.092, 0.416, 0, 0, 0, [SEP] 44, Shelf, -1.312, 1.514, 0.416, 0, 0, 0, [SEP] 45, Blinds, 0.601, 2.161, -1.916, 0, 0, 0, [SEP] 46, Blinds, -0.402, 2.161, -1.916, 0, 0, 0, [SEP] 47, Desk, -1.726, 0.001, 0.575, 0, 0, 0, [SEP] 48, Drawer, -2.058, 0.733, 0.734, 0, 0, 0, [SEP] 49, Drawer, -2.058, 0.482, 0.734, 0, 0, 0, [SEP] 50, Drawer, -2.058, 0.198, 0.735, 0, 0, 0, [SEP] 51, Chair, -0.137, 0.000, -1.587, 0, 315, 0, [SEP] 52, Safe, -2.183, -7.748, 2.576, 0, 180, 0, [SEP] 53, Chair, -1.433, 0.009, 0.780, 357.672, 206.726, 0, [SEP] 54, LaundryHamper, 0.163, 0.003, 2.635, 0, 86.390, 0, [SEP] 55, NorthWall, , , , , , , [SEP] 56, EastWall, , , , , , , [SEP] 57, SouthWall, , , , , , , [SEP] 58, WestWall, , , , , , , ", "output": ["STEP 1: Walk over to the door in front of you and turn right to face the wall. | STEP 2: Pick up the black bat leaning against the wall. | STEP 3: Turn around and walk forward, then turn right and walk over to the bed, turn left and walk over to the wooden desk with a small lamp on it in the far side of the room. | STEP 4: Turn on the small lamp. | END"]} +{"id": "trial_T20190909_185126_784929-0", "input": "put a bowl and a pencil between the books 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, -1.75, 0.900, 2.0, 0, 0, 0, [SEP] 1, Bowl, -1.744, 0.882, 0.749, 0, 0, 0, 44 [SEP] 2, Mug, -2.091, 0.876, 0.665, 0, 0, 0, 44 [SEP] 3, Mug, -1.233, 1.721, 0.407, 0, 180, 0, 38 [SEP] 4, CD, -2.083, 0.039, 2.522, 0, 180, 0, 49 [SEP] 5, CellPhone, -1.994, 0.387, 0.721, 0, 0, 0, 46 [SEP] 6, CellPhone, 1.003, 0.784, 1.076, 0, 0, 0, 25 [SEP] 7, Pencil, -1.744, 0.882, 0.581, 0, 0, 0, 44 [SEP] 8, KeyChain, -1.571, 0.879, 0.581, 0, 0, 0, 44 [SEP] 9, Pillow, 1.409, 0.918, 0.787, 0, 0, 0, 25 [SEP] 10, Laptop, 1.206, 0.781, 1.366, 0, 0, 0, 25 [SEP] 11, Book, -0.511, 0.083, -0.933, 0, 0, 0, 33 [SEP] 12, AlarmClock, -1.397, 0.879, 0.665, 0, 0, 0, 44 [SEP] 13, BasketBall, 1.976, 0.120, 0.211, 0, 331.076, 0, [SEP] 14, Pen, -0.483, 0.863, -1.529, 0, 0, 0, 34 [SEP] 15, Laptop, 1.612, 0.781, 1.655, 0, 0, 0, 25 [SEP] 16, BaseballBat, 1.953, 0.659, -1.81, 346.388, 0, 0, [SEP] 17, Bowl, -0.827, 0.850, -1.641, 0, 0, 0, 34 [SEP] 18, Pillow, 1.118, 0.867, 2.464, 0, 0, 0, 25 [SEP] 19, KeyChain, -0.651, 0.857, -1.010, 0, 0, 0, 34 [SEP] 20, CreditCard, -0.511, 0.649, -1.092, 0, 0, 0, 32 [SEP] 21, CellPhone, -2.187, 0.040, 2.575, 0, 180, 0, 49 [SEP] 22, CD, -1.397, 0.878, 0.832, 0, 0, 0, 44 [SEP] 23, Pencil, -2.151, 1.353, 0.489, 0, 0, 0, 36 [SEP] 24, Mug, -0.399, 0.855, -0.836, 0, 0, 0, 34 [SEP] 25, Bed, 1.227, -0.002, 1.664, 0, 0, 0, [SEP] 26, LightSwitch, 2.151, 1.233, -0.518, 0, 270, 0, [SEP] 27, GarbageCan, -0.747, 0.014, -0.327, 0, 0, 0, [SEP] 28, Mirror, -1.358, 1.427, 2.855, 0, 0, 0, [SEP] 29, DeskLamp, -2.296, 0.858, 0.750, 0, 0, 0, [SEP] 30, Window, -0.421, 1.534, -1.947, 90, 0, 0, [SEP] 31, Window, 0.579, 1.534, -1.947, 90, 0, 0, [SEP] 32, Drawer, -0.491, 0.739, -0.855, 0, 90, 0, [SEP] 33, Drawer, -0.491, 0.204, -0.855, 0, 90, 0, [SEP] 34, Desk, -0.639, 0.009, -1.187, 0, 90, 0, [SEP] 35, Drawer, -0.491, 0.487, -0.855, 0, 90, 0, [SEP] 36, Shelf, -1.965, 1.514, 0.416, 0, 0, 0, [SEP] 37, Shelf, -1.965, 1.092, 0.416, 0, 0, 0, [SEP] 38, Shelf, -1.312, 1.888, 0.416, 0, 0, 0, [SEP] 39, Shelf, -1.965, 1.888, 0.416, 0, 0, 0, [SEP] 40, Shelf, -1.312, 1.092, 0.416, 0, 0, 0, [SEP] 41, Shelf, -1.312, 1.514, 0.416, 0, 0, 0, [SEP] 42, Blinds, 0.601, 2.161, -1.916, 0, 0, 0, [SEP] 43, Blinds, -0.402, 2.161, -1.916, 0, 0, 0, [SEP] 44, Desk, -1.726, 0.001, 0.575, 0, 0, 0, [SEP] 45, Drawer, -2.058, 0.733, 0.734, 0, 0, 0, [SEP] 46, Drawer, -2.058, 0.482, 0.734, 0, 0, 0, [SEP] 47, Drawer, -2.058, 0.198, 0.735, 0, 0, 0, [SEP] 48, Chair, -0.137, 0.000, -1.587, 0, 315, 0, [SEP] 49, Safe, -2.183, -7.748, 2.576, 0, 180, 0, [SEP] 50, Chair, -1.433, 0.009, 0.780, 357.672, 206.726, 0, [SEP] 51, LaundryHamper, 0.163, 0.003, 2.635, 0, 86.390, 0, [SEP] 52, NorthWall, , , , , , , [SEP] 53, EastWall, , , , , , , [SEP] 54, SouthWall, , , , , , , [SEP] 55, WestWall, , , , , , , ", "output": ["STEP 1: go to the desk | STEP 2: pick up the pencil from the desk | STEP 3: re-approach the desk where the bowl is | STEP 4: put the pencil in the bowl | STEP 5: pick up the bowl with the pencil | STEP 6: take the bowl to the right side of the desk | STEP 7: set the bowl on the desk between the two rows of books on the bottom shelf | END"]} +{"id": "trial_T20190909_185126_784929-1", "input": "Putting a container with a pencil in it 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, -1.75, 0.900, 2.0, 0, 0, 0, [SEP] 1, Bowl, -1.744, 0.882, 0.749, 0, 0, 0, 44 [SEP] 2, Mug, -2.091, 0.876, 0.665, 0, 0, 0, 44 [SEP] 3, Mug, -1.233, 1.721, 0.407, 0, 180, 0, 38 [SEP] 4, CD, -2.083, 0.039, 2.522, 0, 180, 0, 49 [SEP] 5, CellPhone, -1.994, 0.387, 0.721, 0, 0, 0, 46 [SEP] 6, CellPhone, 1.003, 0.784, 1.076, 0, 0, 0, 25 [SEP] 7, Pencil, -1.744, 0.882, 0.581, 0, 0, 0, 44 [SEP] 8, KeyChain, -1.571, 0.879, 0.581, 0, 0, 0, 44 [SEP] 9, Pillow, 1.409, 0.918, 0.787, 0, 0, 0, 25 [SEP] 10, Laptop, 1.206, 0.781, 1.366, 0, 0, 0, 25 [SEP] 11, Book, -0.511, 0.083, -0.933, 0, 0, 0, 33 [SEP] 12, AlarmClock, -1.397, 0.879, 0.665, 0, 0, 0, 44 [SEP] 13, BasketBall, 1.976, 0.120, 0.211, 0, 331.076, 0, [SEP] 14, Pen, -0.483, 0.863, -1.529, 0, 0, 0, 34 [SEP] 15, Laptop, 1.612, 0.781, 1.655, 0, 0, 0, 25 [SEP] 16, BaseballBat, 1.953, 0.659, -1.81, 346.388, 0, 0, [SEP] 17, Bowl, -0.827, 0.850, -1.641, 0, 0, 0, 34 [SEP] 18, Pillow, 1.118, 0.867, 2.464, 0, 0, 0, 25 [SEP] 19, KeyChain, -0.651, 0.857, -1.010, 0, 0, 0, 34 [SEP] 20, CreditCard, -0.511, 0.649, -1.092, 0, 0, 0, 32 [SEP] 21, CellPhone, -2.187, 0.040, 2.575, 0, 180, 0, 49 [SEP] 22, CD, -1.397, 0.878, 0.832, 0, 0, 0, 44 [SEP] 23, Pencil, -2.151, 1.353, 0.489, 0, 0, 0, 36 [SEP] 24, Mug, -0.399, 0.855, -0.836, 0, 0, 0, 34 [SEP] 25, Bed, 1.227, -0.002, 1.664, 0, 0, 0, [SEP] 26, LightSwitch, 2.151, 1.233, -0.518, 0, 270, 0, [SEP] 27, GarbageCan, -0.747, 0.014, -0.327, 0, 0, 0, [SEP] 28, Mirror, -1.358, 1.427, 2.855, 0, 0, 0, [SEP] 29, DeskLamp, -2.296, 0.858, 0.750, 0, 0, 0, [SEP] 30, Window, -0.421, 1.534, -1.947, 90, 0, 0, [SEP] 31, Window, 0.579, 1.534, -1.947, 90, 0, 0, [SEP] 32, Drawer, -0.491, 0.739, -0.855, 0, 90, 0, [SEP] 33, Drawer, -0.491, 0.204, -0.855, 0, 90, 0, [SEP] 34, Desk, -0.639, 0.009, -1.187, 0, 90, 0, [SEP] 35, Drawer, -0.491, 0.487, -0.855, 0, 90, 0, [SEP] 36, Shelf, -1.965, 1.514, 0.416, 0, 0, 0, [SEP] 37, Shelf, -1.965, 1.092, 0.416, 0, 0, 0, [SEP] 38, Shelf, -1.312, 1.888, 0.416, 0, 0, 0, [SEP] 39, Shelf, -1.965, 1.888, 0.416, 0, 0, 0, [SEP] 40, Shelf, -1.312, 1.092, 0.416, 0, 0, 0, [SEP] 41, Shelf, -1.312, 1.514, 0.416, 0, 0, 0, [SEP] 42, Blinds, 0.601, 2.161, -1.916, 0, 0, 0, [SEP] 43, Blinds, -0.402, 2.161, -1.916, 0, 0, 0, [SEP] 44, Desk, -1.726, 0.001, 0.575, 0, 0, 0, [SEP] 45, Drawer, -2.058, 0.733, 0.734, 0, 0, 0, [SEP] 46, Drawer, -2.058, 0.482, 0.734, 0, 0, 0, [SEP] 47, Drawer, -2.058, 0.198, 0.735, 0, 0, 0, [SEP] 48, Chair, -0.137, 0.000, -1.587, 0, 315, 0, [SEP] 49, Safe, -2.183, -7.748, 2.576, 0, 180, 0, [SEP] 50, Chair, -1.433, 0.009, 0.780, 357.672, 206.726, 0, [SEP] 51, LaundryHamper, 0.163, 0.003, 2.635, 0, 86.390, 0, [SEP] 52, NorthWall, , , , , , , [SEP] 53, EastWall, , , , , , , [SEP] 54, SouthWall, , , , , , , [SEP] 55, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and go to the desk | STEP 2: Grab the pencil off of the desk | STEP 3: Look down at the desk | STEP 4: Put the pencil in the container on the desk | STEP 5: Grab the container off of the desk | STEP 6: Back up from the desk | STEP 7: Put the container down at the back of the desk | END"]} +{"id": "trial_T20190909_185126_784929-2", "input": "put a bowl with a pencil in it 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, -1.75, 0.900, 2.0, 0, 0, 0, [SEP] 1, Bowl, -1.744, 0.882, 0.749, 0, 0, 0, 44 [SEP] 2, Mug, -2.091, 0.876, 0.665, 0, 0, 0, 44 [SEP] 3, Mug, -1.233, 1.721, 0.407, 0, 180, 0, 38 [SEP] 4, CD, -2.083, 0.039, 2.522, 0, 180, 0, 49 [SEP] 5, CellPhone, -1.994, 0.387, 0.721, 0, 0, 0, 46 [SEP] 6, CellPhone, 1.003, 0.784, 1.076, 0, 0, 0, 25 [SEP] 7, Pencil, -1.744, 0.882, 0.581, 0, 0, 0, 44 [SEP] 8, KeyChain, -1.571, 0.879, 0.581, 0, 0, 0, 44 [SEP] 9, Pillow, 1.409, 0.918, 0.787, 0, 0, 0, 25 [SEP] 10, Laptop, 1.206, 0.781, 1.366, 0, 0, 0, 25 [SEP] 11, Book, -0.511, 0.083, -0.933, 0, 0, 0, 33 [SEP] 12, AlarmClock, -1.397, 0.879, 0.665, 0, 0, 0, 44 [SEP] 13, BasketBall, 1.976, 0.120, 0.211, 0, 331.076, 0, [SEP] 14, Pen, -0.483, 0.863, -1.529, 0, 0, 0, 34 [SEP] 15, Laptop, 1.612, 0.781, 1.655, 0, 0, 0, 25 [SEP] 16, BaseballBat, 1.953, 0.659, -1.81, 346.388, 0, 0, [SEP] 17, Bowl, -0.827, 0.850, -1.641, 0, 0, 0, 34 [SEP] 18, Pillow, 1.118, 0.867, 2.464, 0, 0, 0, 25 [SEP] 19, KeyChain, -0.651, 0.857, -1.010, 0, 0, 0, 34 [SEP] 20, CreditCard, -0.511, 0.649, -1.092, 0, 0, 0, 32 [SEP] 21, CellPhone, -2.187, 0.040, 2.575, 0, 180, 0, 49 [SEP] 22, CD, -1.397, 0.878, 0.832, 0, 0, 0, 44 [SEP] 23, Pencil, -2.151, 1.353, 0.489, 0, 0, 0, 36 [SEP] 24, Mug, -0.399, 0.855, -0.836, 0, 0, 0, 34 [SEP] 25, Bed, 1.227, -0.002, 1.664, 0, 0, 0, [SEP] 26, LightSwitch, 2.151, 1.233, -0.518, 0, 270, 0, [SEP] 27, GarbageCan, -0.747, 0.014, -0.327, 0, 0, 0, [SEP] 28, Mirror, -1.358, 1.427, 2.855, 0, 0, 0, [SEP] 29, DeskLamp, -2.296, 0.858, 0.750, 0, 0, 0, [SEP] 30, Window, -0.421, 1.534, -1.947, 90, 0, 0, [SEP] 31, Window, 0.579, 1.534, -1.947, 90, 0, 0, [SEP] 32, Drawer, -0.491, 0.739, -0.855, 0, 90, 0, [SEP] 33, Drawer, -0.491, 0.204, -0.855, 0, 90, 0, [SEP] 34, Desk, -0.639, 0.009, -1.187, 0, 90, 0, [SEP] 35, Drawer, -0.491, 0.487, -0.855, 0, 90, 0, [SEP] 36, Shelf, -1.965, 1.514, 0.416, 0, 0, 0, [SEP] 37, Shelf, -1.965, 1.092, 0.416, 0, 0, 0, [SEP] 38, Shelf, -1.312, 1.888, 0.416, 0, 0, 0, [SEP] 39, Shelf, -1.965, 1.888, 0.416, 0, 0, 0, [SEP] 40, Shelf, -1.312, 1.092, 0.416, 0, 0, 0, [SEP] 41, Shelf, -1.312, 1.514, 0.416, 0, 0, 0, [SEP] 42, Blinds, 0.601, 2.161, -1.916, 0, 0, 0, [SEP] 43, Blinds, -0.402, 2.161, -1.916, 0, 0, 0, [SEP] 44, Desk, -1.726, 0.001, 0.575, 0, 0, 0, [SEP] 45, Drawer, -2.058, 0.733, 0.734, 0, 0, 0, [SEP] 46, Drawer, -2.058, 0.482, 0.734, 0, 0, 0, [SEP] 47, Drawer, -2.058, 0.198, 0.735, 0, 0, 0, [SEP] 48, Chair, -0.137, 0.000, -1.587, 0, 315, 0, [SEP] 49, Safe, -2.183, -7.748, 2.576, 0, 180, 0, [SEP] 50, Chair, -1.433, 0.009, 0.780, 357.672, 206.726, 0, [SEP] 51, LaundryHamper, 0.163, 0.003, 2.635, 0, 86.390, 0, [SEP] 52, NorthWall, , , , , , , [SEP] 53, EastWall, , , , , , , [SEP] 54, SouthWall, , , , , , , [SEP] 55, WestWall, , , , , , , ", "output": ["STEP 1: turn around, walk to desk | STEP 2: pick up the pencil that is on the desk | STEP 3: take a step back from the desk | STEP 4: put the pencil in the bowl | STEP 5: pick up the bowl with the pencil in it | STEP 6: take a few steps to the right | STEP 7: put the bowl with pencil between books on desk | END"]} +{"id": "trial_T20190907_080800_275989-0", "input": "Put a clean spatula 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, -3.75, 0.900, -1.5, 0, 270, 0, [SEP] 1, Vase, -1.292, 0.934, -0.380, 0, 0, 0, 57 [SEP] 2, CreditCard, 0.688, 0.908, -0.555, 0, 0, 0, 58 [SEP] 3, CreditCard, -1.363, 0.551, 2.822, 0, 0, 0, 83 [SEP] 4, DishSponge, 1.029, 0.910, -0.034, 0, 0, 0, 58 [SEP] 5, ButterKnife, 0.834, 0.495, -0.648, 0, 270, 0, 61 [SEP] 6, Glassbottle, -1.467, 0.554, 2.770, 0, 0, 0, 83 [SEP] 7, Knife, -1.041, 0.957, -0.643, 0, 90, 0, 57 [SEP] 8, Egg, 1.029, 0.949, -1.793, 0, 0, 0, 63 [SEP] 9, Egg, 1.026, 1.172, 0.967, 0, 270, 0, 80 [SEP] 10, Cup, 0.944, 0.908, -1.879, 0, 0, 0, 63 [SEP] 11, Tomato, -0.587, 0.821, -0.745, 0, 90, 0, 78 [SEP] 12, Tomato, -0.920, 0.974, -1.154, 0, 0, 0, 57 [SEP] 13, SoapBottle, 1.101, 1.666, 0.153, 0, 270, 0, 65 [SEP] 14, Bowl, 0.688, 0.914, -1.879, 0, 0, 0, 63 [SEP] 15, SaltShaker, -1.881, 0.550, 2.667, 0, 0, 0, 83 [SEP] 16, PepperShaker, 1.148, 1.662, -1.961, 0, 270, 0, 56 [SEP] 17, PepperShaker, 1.199, 0.907, -1.879, 0, 0, 0, 63 [SEP] 18, Lettuce, 1.029, 0.988, -0.208, 0, 0, 0, 58 [SEP] 19, Mug, 0.844, 1.396, 1.254, 0, 270, 0, 80 [SEP] 20, Mug, 1.194, 1.661, -0.593, 0, 270, 0, 66 [SEP] 21, Apple, -1.054, 0.227, 0.543, 0, 180, 0, 77 [SEP] 22, Apple, 1.026, 0.913, 1.349, 0, 270, 0, 80 [SEP] 23, Statue, 1.114, 0.914, -0.729, 0, 0, 0, 58 [SEP] 24, Glassbottle, 1.114, 0.912, 0.139, 0, 0, 0, 58 [SEP] 25, Bread, -0.779, 0.996, 0.209, 0, 258.641, 0, 57 [SEP] 26, CreditCard, 0.793, 0.150, -0.690, 0, 270, 0, 60 [SEP] 27, CellPhone, -0.920, 0.930, -1.308, 0, 0, 0, 57 [SEP] 28, Potato, 0.905, 0.893, 1.349, 0, 270, 0, 80 [SEP] 29, Knife, 0.944, 0.934, -0.381, 0, 0, 0, 58 [SEP] 30, Fork, 0.875, 0.702, -0.772, 0, 0, 0, 55 [SEP] 31, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 51 [SEP] 32, Lettuce, 1.026, 0.940, 1.158, 0, 270, 0, 80 [SEP] 33, Plate, 0.861, 0.111, -2.132, 0, 0, 0, 62 [SEP] 34, Apple, -0.912, 0.227, 0.543, 0, 180, 0, 77 [SEP] 35, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 53 [SEP] 36, Spatula, -0.698, 0.948, -1.618, 0, 0, 0, 57 [SEP] 37, PaperTowelRoll, -0.818, 0.281, 0.608, 0, 270, 0, 77 [SEP] 38, Tomato, 1.087, 1.442, 0.967, 0, 270, 0, 80 [SEP] 39, Egg, 0.844, 1.439, 1.540, 0, 270, 0, 80 [SEP] 40, SaltShaker, 0.793, 0.150, -0.531, 0, 270, 0, 60 [SEP] 41, PepperShaker, -1.981, 0.878, 2.665, 0, 0, 0, 84 [SEP] 42, Vase, -1.292, 0.933, -0.118, 0, 0, 0, 57 [SEP] 43, ButterKnife, -0.698, 0.933, -1.231, 0, 0, 0, 57 [SEP] 44, SoapBottle, -1.104, 0.933, -0.905, 0, 0, 0, 57 [SEP] 45, Vase, 1.169, 2.209, -1.299, 0, 270, 0, 64 [SEP] 46, Bowl, -1.104, 0.936, -0.118, 0, 0, 0, 57 [SEP] 47, DishSponge, -1.469, 0.881, 2.692, 0, 0, 0, 83 [SEP] 48, Spoon, -0.698, 0.781, -0.486, 0, 90, 0, 78 [SEP] 49, Cup, -1.363, 0.551, 2.667, 0, 0, 0, 83 [SEP] 50, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 76 [SEP] 51, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 52, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 53, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 54, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 55, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 56, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 57, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 58, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 59, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 60, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 61, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 62, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 63, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 64, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 65, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 66, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 67, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 68, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 69, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 70, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 71, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 72, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 73, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 74, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 75, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 76, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 77, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 78, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 79, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 80, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 81, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 82, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 83, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 84, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 85, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 86, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 87, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 88, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 89, NorthWall, , , , , , , [SEP] 90, EastWall, , , , , , , [SEP] 91, SouthWall, , , , , , , [SEP] 92, WestWall, , , , , , , ", "output": ["STEP 1: Turn and go left and stand in front of the spatula on the counter. | STEP 2: Pick the spatula up off of the counter. | STEP 3: Go right and then left to stand in front of the sink. | STEP 4: Put the spatula in the sink, turn the water on, turn the water off, and take the spatula out. | STEP 5: Turn around and face the drawer to the left of the stove. | STEP 6: Put the spatula in the drawer to the left of the stove and shut it. | END"]} +{"id": "trial_T20190907_080800_275989-1", "input": "Put a clean spatula 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, -3.75, 0.900, -1.5, 0, 270, 0, [SEP] 1, Vase, -1.292, 0.934, -0.380, 0, 0, 0, 57 [SEP] 2, CreditCard, 0.688, 0.908, -0.555, 0, 0, 0, 58 [SEP] 3, CreditCard, -1.363, 0.551, 2.822, 0, 0, 0, 83 [SEP] 4, DishSponge, 1.029, 0.910, -0.034, 0, 0, 0, 58 [SEP] 5, ButterKnife, 0.834, 0.495, -0.648, 0, 270, 0, 61 [SEP] 6, Glassbottle, -1.467, 0.554, 2.770, 0, 0, 0, 83 [SEP] 7, Knife, -1.041, 0.957, -0.643, 0, 90, 0, 57 [SEP] 8, Egg, 1.029, 0.949, -1.793, 0, 0, 0, 63 [SEP] 9, Egg, 1.026, 1.172, 0.967, 0, 270, 0, 80 [SEP] 10, Cup, 0.944, 0.908, -1.879, 0, 0, 0, 63 [SEP] 11, Tomato, -0.587, 0.821, -0.745, 0, 90, 0, 78 [SEP] 12, Tomato, -0.920, 0.974, -1.154, 0, 0, 0, 57 [SEP] 13, SoapBottle, 1.101, 1.666, 0.153, 0, 270, 0, 65 [SEP] 14, Bowl, 0.688, 0.914, -1.879, 0, 0, 0, 63 [SEP] 15, SaltShaker, -1.881, 0.550, 2.667, 0, 0, 0, 83 [SEP] 16, PepperShaker, 1.148, 1.662, -1.961, 0, 270, 0, 56 [SEP] 17, PepperShaker, 1.199, 0.907, -1.879, 0, 0, 0, 63 [SEP] 18, Lettuce, 1.029, 0.988, -0.208, 0, 0, 0, 58 [SEP] 19, Mug, 0.844, 1.396, 1.254, 0, 270, 0, 80 [SEP] 20, Mug, 1.194, 1.661, -0.593, 0, 270, 0, 66 [SEP] 21, Apple, -1.054, 0.227, 0.543, 0, 180, 0, 77 [SEP] 22, Apple, 1.026, 0.913, 1.349, 0, 270, 0, 80 [SEP] 23, Statue, 1.114, 0.914, -0.729, 0, 0, 0, 58 [SEP] 24, Glassbottle, 1.114, 0.912, 0.139, 0, 0, 0, 58 [SEP] 25, Bread, -0.779, 0.996, 0.209, 0, 258.641, 0, 57 [SEP] 26, CreditCard, 0.793, 0.150, -0.690, 0, 270, 0, 60 [SEP] 27, CellPhone, -0.920, 0.930, -1.308, 0, 0, 0, 57 [SEP] 28, Potato, 0.905, 0.893, 1.349, 0, 270, 0, 80 [SEP] 29, Knife, 0.944, 0.934, -0.381, 0, 0, 0, 58 [SEP] 30, Fork, 0.875, 0.702, -0.772, 0, 0, 0, 55 [SEP] 31, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 51 [SEP] 32, Lettuce, 1.026, 0.940, 1.158, 0, 270, 0, 80 [SEP] 33, Plate, 0.861, 0.111, -2.132, 0, 0, 0, 62 [SEP] 34, Apple, -0.912, 0.227, 0.543, 0, 180, 0, 77 [SEP] 35, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 53 [SEP] 36, Spatula, -0.698, 0.948, -1.618, 0, 0, 0, 57 [SEP] 37, PaperTowelRoll, -0.818, 0.281, 0.608, 0, 270, 0, 77 [SEP] 38, Tomato, 1.087, 1.442, 0.967, 0, 270, 0, 80 [SEP] 39, Egg, 0.844, 1.439, 1.540, 0, 270, 0, 80 [SEP] 40, SaltShaker, 0.793, 0.150, -0.531, 0, 270, 0, 60 [SEP] 41, PepperShaker, -1.981, 0.878, 2.665, 0, 0, 0, 84 [SEP] 42, Vase, -1.292, 0.933, -0.118, 0, 0, 0, 57 [SEP] 43, ButterKnife, -0.698, 0.933, -1.231, 0, 0, 0, 57 [SEP] 44, SoapBottle, -1.104, 0.933, -0.905, 0, 0, 0, 57 [SEP] 45, Vase, 1.169, 2.209, -1.299, 0, 270, 0, 64 [SEP] 46, Bowl, -1.104, 0.936, -0.118, 0, 0, 0, 57 [SEP] 47, DishSponge, -1.469, 0.881, 2.692, 0, 0, 0, 83 [SEP] 48, Spoon, -0.698, 0.781, -0.486, 0, 90, 0, 78 [SEP] 49, Cup, -1.363, 0.551, 2.667, 0, 0, 0, 83 [SEP] 50, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 76 [SEP] 51, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 52, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 53, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 54, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 55, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 56, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 57, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 58, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 59, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 60, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 61, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 62, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 63, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 64, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 65, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 66, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 67, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 68, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 69, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 70, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 71, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 72, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 73, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 74, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 75, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 76, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 77, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 78, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 79, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 80, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 81, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 82, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 83, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 84, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 85, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 86, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 87, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 88, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 89, NorthWall, , , , , , , [SEP] 90, EastWall, , , , , , , [SEP] 91, SouthWall, , , , , , , [SEP] 92, WestWall, , , , , , , ", "output": ["STEP 1: Go to the end of the island by the window. | STEP 2: Pick up the spatula near the edge. | STEP 3: Take the spatula to the sink. | STEP 4: Clean the spatula in the sink. | STEP 5: Turn and take the clean spatula to the counter on the left of the stove. | STEP 6: Put the clean spatula in the drawer under the blue credit card. | END"]} +{"id": "trial_T20190907_080800_275989-2", "input": "Put a clean spatula 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, -3.75, 0.900, -1.5, 0, 270, 0, [SEP] 1, Vase, -1.292, 0.934, -0.380, 0, 0, 0, 57 [SEP] 2, CreditCard, 0.688, 0.908, -0.555, 0, 0, 0, 58 [SEP] 3, CreditCard, -1.363, 0.551, 2.822, 0, 0, 0, 83 [SEP] 4, DishSponge, 1.029, 0.910, -0.034, 0, 0, 0, 58 [SEP] 5, ButterKnife, 0.834, 0.495, -0.648, 0, 270, 0, 61 [SEP] 6, Glassbottle, -1.467, 0.554, 2.770, 0, 0, 0, 83 [SEP] 7, Knife, -1.041, 0.957, -0.643, 0, 90, 0, 57 [SEP] 8, Egg, 1.029, 0.949, -1.793, 0, 0, 0, 63 [SEP] 9, Egg, 1.026, 1.172, 0.967, 0, 270, 0, 80 [SEP] 10, Cup, 0.944, 0.908, -1.879, 0, 0, 0, 63 [SEP] 11, Tomato, -0.587, 0.821, -0.745, 0, 90, 0, 78 [SEP] 12, Tomato, -0.920, 0.974, -1.154, 0, 0, 0, 57 [SEP] 13, SoapBottle, 1.101, 1.666, 0.153, 0, 270, 0, 65 [SEP] 14, Bowl, 0.688, 0.914, -1.879, 0, 0, 0, 63 [SEP] 15, SaltShaker, -1.881, 0.550, 2.667, 0, 0, 0, 83 [SEP] 16, PepperShaker, 1.148, 1.662, -1.961, 0, 270, 0, 56 [SEP] 17, PepperShaker, 1.199, 0.907, -1.879, 0, 0, 0, 63 [SEP] 18, Lettuce, 1.029, 0.988, -0.208, 0, 0, 0, 58 [SEP] 19, Mug, 0.844, 1.396, 1.254, 0, 270, 0, 80 [SEP] 20, Mug, 1.194, 1.661, -0.593, 0, 270, 0, 66 [SEP] 21, Apple, -1.054, 0.227, 0.543, 0, 180, 0, 77 [SEP] 22, Apple, 1.026, 0.913, 1.349, 0, 270, 0, 80 [SEP] 23, Statue, 1.114, 0.914, -0.729, 0, 0, 0, 58 [SEP] 24, Glassbottle, 1.114, 0.912, 0.139, 0, 0, 0, 58 [SEP] 25, Bread, -0.779, 0.996, 0.209, 0, 258.641, 0, 57 [SEP] 26, CreditCard, 0.793, 0.150, -0.690, 0, 270, 0, 60 [SEP] 27, CellPhone, -0.920, 0.930, -1.308, 0, 0, 0, 57 [SEP] 28, Potato, 0.905, 0.893, 1.349, 0, 270, 0, 80 [SEP] 29, Knife, 0.944, 0.934, -0.381, 0, 0, 0, 58 [SEP] 30, Fork, 0.875, 0.702, -0.772, 0, 0, 0, 55 [SEP] 31, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 51 [SEP] 32, Lettuce, 1.026, 0.940, 1.158, 0, 270, 0, 80 [SEP] 33, Plate, 0.861, 0.111, -2.132, 0, 0, 0, 62 [SEP] 34, Apple, -0.912, 0.227, 0.543, 0, 180, 0, 77 [SEP] 35, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 53 [SEP] 36, Spatula, -0.698, 0.948, -1.618, 0, 0, 0, 57 [SEP] 37, PaperTowelRoll, -0.818, 0.281, 0.608, 0, 270, 0, 77 [SEP] 38, Tomato, 1.087, 1.442, 0.967, 0, 270, 0, 80 [SEP] 39, Egg, 0.844, 1.439, 1.540, 0, 270, 0, 80 [SEP] 40, SaltShaker, 0.793, 0.150, -0.531, 0, 270, 0, 60 [SEP] 41, PepperShaker, -1.981, 0.878, 2.665, 0, 0, 0, 84 [SEP] 42, Vase, -1.292, 0.933, -0.118, 0, 0, 0, 57 [SEP] 43, ButterKnife, -0.698, 0.933, -1.231, 0, 0, 0, 57 [SEP] 44, SoapBottle, -1.104, 0.933, -0.905, 0, 0, 0, 57 [SEP] 45, Vase, 1.169, 2.209, -1.299, 0, 270, 0, 64 [SEP] 46, Bowl, -1.104, 0.936, -0.118, 0, 0, 0, 57 [SEP] 47, DishSponge, -1.469, 0.881, 2.692, 0, 0, 0, 83 [SEP] 48, Spoon, -0.698, 0.781, -0.486, 0, 90, 0, 78 [SEP] 49, Cup, -1.363, 0.551, 2.667, 0, 0, 0, 83 [SEP] 50, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 76 [SEP] 51, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 52, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 53, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 54, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 55, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 56, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 57, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 58, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 59, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 60, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 61, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 62, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 63, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 64, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 65, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 66, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 67, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 68, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 69, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 70, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 71, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 72, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 73, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 74, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 75, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 76, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 77, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 78, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 79, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 80, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 81, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 82, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 83, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 84, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 85, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 86, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 87, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 88, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 89, NorthWall, , , , , , , [SEP] 90, EastWall, , , , , , , [SEP] 91, SouthWall, , , , , , , [SEP] 92, WestWall, , , , , , , ", "output": ["STEP 1: Turn left, go to the window, turn left, go straight, turn to the kitchen island when it is on the left. | STEP 2: Take the spatula from the island. | STEP 3: Turn right, go straight, turn left, go straight, turn to the sink when it is on the left. | STEP 4: Put the spatula in the sink, turn the water on then off, take the spatula from the sink. | STEP 5: Turn around and face the counter to the left of the oven. | STEP 6: Put the spatula in the top drawer underneath the counter to the left of the oven. | END"]} +{"id": "trial_T20190909_081814_796540-0", "input": "To move two bars of soap to 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, 0.901, 2.75, 0, 90, 0, [SEP] 1, Cloth, -0.331, 0.076, 3.507, 0, 0, 0, 23 [SEP] 2, Cloth, -0.381, 0.075, 2.202, 0, 90, 0, 24 [SEP] 3, SprayBottle, -2.202, 0.018, 3.807, 0, 0, 0, 31 [SEP] 4, SoapBar, -0.326, 0.954, 2.807, 0, 0, 0, 22 [SEP] 5, HandTowel, -0.038, 1.619, 1.887, 0, 90, 0, 28 [SEP] 6, Towel, -1.082, 1.326, 1.302, 0, 0, 0, 25 [SEP] 7, SoapBar, -0.347, 0.826, 3.222, 0, 0, 0, 32 [SEP] 8, ToiletPaper, -0.280, 0.654, 1.985, 0, 180, 90, 27 [SEP] 9, Plunger, -0.112, -0.000, 1.848, 0, 0, 0, [SEP] 10, Candle, -0.381, 0.075, 3.055, 0, 0, 0, 19 [SEP] 11, ToiletPaper, -0.388, 0.951, 2.913, 0, 0, 0, 22 [SEP] 12, SprayBottle, -0.024, 0.954, 1.481, 0, 90, 0, 30 [SEP] 13, Cloth, -0.229, 0.075, 3.011, 0, 0, 0, 18 [SEP] 14, ScrubBrush, -0.322, 3.109, 1.950, 0, 0, 0, [SEP] 15, SoapBottle, -0.141, 0.955, 2.913, 0, 0, 0, 22 [SEP] 16, Mirror, -0.030, 1.544, 2.864, 0, 0, 0, [SEP] 17, Sink, -0.302, 0.799, 3.263, 0, 270, 0, [SEP] 18, Cabinet, -0.491, 0.404, 2.863, 0, 0, 0, [SEP] 19, Cabinet, -0.495, 0.384, 2.842, 0, 0, 0, [SEP] 20, ShowerDoor, -1.647, 1.017, 1.180, 0, 0, 0, [SEP] 21, ShowerGlass, -0.909, 0.788, 0.485, 0, 0, 0, [SEP] 22, CounterTop, -0.261, 0.927, 2.843, 0, 0, 0, [SEP] 23, Cabinet, -0.495, 0.384, 3.650, 0, 0, 0, [SEP] 24, Cabinet, -0.491, 0.404, 2.055, 0, 0, 0, [SEP] 25, TowelHolder, -1.082, 1.312, 1.195, 0, 0, 0, [SEP] 26, LightSwitch, -2.424, 1.447, 3.338, 0, 90, 0, [SEP] 27, ToiletPaperHanger, -0.266, 0.786, 2.043, 0, 180, 0, [SEP] 28, HandTowelHolder, 0.000, 1.721, 1.887, 0, 180, 0, [SEP] 29, HandTowelHolder, 0.000, 1.721, 3.799, 0, 180, 0, [SEP] 30, Toilet, -0.542, 3.109, 1.493, 0, 270, 0, [SEP] 31, GarbageCan, -2.159, -0.000, 3.756, 0, 0, 0, [SEP] 32, SinkBasin, -0.308, 0.820, 3.266, 0, 0, 0, [SEP] 33, ShowerHead, -0.134, 1.888, 0.564, 0, 90, 0, [SEP] 34, Faucet, 0.0, 1.009, 3.265, 0, 0, 0, [SEP] 35, Faucet, 0.0, 1.009, 2.421, 0, 0, 0, [SEP] 36, SinkBasin, -0.308, 0.820, 2.422, 0, 0, 0, [SEP] 37, Sink, -0.302, 0.799, 2.419, 0, 270, 0, [SEP] 38, NorthWall, , , , , , , [SEP] 39, SouthWall, , , , , , , [SEP] 40, SouthWall, , , , , , , ", "output": ["STEP 1: Look down at the counter in between the two sinks. | STEP 2: Pick up the bar of soap in between the two sinks. | STEP 3: Move further away from the sinks and look at the cabinets below the sink. | STEP 4: open the cabinet door all the way to the left, put the soap in the cabinet to the right of the rag. | STEP 5: Walk to face the sink on the left side. | STEP 6: Pick up the bar of soap from the sink. | STEP 7: Move further away from the sinks and look at the cabinets below the sink. | STEP 8: Open the cabinet door, put the soap down to the left of the first bar of soap and close the door. | END"]} +{"id": "trial_T20190909_081814_796540-1", "input": "Put the two soap 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, -0.75, 0.901, 2.75, 0, 90, 0, [SEP] 1, Cloth, -0.331, 0.076, 3.507, 0, 0, 0, 23 [SEP] 2, Cloth, -0.381, 0.075, 2.202, 0, 90, 0, 24 [SEP] 3, SprayBottle, -2.202, 0.018, 3.807, 0, 0, 0, 31 [SEP] 4, SoapBar, -0.326, 0.954, 2.807, 0, 0, 0, 22 [SEP] 5, HandTowel, -0.038, 1.619, 1.887, 0, 90, 0, 28 [SEP] 6, Towel, -1.082, 1.326, 1.302, 0, 0, 0, 25 [SEP] 7, SoapBar, -0.347, 0.826, 3.222, 0, 0, 0, 32 [SEP] 8, ToiletPaper, -0.280, 0.654, 1.985, 0, 180, 90, 27 [SEP] 9, Plunger, -0.112, -0.000, 1.848, 0, 0, 0, [SEP] 10, Candle, -0.381, 0.075, 3.055, 0, 0, 0, 19 [SEP] 11, ToiletPaper, -0.388, 0.951, 2.913, 0, 0, 0, 22 [SEP] 12, SprayBottle, -0.024, 0.954, 1.481, 0, 90, 0, 30 [SEP] 13, Cloth, -0.229, 0.075, 3.011, 0, 0, 0, 18 [SEP] 14, ScrubBrush, -0.322, 3.109, 1.950, 0, 0, 0, [SEP] 15, SoapBottle, -0.141, 0.955, 2.913, 0, 0, 0, 22 [SEP] 16, Mirror, -0.030, 1.544, 2.864, 0, 0, 0, [SEP] 17, Sink, -0.302, 0.799, 3.263, 0, 270, 0, [SEP] 18, Cabinet, -0.491, 0.404, 2.863, 0, 0, 0, [SEP] 19, Cabinet, -0.495, 0.384, 2.842, 0, 0, 0, [SEP] 20, ShowerDoor, -1.647, 1.017, 1.180, 0, 0, 0, [SEP] 21, ShowerGlass, -0.909, 0.788, 0.485, 0, 0, 0, [SEP] 22, CounterTop, -0.261, 0.927, 2.843, 0, 0, 0, [SEP] 23, Cabinet, -0.495, 0.384, 3.650, 0, 0, 0, [SEP] 24, Cabinet, -0.491, 0.404, 2.055, 0, 0, 0, [SEP] 25, TowelHolder, -1.082, 1.312, 1.195, 0, 0, 0, [SEP] 26, LightSwitch, -2.424, 1.447, 3.338, 0, 90, 0, [SEP] 27, ToiletPaperHanger, -0.266, 0.786, 2.043, 0, 180, 0, [SEP] 28, HandTowelHolder, 0.000, 1.721, 1.887, 0, 180, 0, [SEP] 29, HandTowelHolder, 0.000, 1.721, 3.799, 0, 180, 0, [SEP] 30, Toilet, -0.542, 3.109, 1.493, 0, 270, 0, [SEP] 31, GarbageCan, -2.159, -0.000, 3.756, 0, 0, 0, [SEP] 32, SinkBasin, -0.308, 0.820, 3.266, 0, 0, 0, [SEP] 33, ShowerHead, -0.134, 1.888, 0.564, 0, 90, 0, [SEP] 34, Faucet, 0.0, 1.009, 3.265, 0, 0, 0, [SEP] 35, Faucet, 0.0, 1.009, 2.421, 0, 0, 0, [SEP] 36, SinkBasin, -0.308, 0.820, 2.422, 0, 0, 0, [SEP] 37, Sink, -0.302, 0.799, 2.419, 0, 270, 0, [SEP] 38, NorthWall, , , , , , , [SEP] 39, SouthWall, , , , , , , [SEP] 40, SouthWall, , , , , , , ", "output": ["STEP 1: Look down and face the sink counter | STEP 2: Pick up the soap on the counter | STEP 3: Turn right then head to the cabinet on the left side of the sink | STEP 4: Open the cabinet and put in the soap then close the cabinet | STEP 5: Go towards the left sink | STEP 6: Pick up the soap in the sink | STEP 7: Turn left then move backwards and face the cabinet below the sink | STEP 8: Open the cabinet and put in the soap then close the cabinet | END"]} +{"id": "trial_T20190909_081814_796540-2", "input": "Put two soap bars inside 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, -0.75, 0.901, 2.75, 0, 90, 0, [SEP] 1, Cloth, -0.331, 0.076, 3.507, 0, 0, 0, 23 [SEP] 2, Cloth, -0.381, 0.075, 2.202, 0, 90, 0, 24 [SEP] 3, SprayBottle, -2.202, 0.018, 3.807, 0, 0, 0, 31 [SEP] 4, SoapBar, -0.326, 0.954, 2.807, 0, 0, 0, 22 [SEP] 5, HandTowel, -0.038, 1.619, 1.887, 0, 90, 0, 28 [SEP] 6, Towel, -1.082, 1.326, 1.302, 0, 0, 0, 25 [SEP] 7, SoapBar, -0.347, 0.826, 3.222, 0, 0, 0, 32 [SEP] 8, ToiletPaper, -0.280, 0.654, 1.985, 0, 180, 90, 27 [SEP] 9, Plunger, -0.112, -0.000, 1.848, 0, 0, 0, [SEP] 10, Candle, -0.381, 0.075, 3.055, 0, 0, 0, 19 [SEP] 11, ToiletPaper, -0.388, 0.951, 2.913, 0, 0, 0, 22 [SEP] 12, SprayBottle, -0.024, 0.954, 1.481, 0, 90, 0, 30 [SEP] 13, Cloth, -0.229, 0.075, 3.011, 0, 0, 0, 18 [SEP] 14, ScrubBrush, -0.322, 3.109, 1.950, 0, 0, 0, [SEP] 15, SoapBottle, -0.141, 0.955, 2.913, 0, 0, 0, 22 [SEP] 16, Mirror, -0.030, 1.544, 2.864, 0, 0, 0, [SEP] 17, Sink, -0.302, 0.799, 3.263, 0, 270, 0, [SEP] 18, Cabinet, -0.491, 0.404, 2.863, 0, 0, 0, [SEP] 19, Cabinet, -0.495, 0.384, 2.842, 0, 0, 0, [SEP] 20, ShowerDoor, -1.647, 1.017, 1.180, 0, 0, 0, [SEP] 21, ShowerGlass, -0.909, 0.788, 0.485, 0, 0, 0, [SEP] 22, CounterTop, -0.261, 0.927, 2.843, 0, 0, 0, [SEP] 23, Cabinet, -0.495, 0.384, 3.650, 0, 0, 0, [SEP] 24, Cabinet, -0.491, 0.404, 2.055, 0, 0, 0, [SEP] 25, TowelHolder, -1.082, 1.312, 1.195, 0, 0, 0, [SEP] 26, LightSwitch, -2.424, 1.447, 3.338, 0, 90, 0, [SEP] 27, ToiletPaperHanger, -0.266, 0.786, 2.043, 0, 180, 0, [SEP] 28, HandTowelHolder, 0.000, 1.721, 1.887, 0, 180, 0, [SEP] 29, HandTowelHolder, 0.000, 1.721, 3.799, 0, 180, 0, [SEP] 30, Toilet, -0.542, 3.109, 1.493, 0, 270, 0, [SEP] 31, GarbageCan, -2.159, -0.000, 3.756, 0, 0, 0, [SEP] 32, SinkBasin, -0.308, 0.820, 3.266, 0, 0, 0, [SEP] 33, ShowerHead, -0.134, 1.888, 0.564, 0, 90, 0, [SEP] 34, Faucet, 0.0, 1.009, 3.265, 0, 0, 0, [SEP] 35, Faucet, 0.0, 1.009, 2.421, 0, 0, 0, [SEP] 36, SinkBasin, -0.308, 0.820, 2.422, 0, 0, 0, [SEP] 37, Sink, -0.302, 0.799, 2.419, 0, 270, 0, [SEP] 38, NorthWall, , , , , , , [SEP] 39, SouthWall, , , , , , , [SEP] 40, SouthWall, , , , , , , ", "output": ["STEP 1: Take a step back from the sink | STEP 2: Pick up the soap bar from the counter between the sinks | STEP 3: Turn all-way around to face the cabinet below the sink | STEP 4: Open the left side of the cabinet, put the soap inside it, and close the cabinet | STEP 5: Go back to the sink | STEP 6: Pick up the soap bar from the left sink | STEP 7: Turn all-way around to face the sink cabinet | STEP 8: Open the left side of the cabinet, put the soap inside, and close it | END"]} +{"id": "trial_T20190909_120632_691361-0", "input": "Put a washed 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, 0.5, 0.900, 2.5, 0, 270, 0, [SEP] 1, CreditCard, -1.778, 0.551, 2.874, 0, 0, 0, 84 [SEP] 2, CreditCard, 0.688, 0.908, -0.034, 0, 0, 0, 59 [SEP] 3, ButterKnife, 1.029, 0.911, -0.729, 0, 0, 0, 59 [SEP] 4, ButterKnife, -1.229, 0.933, -0.118, 0, 0, 0, 58 [SEP] 5, Glassbottle, 1.147, 1.667, 0.216, 0, 270, 0, 66 [SEP] 6, Glassbottle, 0.859, 0.912, -0.034, 0, 0, 0, 59 [SEP] 7, Fork, -1.292, 0.934, -0.380, 0, 0, 0, 58 [SEP] 8, Fork, 0.833, 0.154, -0.650, 0, 270, 0, 61 [SEP] 9, Spatula, -0.697, 0.795, -0.573, 0, 270, 0, 79 [SEP] 10, Cup, 0.905, 1.640, 1.540, 0, 270, 0, 81 [SEP] 11, Cup, 0.944, 0.908, -1.793, 0, 0, 0, 64 [SEP] 12, Plate, 0.844, 0.866, 1.349, 0, 270, 0, 81 [SEP] 13, Tomato, 1.026, 1.175, 1.158, 0, 270, 0, 81 [SEP] 14, SoapBottle, 0.861, 0.108, -2.052, 0, 0, 0, 63 [SEP] 15, SoapBottle, -1.054, 0.177, 0.543, 0, 180, 0, 78 [SEP] 16, Bowl, -0.697, 0.783, -0.745, 0, 90, 0, 79 [SEP] 17, Bowl, 1.169, 2.211, -0.973, 0, 270, 0, 65 [SEP] 18, PepperShaker, 0.915, 0.490, -0.648, 0, 270, 0, 62 [SEP] 19, PepperShaker, 0.688, 0.907, -1.965, 0, 0, 0, 64 [SEP] 20, Bread, -1.104, 1.014, 0.144, 0, 0, 0, 58 [SEP] 21, Bread, 1.029, 0.992, -0.208, 0, 0, 0, 59 [SEP] 22, Mug, -0.477, 0.928, -0.143, 0, 0, 0, 58 [SEP] 23, Mug, 1.239, 1.661, 0.344, 0, 0, 0, 66 [SEP] 24, Statue, -0.624, 0.936, -1.386, 0, 0, 0, 58 [SEP] 25, Glassbottle, 1.240, 1.667, -0.657, 0, 270, 0, 67 [SEP] 26, Bread, -0.779, 0.996, 0.209, 0, 258.641, 0, 58 [SEP] 27, CreditCard, -1.674, 0.878, 2.665, 0, 0, 0, 85 [SEP] 28, CellPhone, -1.229, 0.930, -0.905, 0, 0, 0, 58 [SEP] 29, Potato, 1.087, 1.673, 1.540, 0, 270, 0, 81 [SEP] 30, Knife, 0.773, 0.934, 0.139, 0, 90, 0, 59 [SEP] 31, Fork, 0.834, 0.495, -0.772, 0, 0, 0, 62 [SEP] 32, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 52 [SEP] 33, Lettuce, 0.965, 1.479, 1.444, 0, 270, 0, 81 [SEP] 34, Plate, 0.844, 1.405, 1.158, 0, 270, 0, 81 [SEP] 35, Apple, -0.912, 0.227, 0.510, 0, 180, 0, 78 [SEP] 36, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 54 [SEP] 37, Spatula, -0.753, 0.795, -0.918, 0, 180, 0, 79 [SEP] 38, PaperTowelRoll, -0.865, 0.283, 0.641, 0, 180, 0, 78 [SEP] 39, Tomato, 0.773, 0.952, -1.793, 0, 0, 0, 64 [SEP] 40, Egg, -0.477, 0.971, 0.239, 0, 0, 0, 58 [SEP] 41, SaltShaker, 0.688, 0.907, -1.879, 0, 0, 0, 64 [SEP] 42, PepperShaker, 1.256, 2.204, -1.626, 0, 270, 0, 65 [SEP] 43, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 84 [SEP] 44, ButterKnife, -0.550, 0.933, 0.009, 0, 0, 0, 58 [SEP] 45, SoapBottle, 0.761, 0.108, -2.212, 0, 0, 0, 63 [SEP] 46, Vase, 1.126, 2.209, -1.191, 0, 270, 0, 65 [SEP] 47, Bowl, 0.761, 0.111, -1.892, 0, 0, 0, 63 [SEP] 48, DishSponge, 1.029, 0.910, -0.555, 0, 0, 0, 59 [SEP] 49, Spoon, 1.199, 0.912, -0.729, 0, 90, 0, 59 [SEP] 50, Cup, 1.087, 1.132, 1.254, 0, 270, 0, 81 [SEP] 51, Mug, 1.093, 1.790, -1.132, 0, 270, 0, 80 [SEP] 52, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 53, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 54, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 55, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 56, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 57, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 58, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 59, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 60, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 61, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 62, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 63, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 64, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 65, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 66, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 67, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 68, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 69, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 70, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 71, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 72, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 73, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 74, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 75, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 76, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 77, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 78, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 79, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 80, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 81, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 82, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 83, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 84, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 85, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 86, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 87, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 88, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 89, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 90, NorthWall, , , , , , , [SEP] 91, EastWall, , , , , , , [SEP] 92, SouthWall, , , , , , , [SEP] 93, WestWall, , , , , , , ", "output": ["STEP 1: Turn left, go forward, turn right to the counter to the right of the sink. | STEP 2: Take the egg from the counter. | STEP 3: Go to the sink to the left. | STEP 4: Wash the egg in the sink, take the egg out of the sink. | STEP 5: Turn left, go forward a step, turn left, go to the oven. | STEP 6: Put the egg in the microwave above the oven. | END"]} +{"id": "trial_T20190909_120632_691361-1", "input": "take a rinsed egg 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, 0.900, 2.5, 0, 270, 0, [SEP] 1, CreditCard, -1.778, 0.551, 2.874, 0, 0, 0, 84 [SEP] 2, CreditCard, 0.688, 0.908, -0.034, 0, 0, 0, 59 [SEP] 3, ButterKnife, 1.029, 0.911, -0.729, 0, 0, 0, 59 [SEP] 4, ButterKnife, -1.229, 0.933, -0.118, 0, 0, 0, 58 [SEP] 5, Glassbottle, 1.147, 1.667, 0.216, 0, 270, 0, 66 [SEP] 6, Glassbottle, 0.859, 0.912, -0.034, 0, 0, 0, 59 [SEP] 7, Fork, -1.292, 0.934, -0.380, 0, 0, 0, 58 [SEP] 8, Fork, 0.833, 0.154, -0.650, 0, 270, 0, 61 [SEP] 9, Spatula, -0.697, 0.795, -0.573, 0, 270, 0, 79 [SEP] 10, Cup, 0.905, 1.640, 1.540, 0, 270, 0, 81 [SEP] 11, Cup, 0.944, 0.908, -1.793, 0, 0, 0, 64 [SEP] 12, Plate, 0.844, 0.866, 1.349, 0, 270, 0, 81 [SEP] 13, Tomato, 1.026, 1.175, 1.158, 0, 270, 0, 81 [SEP] 14, SoapBottle, 0.861, 0.108, -2.052, 0, 0, 0, 63 [SEP] 15, SoapBottle, -1.054, 0.177, 0.543, 0, 180, 0, 78 [SEP] 16, Bowl, -0.697, 0.783, -0.745, 0, 90, 0, 79 [SEP] 17, Bowl, 1.169, 2.211, -0.973, 0, 270, 0, 65 [SEP] 18, PepperShaker, 0.915, 0.490, -0.648, 0, 270, 0, 62 [SEP] 19, PepperShaker, 0.688, 0.907, -1.965, 0, 0, 0, 64 [SEP] 20, Bread, -1.104, 1.014, 0.144, 0, 0, 0, 58 [SEP] 21, Bread, 1.029, 0.992, -0.208, 0, 0, 0, 59 [SEP] 22, Mug, -0.477, 0.928, -0.143, 0, 0, 0, 58 [SEP] 23, Mug, 1.239, 1.661, 0.344, 0, 0, 0, 66 [SEP] 24, Statue, -0.624, 0.936, -1.386, 0, 0, 0, 58 [SEP] 25, Glassbottle, 1.240, 1.667, -0.657, 0, 270, 0, 67 [SEP] 26, Bread, -0.779, 0.996, 0.209, 0, 258.641, 0, 58 [SEP] 27, CreditCard, -1.674, 0.878, 2.665, 0, 0, 0, 85 [SEP] 28, CellPhone, -1.229, 0.930, -0.905, 0, 0, 0, 58 [SEP] 29, Potato, 1.087, 1.673, 1.540, 0, 270, 0, 81 [SEP] 30, Knife, 0.773, 0.934, 0.139, 0, 90, 0, 59 [SEP] 31, Fork, 0.834, 0.495, -0.772, 0, 0, 0, 62 [SEP] 32, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 52 [SEP] 33, Lettuce, 0.965, 1.479, 1.444, 0, 270, 0, 81 [SEP] 34, Plate, 0.844, 1.405, 1.158, 0, 270, 0, 81 [SEP] 35, Apple, -0.912, 0.227, 0.510, 0, 180, 0, 78 [SEP] 36, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 54 [SEP] 37, Spatula, -0.753, 0.795, -0.918, 0, 180, 0, 79 [SEP] 38, PaperTowelRoll, -0.865, 0.283, 0.641, 0, 180, 0, 78 [SEP] 39, Tomato, 0.773, 0.952, -1.793, 0, 0, 0, 64 [SEP] 40, Egg, -0.477, 0.971, 0.239, 0, 0, 0, 58 [SEP] 41, SaltShaker, 0.688, 0.907, -1.879, 0, 0, 0, 64 [SEP] 42, PepperShaker, 1.256, 2.204, -1.626, 0, 270, 0, 65 [SEP] 43, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 84 [SEP] 44, ButterKnife, -0.550, 0.933, 0.009, 0, 0, 0, 58 [SEP] 45, SoapBottle, 0.761, 0.108, -2.212, 0, 0, 0, 63 [SEP] 46, Vase, 1.126, 2.209, -1.191, 0, 270, 0, 65 [SEP] 47, Bowl, 0.761, 0.111, -1.892, 0, 0, 0, 63 [SEP] 48, DishSponge, 1.029, 0.910, -0.555, 0, 0, 0, 59 [SEP] 49, Spoon, 1.199, 0.912, -0.729, 0, 90, 0, 59 [SEP] 50, Cup, 1.087, 1.132, 1.254, 0, 270, 0, 81 [SEP] 51, Mug, 1.093, 1.790, -1.132, 0, 270, 0, 80 [SEP] 52, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 53, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 54, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 55, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 56, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 57, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 58, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 59, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 60, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 61, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 62, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 63, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 64, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 65, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 66, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 67, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 68, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 69, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 70, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 71, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 72, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 73, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 74, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 75, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 76, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 77, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 78, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 79, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 80, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 81, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 82, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 83, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 84, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 85, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 86, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 87, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 88, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 89, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 90, NorthWall, , , , , , , [SEP] 91, EastWall, , , , , , , [SEP] 92, SouthWall, , , , , , , [SEP] 93, WestWall, , , , , , , ", "output": ["STEP 1: go to the counter to the right of the sink | STEP 2: take the egg from the counter | STEP 3: take the egg to the sink | STEP 4: put the egg in the sink then take back out | STEP 5: take the egg to the microwave | STEP 6: put the egg in the microwave | END"]} +{"id": "trial_T20190909_120632_691361-2", "input": "Place a cleaned 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, 0.5, 0.900, 2.5, 0, 270, 0, [SEP] 1, CreditCard, -1.778, 0.551, 2.874, 0, 0, 0, 84 [SEP] 2, CreditCard, 0.688, 0.908, -0.034, 0, 0, 0, 59 [SEP] 3, ButterKnife, 1.029, 0.911, -0.729, 0, 0, 0, 59 [SEP] 4, ButterKnife, -1.229, 0.933, -0.118, 0, 0, 0, 58 [SEP] 5, Glassbottle, 1.147, 1.667, 0.216, 0, 270, 0, 66 [SEP] 6, Glassbottle, 0.859, 0.912, -0.034, 0, 0, 0, 59 [SEP] 7, Fork, -1.292, 0.934, -0.380, 0, 0, 0, 58 [SEP] 8, Fork, 0.833, 0.154, -0.650, 0, 270, 0, 61 [SEP] 9, Spatula, -0.697, 0.795, -0.573, 0, 270, 0, 79 [SEP] 10, Cup, 0.905, 1.640, 1.540, 0, 270, 0, 81 [SEP] 11, Cup, 0.944, 0.908, -1.793, 0, 0, 0, 64 [SEP] 12, Plate, 0.844, 0.866, 1.349, 0, 270, 0, 81 [SEP] 13, Tomato, 1.026, 1.175, 1.158, 0, 270, 0, 81 [SEP] 14, SoapBottle, 0.861, 0.108, -2.052, 0, 0, 0, 63 [SEP] 15, SoapBottle, -1.054, 0.177, 0.543, 0, 180, 0, 78 [SEP] 16, Bowl, -0.697, 0.783, -0.745, 0, 90, 0, 79 [SEP] 17, Bowl, 1.169, 2.211, -0.973, 0, 270, 0, 65 [SEP] 18, PepperShaker, 0.915, 0.490, -0.648, 0, 270, 0, 62 [SEP] 19, PepperShaker, 0.688, 0.907, -1.965, 0, 0, 0, 64 [SEP] 20, Bread, -1.104, 1.014, 0.144, 0, 0, 0, 58 [SEP] 21, Bread, 1.029, 0.992, -0.208, 0, 0, 0, 59 [SEP] 22, Mug, -0.477, 0.928, -0.143, 0, 0, 0, 58 [SEP] 23, Mug, 1.239, 1.661, 0.344, 0, 0, 0, 66 [SEP] 24, Statue, -0.624, 0.936, -1.386, 0, 0, 0, 58 [SEP] 25, Glassbottle, 1.240, 1.667, -0.657, 0, 270, 0, 67 [SEP] 26, Bread, -0.779, 0.996, 0.209, 0, 258.641, 0, 58 [SEP] 27, CreditCard, -1.674, 0.878, 2.665, 0, 0, 0, 85 [SEP] 28, CellPhone, -1.229, 0.930, -0.905, 0, 0, 0, 58 [SEP] 29, Potato, 1.087, 1.673, 1.540, 0, 270, 0, 81 [SEP] 30, Knife, 0.773, 0.934, 0.139, 0, 90, 0, 59 [SEP] 31, Fork, 0.834, 0.495, -0.772, 0, 0, 0, 62 [SEP] 32, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 52 [SEP] 33, Lettuce, 0.965, 1.479, 1.444, 0, 270, 0, 81 [SEP] 34, Plate, 0.844, 1.405, 1.158, 0, 270, 0, 81 [SEP] 35, Apple, -0.912, 0.227, 0.510, 0, 180, 0, 78 [SEP] 36, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 54 [SEP] 37, Spatula, -0.753, 0.795, -0.918, 0, 180, 0, 79 [SEP] 38, PaperTowelRoll, -0.865, 0.283, 0.641, 0, 180, 0, 78 [SEP] 39, Tomato, 0.773, 0.952, -1.793, 0, 0, 0, 64 [SEP] 40, Egg, -0.477, 0.971, 0.239, 0, 0, 0, 58 [SEP] 41, SaltShaker, 0.688, 0.907, -1.879, 0, 0, 0, 64 [SEP] 42, PepperShaker, 1.256, 2.204, -1.626, 0, 270, 0, 65 [SEP] 43, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 84 [SEP] 44, ButterKnife, -0.550, 0.933, 0.009, 0, 0, 0, 58 [SEP] 45, SoapBottle, 0.761, 0.108, -2.212, 0, 0, 0, 63 [SEP] 46, Vase, 1.126, 2.209, -1.191, 0, 270, 0, 65 [SEP] 47, Bowl, 0.761, 0.111, -1.892, 0, 0, 0, 63 [SEP] 48, DishSponge, 1.029, 0.910, -0.555, 0, 0, 0, 59 [SEP] 49, Spoon, 1.199, 0.912, -0.729, 0, 90, 0, 59 [SEP] 50, Cup, 1.087, 1.132, 1.254, 0, 270, 0, 81 [SEP] 51, Mug, 1.093, 1.790, -1.132, 0, 270, 0, 80 [SEP] 52, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 53, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 54, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 55, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 56, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 57, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 58, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 59, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 60, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 61, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 62, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 63, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 64, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 65, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 66, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 67, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 68, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 69, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 70, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 71, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 72, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 73, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 74, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 75, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 76, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 77, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 78, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 79, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 80, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 81, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 82, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 83, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 84, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 85, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 86, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 87, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 88, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 89, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 90, NorthWall, , , , , , , [SEP] 91, EastWall, , , , , , , [SEP] 92, SouthWall, , , , , , , [SEP] 93, WestWall, , , , , , , ", "output": ["STEP 1: Turn left, walk forward just past the refrigerator, then turn right towards the egg on the counter. | STEP 2: Pick up the egg from the counter. | STEP 3: Turn left and walk to the sink. | STEP 4: Put the egg in the sink, rinse it off, and take it back out. | STEP 5: Turn around and walk forward to the microwave above the stove top. | STEP 6: Put the egg in the microwave and close the microwave. | END"]} +{"id": "trial_T20190908_114545_244903-0", "input": "Place a chilled pan 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, -3.0, 0.900, 0.75, 0, 270, 0, [SEP] 1, Statue, -1.292, 0.936, -0.118, 0, 0, 0, 51 [SEP] 2, Vase, 1.148, 1.667, -2.166, 0, 270, 0, 50 [SEP] 3, CreditCard, -1.981, 0.878, 2.773, 0, 0, 0, 78 [SEP] 4, CreditCard, -1.570, 0.551, 2.563, 0, 0, 0, 77 [SEP] 5, CellPhone, -0.624, 0.930, -1.386, 0, 0, 0, 51 [SEP] 6, CellPhone, -0.920, 0.930, -1.308, 0, 0, 0, 51 [SEP] 7, DishSponge, 0.811, 0.107, -2.292, 0, 0, 0, 56 [SEP] 8, Glassbottle, 1.239, 1.667, 0.344, 0, 270, 0, 59 [SEP] 9, Plate, 0.910, 0.111, -2.132, 0, 0, 0, 56 [SEP] 10, Tomato, -0.642, 0.821, -0.659, 0, 90, 0, 72 [SEP] 11, Tomato, -0.865, 0.219, 0.543, 0, 180, 0, 71 [SEP] 12, SoapBottle, -1.571, 0.882, 2.719, 0, 0, 0, 78 [SEP] 13, Bowl, 1.055, 1.669, 0.089, 0, 270, 0, 59 [SEP] 14, SaltShaker, 1.147, 1.662, 0.216, 0, 270, 0, 59 [SEP] 15, SaltShaker, 0.754, 0.491, -0.524, 0, 270, 0, 55 [SEP] 16, Apple, -1.418, 0.983, 0.144, 0, 0, 0, 51 [SEP] 17, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 51 [SEP] 18, Glassbottle, 1.148, 1.667, -0.401, 0, 270, 0, 60 [SEP] 19, Bread, -0.779, 0.996, 0.21, 0, 258.641, 0, 51 [SEP] 20, CreditCard, -1.674, 0.878, 2.746, 0, 0, 0, 78 [SEP] 21, CellPhone, 0.875, 0.492, -0.690, 0, 0, 0, 55 [SEP] 22, Potato, -0.587, 0.811, -0.400, 0, 90, 0, 72 [SEP] 23, Knife, 0.868, 0.700, -0.600, 90, 315, 0, 49 [SEP] 24, Fork, -1.229, 0.934, -0.380, 0, 0, 0, 51 [SEP] 25, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 45 [SEP] 26, Lettuce, -1.355, 1.010, -0.905, 0, 0, 0, 51 [SEP] 27, Plate, 1.169, 2.211, -1.408, 0, 270, 0, 58 [SEP] 28, Apple, -1.007, 0.227, 0.576, 0, 180, 0, 71 [SEP] 29, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 47 [SEP] 30, Spatula, -0.698, 0.791, -0.400, 0, 270, 0, 72 [SEP] 31, PaperTowelRoll, -1.985, 0.658, 2.563, 0, 0, 0, 77 [SEP] 32, Tomato, -0.920, 0.974, -1.618, 0, 0, 0, 51 [SEP] 33, Egg, -0.642, 0.814, -0.832, 0, 90, 0, 72 [SEP] 34, SaltShaker, 0.794, 0.490, -0.690, 0, 270, 0, 55 [SEP] 35, PepperShaker, 0.710, 0.117, 0.374, 0, 270, 0, 52 [SEP] 36, Vase, -1.367, 0.881, 2.719, 0, 0, 0, 78 [SEP] 37, ButterKnife, -0.772, 0.933, -1.231, 0, 0, 0, 51 [SEP] 38, SoapBottle, 0.761, 0.108, -1.892, 0, 0, 0, 56 [SEP] 39, Vase, -1.363, 0.555, 2.667, 0, 0, 0, 77 [SEP] 40, Bowl, 1.126, 2.211, -1.191, 0, 270, 0, 58 [SEP] 41, DishSponge, 0.793, 0.153, -0.690, 0, 270, 0, 54 [SEP] 42, Spoon, -1.241, 0.919, -1.209, 0, 0, 0, 51 [SEP] 43, Cup, 0.913, 0.118, 0.325, 0, 270, 0, 46 [SEP] 44, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 70 [SEP] 45, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 46, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 47, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 48, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 49, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 50, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 51, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 52, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 53, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 54, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 55, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 56, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 57, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 58, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 59, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 60, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 61, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 62, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 63, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 64, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 65, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 66, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 67, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 68, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 69, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 70, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 71, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 72, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 73, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 74, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 75, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 76, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 77, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 78, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 79, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 80, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 81, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 82, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 83, NorthWall, , , , , , , [SEP] 84, EastWall, , , , , , , [SEP] 85, SouthWall, , , , , , , [SEP] 86, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and walk to the fridge, then veer right to the stove. | STEP 2: Pick up the pan on the stove. | STEP 3: Walk left back to the fridge. | STEP 4: Place the pan in the fridge. Close the door, wait a moment, and take it out again. | STEP 5: Walk a few steps right. | STEP 6: Place the pan on the counter to the right of the toaster. | END"]} +{"id": "trial_T20190908_114545_244903-1", "input": "Put a chilled pan 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, -3.0, 0.900, 0.75, 0, 270, 0, [SEP] 1, Statue, -1.292, 0.936, -0.118, 0, 0, 0, 51 [SEP] 2, Vase, 1.148, 1.667, -2.166, 0, 270, 0, 50 [SEP] 3, CreditCard, -1.981, 0.878, 2.773, 0, 0, 0, 78 [SEP] 4, CreditCard, -1.570, 0.551, 2.563, 0, 0, 0, 77 [SEP] 5, CellPhone, -0.624, 0.930, -1.386, 0, 0, 0, 51 [SEP] 6, CellPhone, -0.920, 0.930, -1.308, 0, 0, 0, 51 [SEP] 7, DishSponge, 0.811, 0.107, -2.292, 0, 0, 0, 56 [SEP] 8, Glassbottle, 1.239, 1.667, 0.344, 0, 270, 0, 59 [SEP] 9, Plate, 0.910, 0.111, -2.132, 0, 0, 0, 56 [SEP] 10, Tomato, -0.642, 0.821, -0.659, 0, 90, 0, 72 [SEP] 11, Tomato, -0.865, 0.219, 0.543, 0, 180, 0, 71 [SEP] 12, SoapBottle, -1.571, 0.882, 2.719, 0, 0, 0, 78 [SEP] 13, Bowl, 1.055, 1.669, 0.089, 0, 270, 0, 59 [SEP] 14, SaltShaker, 1.147, 1.662, 0.216, 0, 270, 0, 59 [SEP] 15, SaltShaker, 0.754, 0.491, -0.524, 0, 270, 0, 55 [SEP] 16, Apple, -1.418, 0.983, 0.144, 0, 0, 0, 51 [SEP] 17, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 51 [SEP] 18, Glassbottle, 1.148, 1.667, -0.401, 0, 270, 0, 60 [SEP] 19, Bread, -0.779, 0.996, 0.21, 0, 258.641, 0, 51 [SEP] 20, CreditCard, -1.674, 0.878, 2.746, 0, 0, 0, 78 [SEP] 21, CellPhone, 0.875, 0.492, -0.690, 0, 0, 0, 55 [SEP] 22, Potato, -0.587, 0.811, -0.400, 0, 90, 0, 72 [SEP] 23, Knife, 0.868, 0.700, -0.600, 90, 315, 0, 49 [SEP] 24, Fork, -1.229, 0.934, -0.380, 0, 0, 0, 51 [SEP] 25, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 45 [SEP] 26, Lettuce, -1.355, 1.010, -0.905, 0, 0, 0, 51 [SEP] 27, Plate, 1.169, 2.211, -1.408, 0, 270, 0, 58 [SEP] 28, Apple, -1.007, 0.227, 0.576, 0, 180, 0, 71 [SEP] 29, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 47 [SEP] 30, Spatula, -0.698, 0.791, -0.400, 0, 270, 0, 72 [SEP] 31, PaperTowelRoll, -1.985, 0.658, 2.563, 0, 0, 0, 77 [SEP] 32, Tomato, -0.920, 0.974, -1.618, 0, 0, 0, 51 [SEP] 33, Egg, -0.642, 0.814, -0.832, 0, 90, 0, 72 [SEP] 34, SaltShaker, 0.794, 0.490, -0.690, 0, 270, 0, 55 [SEP] 35, PepperShaker, 0.710, 0.117, 0.374, 0, 270, 0, 52 [SEP] 36, Vase, -1.367, 0.881, 2.719, 0, 0, 0, 78 [SEP] 37, ButterKnife, -0.772, 0.933, -1.231, 0, 0, 0, 51 [SEP] 38, SoapBottle, 0.761, 0.108, -1.892, 0, 0, 0, 56 [SEP] 39, Vase, -1.363, 0.555, 2.667, 0, 0, 0, 77 [SEP] 40, Bowl, 1.126, 2.211, -1.191, 0, 270, 0, 58 [SEP] 41, DishSponge, 0.793, 0.153, -0.690, 0, 270, 0, 54 [SEP] 42, Spoon, -1.241, 0.919, -1.209, 0, 0, 0, 51 [SEP] 43, Cup, 0.913, 0.118, 0.325, 0, 270, 0, 46 [SEP] 44, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 70 [SEP] 45, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 46, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 47, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 48, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 49, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 50, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 51, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 52, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 53, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 54, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 55, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 56, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 57, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 58, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 59, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 60, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 61, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 62, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 63, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 64, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 65, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 66, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 67, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 68, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 69, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 70, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 71, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 72, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 73, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 74, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 75, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 76, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 77, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 78, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 79, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 80, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 81, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 82, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 83, NorthWall, , , , , , , [SEP] 84, EastWall, , , , , , , [SEP] 85, SouthWall, , , , , , , [SEP] 86, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and cross the room and then go right and turn to the left to face the stove. | STEP 2: Pick the pan up from the front left of the stove. | STEP 3: Go left and stand in front of the fridge. | STEP 4: Put the pan in the fridge and shut the door and then open the door and get the pan back out and shut the door. | STEP 5: Go right and then turn to the left to face the counter to the right of the toaster. | STEP 6: Put the pan down on the counter to the right of the toaster. | END"]} +{"id": "trial_T20190908_114545_244903-2", "input": "Remove the pan from the stove, chill it in the fridge 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, -3.0, 0.900, 0.75, 0, 270, 0, [SEP] 1, Statue, -1.292, 0.936, -0.118, 0, 0, 0, 51 [SEP] 2, Vase, 1.148, 1.667, -2.166, 0, 270, 0, 50 [SEP] 3, CreditCard, -1.981, 0.878, 2.773, 0, 0, 0, 78 [SEP] 4, CreditCard, -1.570, 0.551, 2.563, 0, 0, 0, 77 [SEP] 5, CellPhone, -0.624, 0.930, -1.386, 0, 0, 0, 51 [SEP] 6, CellPhone, -0.920, 0.930, -1.308, 0, 0, 0, 51 [SEP] 7, DishSponge, 0.811, 0.107, -2.292, 0, 0, 0, 56 [SEP] 8, Glassbottle, 1.239, 1.667, 0.344, 0, 270, 0, 59 [SEP] 9, Plate, 0.910, 0.111, -2.132, 0, 0, 0, 56 [SEP] 10, Tomato, -0.642, 0.821, -0.659, 0, 90, 0, 72 [SEP] 11, Tomato, -0.865, 0.219, 0.543, 0, 180, 0, 71 [SEP] 12, SoapBottle, -1.571, 0.882, 2.719, 0, 0, 0, 78 [SEP] 13, Bowl, 1.055, 1.669, 0.089, 0, 270, 0, 59 [SEP] 14, SaltShaker, 1.147, 1.662, 0.216, 0, 270, 0, 59 [SEP] 15, SaltShaker, 0.754, 0.491, -0.524, 0, 270, 0, 55 [SEP] 16, Apple, -1.418, 0.983, 0.144, 0, 0, 0, 51 [SEP] 17, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 51 [SEP] 18, Glassbottle, 1.148, 1.667, -0.401, 0, 270, 0, 60 [SEP] 19, Bread, -0.779, 0.996, 0.21, 0, 258.641, 0, 51 [SEP] 20, CreditCard, -1.674, 0.878, 2.746, 0, 0, 0, 78 [SEP] 21, CellPhone, 0.875, 0.492, -0.690, 0, 0, 0, 55 [SEP] 22, Potato, -0.587, 0.811, -0.400, 0, 90, 0, 72 [SEP] 23, Knife, 0.868, 0.700, -0.600, 90, 315, 0, 49 [SEP] 24, Fork, -1.229, 0.934, -0.380, 0, 0, 0, 51 [SEP] 25, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 45 [SEP] 26, Lettuce, -1.355, 1.010, -0.905, 0, 0, 0, 51 [SEP] 27, Plate, 1.169, 2.211, -1.408, 0, 270, 0, 58 [SEP] 28, Apple, -1.007, 0.227, 0.576, 0, 180, 0, 71 [SEP] 29, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 47 [SEP] 30, Spatula, -0.698, 0.791, -0.400, 0, 270, 0, 72 [SEP] 31, PaperTowelRoll, -1.985, 0.658, 2.563, 0, 0, 0, 77 [SEP] 32, Tomato, -0.920, 0.974, -1.618, 0, 0, 0, 51 [SEP] 33, Egg, -0.642, 0.814, -0.832, 0, 90, 0, 72 [SEP] 34, SaltShaker, 0.794, 0.490, -0.690, 0, 270, 0, 55 [SEP] 35, PepperShaker, 0.710, 0.117, 0.374, 0, 270, 0, 52 [SEP] 36, Vase, -1.367, 0.881, 2.719, 0, 0, 0, 78 [SEP] 37, ButterKnife, -0.772, 0.933, -1.231, 0, 0, 0, 51 [SEP] 38, SoapBottle, 0.761, 0.108, -1.892, 0, 0, 0, 56 [SEP] 39, Vase, -1.363, 0.555, 2.667, 0, 0, 0, 77 [SEP] 40, Bowl, 1.126, 2.211, -1.191, 0, 270, 0, 58 [SEP] 41, DishSponge, 0.793, 0.153, -0.690, 0, 270, 0, 54 [SEP] 42, Spoon, -1.241, 0.919, -1.209, 0, 0, 0, 51 [SEP] 43, Cup, 0.913, 0.118, 0.325, 0, 270, 0, 46 [SEP] 44, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 70 [SEP] 45, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 46, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 47, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 48, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 49, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 50, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 51, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 52, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 53, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 54, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 55, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 56, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 57, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 58, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 59, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 60, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 61, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 62, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 63, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 64, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 65, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 66, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 67, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 68, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 69, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 70, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 71, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 72, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 73, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 74, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 75, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 76, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 77, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 78, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 79, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 80, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 81, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 82, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 83, NorthWall, , , , , , , [SEP] 84, EastWall, , , , , , , [SEP] 85, SouthWall, , , , , , , [SEP] 86, WestWall, , , , , , , ", "output": ["STEP 1: Turn to the right twice, proceed to the fridge and turn to your right again to walk and face the stove. | STEP 2: Pick up the pan from the top of the stove. | STEP 3: Turn to your left and walk to the front of the fridge and then face it. | STEP 4: Open the fridge door and place the pan inside to chill, then remove it and shut the door. | STEP 5: Turn to the right and walk to the left of the stove and face the counter. | STEP 6: Place the pan on the counter. | END"]} +{"id": "trial_T20190907_074556_124850-0", "input": "Move the watch from the cabinet to the safe 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, 1.25, 0, 270, 0, [SEP] 1, TissueBox, -5.194, 1.040, 0.306, 0, 0, 0, 41 [SEP] 2, TissueBox, -3.052, 0.201, 4.466, 0, 90, 0, 58 [SEP] 3, Newspaper, -0.870, 0.628, 2.753, 0, 0, 0, 63 [SEP] 4, CellPhone, -0.265, 1.102, 0.826, 0, 270, 0, 50 [SEP] 5, CellPhone, -4.505, 1.111, 4.885, 0, 90, 0, 59 [SEP] 6, Vase, -5.534, 1.043, 0.372, 0, 0, 0, 41 [SEP] 7, Vase, -2.404, 0.037, 0.212, 0, 90, 0, 42 [SEP] 8, Watch, -5.331, 0.862, 0.241, 0, 0, 0, 41 [SEP] 9, Watch, -4.043, 0.996, 4.336, 0, 90, 0, 59 [SEP] 10, KeyChain, -3.741, 0.996, 4.267, 0, 180, 0, 55 [SEP] 11, KeyChain, -4.505, 1.112, 4.588, 0, 90, 0, 59 [SEP] 12, CreditCard, -1.003, 1.101, 0.229, 0, 0, 0, 45 [SEP] 13, Box, -3.863, 1.329, 4.490, 0, 90, 0, 59 [SEP] 14, Box, -1.584, 0.811, 4.470, 0, 0, 0, 53 [SEP] 15, Box, -3.503, 0.425, 4.459, 0, 90, 0, 57 [SEP] 16, Watch, -2.901, 1.111, 4.292, 0, 90, 0, 61 [SEP] 17, Pillow, -2.031, 0.668, 4.421, 0, 0, 0, 53 [SEP] 18, TissueBox, -4.605, 0.205, 4.395, 0, 90, 0, 56 [SEP] 19, Newspaper, -4.184, 1.114, 4.588, 0, 90, 0, 59 [SEP] 20, CreditCard, -0.411, 0.073, 0.828, 0, 270, 0, 44 [SEP] 21, KeyChain, -1.006, 1.592, 0.376, 0, 0, 0, 46 [SEP] 22, CellPhone, -4.184, 1.108, 4.786, 0, 90, 0, 59 [SEP] 23, Statue, -1.459, 0.598, 0.185, 0, 0, 0, 49 [SEP] 24, Laptop, -3.393, 1.104, 4.492, 0, 191.867, 0, 59 [SEP] 25, RemoteControl, -1.709, 0.592, 4.211, 0, 0, 0, 53 [SEP] 26, Vase, -2.191, 0.037, 0.369, 0, 90, 0, 42 [SEP] 27, DeskLamp, -4.649, 1.051, 0.268, 0, 0, 0, [SEP] 28, DeskLamp, -2.992, 1.107, 4.522, 0, 0, 0, [SEP] 29, FloorLamp, -0.650, 0.007, 4.431, 0, 0, 0, [SEP] 30, FloorLamp, -5.607, 0.007, 4.641, 0, 0, 0, [SEP] 31, Shelf, -5.237, 1.776, 0.070, 0, 0, 0, [SEP] 32, Shelf, -5.238, 1.968, 0.085, 0, 0, 0, [SEP] 33, Shelf, -5.242, 1.391, 0.086, 0, 0, 0, [SEP] 34, Shelf, -5.241, 1.582, 0.065, 0, 0, 0, [SEP] 35, LightSwitch, -6.002, 1.353, 3.404, 0, 90, 0, [SEP] 36, GarbageCan, -5.794, -0.033, 4.073, 0, 90, 0, [SEP] 37, Painting, -6.017, 1.802, 4.177, 90, 270, 0, [SEP] 38, HousePlant, -3.966, 1.625, 0.135, 0, 315, 0, [SEP] 39, Television, -3.355, 0.833, 0.027, 0, 0, 0, [SEP] 40, Drawer, -5.024, 0.903, 0.370, 0, 0, 0, [SEP] 41, SideTable, -5.024, 0.008, 0.267, 0, 0, 0, [SEP] 42, Safe, -2.298, 5.778, 0.268, 0, 90, 0, [SEP] 43, Shelf, -0.253, 0.781, 1.058, 0, 270, 0, [SEP] 44, Shelf, -0.283, 0.274, 1.066, 0, 270, 0, [SEP] 45, Shelf, -1.224, 1.288, 0.270, 0, 0, 0, [SEP] 46, Shelf, -1.218, 1.810, 0.275, 0, 0, 0, [SEP] 47, Shelf, -0.280, 1.810, 1.057, 0, 270, 0, [SEP] 48, Shelf, -1.218, 0.274, 0.262, 0, 0, 0, [SEP] 49, Shelf, -1.223, 0.782, 0.237, 0, 0, 0, [SEP] 50, Shelf, -0.280, 1.288, 1.055, 0, 270, 0, [SEP] 51, ShelvingUnit, -0.268, 0.004, 1.067, 0, 270, 0, [SEP] 52, ShelvingUnit, -1.218, 0.004, 0.244, 0, 0, 0, [SEP] 53, ArmChair, -2.027, 0.001, 4.422, 0, 178.692, 0, [SEP] 54, Drawer, -4.329, 1.014, 4.311, 0, 180, 0, [SEP] 55, Drawer, -3.750, 1.014, 4.311, 0, 180, 0, [SEP] 56, Cabinet, -4.049, 0.561, 4.212, 0, 180, 0, [SEP] 57, Cabinet, -4.032, 0.561, 4.212, 0, 180, 0, [SEP] 58, Cabinet, -2.884, 0.561, 4.212, 0, 180, 0, [SEP] 59, Dresser, -4.041, -0.000, 4.589, 0, 180, 0, [SEP] 60, Drawer, -4.916, 1.014, 4.311, 0, 180, 0, [SEP] 61, Drawer, -3.166, 1.014, 4.311, 0, 180, 0, [SEP] 62, Cabinet, -5.196, 0.561, 4.212, 0, 180, 0, [SEP] 63, Sofa, -0.705, -0.002, 2.753, 0, 270, 0, [SEP] 64, NorthWall, , , , , , , [SEP] 65, SouthWall, , , , , , , [SEP] 66, SouthWall, , , , , , , ", "output": ["STEP 1: Turn right, walk to the cabinet | STEP 2: Open the first drawer under the newspaper in the cabinet, Grab the watch from the drawer | STEP 3: Turn right, walk to the white sofa, turn right, walk to the white safe | STEP 4: Open the safe, put the watch in,close the safe | END"]} +{"id": "trial_T20190907_074556_124850-1", "input": "Secure watch in safe. 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, 1.25, 0, 270, 0, [SEP] 1, TissueBox, -5.194, 1.040, 0.306, 0, 0, 0, 41 [SEP] 2, TissueBox, -3.052, 0.201, 4.466, 0, 90, 0, 58 [SEP] 3, Newspaper, -0.870, 0.628, 2.753, 0, 0, 0, 63 [SEP] 4, CellPhone, -0.265, 1.102, 0.826, 0, 270, 0, 50 [SEP] 5, CellPhone, -4.505, 1.111, 4.885, 0, 90, 0, 59 [SEP] 6, Vase, -5.534, 1.043, 0.372, 0, 0, 0, 41 [SEP] 7, Vase, -2.404, 0.037, 0.212, 0, 90, 0, 42 [SEP] 8, Watch, -5.331, 0.862, 0.241, 0, 0, 0, 41 [SEP] 9, Watch, -4.043, 0.996, 4.336, 0, 90, 0, 59 [SEP] 10, KeyChain, -3.741, 0.996, 4.267, 0, 180, 0, 55 [SEP] 11, KeyChain, -4.505, 1.112, 4.588, 0, 90, 0, 59 [SEP] 12, CreditCard, -1.003, 1.101, 0.229, 0, 0, 0, 45 [SEP] 13, Box, -3.863, 1.329, 4.490, 0, 90, 0, 59 [SEP] 14, Box, -1.584, 0.811, 4.470, 0, 0, 0, 53 [SEP] 15, Box, -3.503, 0.425, 4.459, 0, 90, 0, 57 [SEP] 16, Watch, -2.901, 1.111, 4.292, 0, 90, 0, 61 [SEP] 17, Pillow, -2.031, 0.668, 4.421, 0, 0, 0, 53 [SEP] 18, TissueBox, -4.605, 0.205, 4.395, 0, 90, 0, 56 [SEP] 19, Newspaper, -4.184, 1.114, 4.588, 0, 90, 0, 59 [SEP] 20, CreditCard, -0.411, 0.073, 0.828, 0, 270, 0, 44 [SEP] 21, KeyChain, -1.006, 1.592, 0.376, 0, 0, 0, 46 [SEP] 22, CellPhone, -4.184, 1.108, 4.786, 0, 90, 0, 59 [SEP] 23, Statue, -1.459, 0.598, 0.185, 0, 0, 0, 49 [SEP] 24, Laptop, -3.393, 1.104, 4.492, 0, 191.867, 0, 59 [SEP] 25, RemoteControl, -1.709, 0.592, 4.211, 0, 0, 0, 53 [SEP] 26, Vase, -2.191, 0.037, 0.369, 0, 90, 0, 42 [SEP] 27, DeskLamp, -4.649, 1.051, 0.268, 0, 0, 0, [SEP] 28, DeskLamp, -2.992, 1.107, 4.522, 0, 0, 0, [SEP] 29, FloorLamp, -0.650, 0.007, 4.431, 0, 0, 0, [SEP] 30, FloorLamp, -5.607, 0.007, 4.641, 0, 0, 0, [SEP] 31, Shelf, -5.237, 1.776, 0.070, 0, 0, 0, [SEP] 32, Shelf, -5.238, 1.968, 0.085, 0, 0, 0, [SEP] 33, Shelf, -5.242, 1.391, 0.086, 0, 0, 0, [SEP] 34, Shelf, -5.241, 1.582, 0.065, 0, 0, 0, [SEP] 35, LightSwitch, -6.002, 1.353, 3.404, 0, 90, 0, [SEP] 36, GarbageCan, -5.794, -0.033, 4.073, 0, 90, 0, [SEP] 37, Painting, -6.017, 1.802, 4.177, 90, 270, 0, [SEP] 38, HousePlant, -3.966, 1.625, 0.135, 0, 315, 0, [SEP] 39, Television, -3.355, 0.833, 0.027, 0, 0, 0, [SEP] 40, Drawer, -5.024, 0.903, 0.370, 0, 0, 0, [SEP] 41, SideTable, -5.024, 0.008, 0.267, 0, 0, 0, [SEP] 42, Safe, -2.298, 5.778, 0.268, 0, 90, 0, [SEP] 43, Shelf, -0.253, 0.781, 1.058, 0, 270, 0, [SEP] 44, Shelf, -0.283, 0.274, 1.066, 0, 270, 0, [SEP] 45, Shelf, -1.224, 1.288, 0.270, 0, 0, 0, [SEP] 46, Shelf, -1.218, 1.810, 0.275, 0, 0, 0, [SEP] 47, Shelf, -0.280, 1.810, 1.057, 0, 270, 0, [SEP] 48, Shelf, -1.218, 0.274, 0.262, 0, 0, 0, [SEP] 49, Shelf, -1.223, 0.782, 0.237, 0, 0, 0, [SEP] 50, Shelf, -0.280, 1.288, 1.055, 0, 270, 0, [SEP] 51, ShelvingUnit, -0.268, 0.004, 1.067, 0, 270, 0, [SEP] 52, ShelvingUnit, -1.218, 0.004, 0.244, 0, 0, 0, [SEP] 53, ArmChair, -2.027, 0.001, 4.422, 0, 178.692, 0, [SEP] 54, Drawer, -4.329, 1.014, 4.311, 0, 180, 0, [SEP] 55, Drawer, -3.750, 1.014, 4.311, 0, 180, 0, [SEP] 56, Cabinet, -4.049, 0.561, 4.212, 0, 180, 0, [SEP] 57, Cabinet, -4.032, 0.561, 4.212, 0, 180, 0, [SEP] 58, Cabinet, -2.884, 0.561, 4.212, 0, 180, 0, [SEP] 59, Dresser, -4.041, -0.000, 4.589, 0, 180, 0, [SEP] 60, Drawer, -4.916, 1.014, 4.311, 0, 180, 0, [SEP] 61, Drawer, -3.166, 1.014, 4.311, 0, 180, 0, [SEP] 62, Cabinet, -5.196, 0.561, 4.212, 0, 180, 0, [SEP] 63, Sofa, -0.705, -0.002, 2.753, 0, 270, 0, [SEP] 64, NorthWall, , , , , , , [SEP] 65, SouthWall, , , , , , , [SEP] 66, SouthWall, , , , , , , ", "output": ["STEP 1: Turn around, turn left to face the drawer, walk to the drawer. | STEP 2: Open drawer to grab the watch. | STEP 3: Turn right, walk to the tan couch, turn right when you reach the tan couch, and walk straight to the safe. | STEP 4: Open the safe to place the watch inside and close the safe. | END"]} +{"id": "trial_T20190907_074556_124850-2", "input": "Move a watch from a drawer to a safe. 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, 1.25, 0, 270, 0, [SEP] 1, TissueBox, -5.194, 1.040, 0.306, 0, 0, 0, 41 [SEP] 2, TissueBox, -3.052, 0.201, 4.466, 0, 90, 0, 58 [SEP] 3, Newspaper, -0.870, 0.628, 2.753, 0, 0, 0, 63 [SEP] 4, CellPhone, -0.265, 1.102, 0.826, 0, 270, 0, 50 [SEP] 5, CellPhone, -4.505, 1.111, 4.885, 0, 90, 0, 59 [SEP] 6, Vase, -5.534, 1.043, 0.372, 0, 0, 0, 41 [SEP] 7, Vase, -2.404, 0.037, 0.212, 0, 90, 0, 42 [SEP] 8, Watch, -5.331, 0.862, 0.241, 0, 0, 0, 41 [SEP] 9, Watch, -4.043, 0.996, 4.336, 0, 90, 0, 59 [SEP] 10, KeyChain, -3.741, 0.996, 4.267, 0, 180, 0, 55 [SEP] 11, KeyChain, -4.505, 1.112, 4.588, 0, 90, 0, 59 [SEP] 12, CreditCard, -1.003, 1.101, 0.229, 0, 0, 0, 45 [SEP] 13, Box, -3.863, 1.329, 4.490, 0, 90, 0, 59 [SEP] 14, Box, -1.584, 0.811, 4.470, 0, 0, 0, 53 [SEP] 15, Box, -3.503, 0.425, 4.459, 0, 90, 0, 57 [SEP] 16, Watch, -2.901, 1.111, 4.292, 0, 90, 0, 61 [SEP] 17, Pillow, -2.031, 0.668, 4.421, 0, 0, 0, 53 [SEP] 18, TissueBox, -4.605, 0.205, 4.395, 0, 90, 0, 56 [SEP] 19, Newspaper, -4.184, 1.114, 4.588, 0, 90, 0, 59 [SEP] 20, CreditCard, -0.411, 0.073, 0.828, 0, 270, 0, 44 [SEP] 21, KeyChain, -1.006, 1.592, 0.376, 0, 0, 0, 46 [SEP] 22, CellPhone, -4.184, 1.108, 4.786, 0, 90, 0, 59 [SEP] 23, Statue, -1.459, 0.598, 0.185, 0, 0, 0, 49 [SEP] 24, Laptop, -3.393, 1.104, 4.492, 0, 191.867, 0, 59 [SEP] 25, RemoteControl, -1.709, 0.592, 4.211, 0, 0, 0, 53 [SEP] 26, Vase, -2.191, 0.037, 0.369, 0, 90, 0, 42 [SEP] 27, DeskLamp, -4.649, 1.051, 0.268, 0, 0, 0, [SEP] 28, DeskLamp, -2.992, 1.107, 4.522, 0, 0, 0, [SEP] 29, FloorLamp, -0.650, 0.007, 4.431, 0, 0, 0, [SEP] 30, FloorLamp, -5.607, 0.007, 4.641, 0, 0, 0, [SEP] 31, Shelf, -5.237, 1.776, 0.070, 0, 0, 0, [SEP] 32, Shelf, -5.238, 1.968, 0.085, 0, 0, 0, [SEP] 33, Shelf, -5.242, 1.391, 0.086, 0, 0, 0, [SEP] 34, Shelf, -5.241, 1.582, 0.065, 0, 0, 0, [SEP] 35, LightSwitch, -6.002, 1.353, 3.404, 0, 90, 0, [SEP] 36, GarbageCan, -5.794, -0.033, 4.073, 0, 90, 0, [SEP] 37, Painting, -6.017, 1.802, 4.177, 90, 270, 0, [SEP] 38, HousePlant, -3.966, 1.625, 0.135, 0, 315, 0, [SEP] 39, Television, -3.355, 0.833, 0.027, 0, 0, 0, [SEP] 40, Drawer, -5.024, 0.903, 0.370, 0, 0, 0, [SEP] 41, SideTable, -5.024, 0.008, 0.267, 0, 0, 0, [SEP] 42, Safe, -2.298, 5.778, 0.268, 0, 90, 0, [SEP] 43, Shelf, -0.253, 0.781, 1.058, 0, 270, 0, [SEP] 44, Shelf, -0.283, 0.274, 1.066, 0, 270, 0, [SEP] 45, Shelf, -1.224, 1.288, 0.270, 0, 0, 0, [SEP] 46, Shelf, -1.218, 1.810, 0.275, 0, 0, 0, [SEP] 47, Shelf, -0.280, 1.810, 1.057, 0, 270, 0, [SEP] 48, Shelf, -1.218, 0.274, 0.262, 0, 0, 0, [SEP] 49, Shelf, -1.223, 0.782, 0.237, 0, 0, 0, [SEP] 50, Shelf, -0.280, 1.288, 1.055, 0, 270, 0, [SEP] 51, ShelvingUnit, -0.268, 0.004, 1.067, 0, 270, 0, [SEP] 52, ShelvingUnit, -1.218, 0.004, 0.244, 0, 0, 0, [SEP] 53, ArmChair, -2.027, 0.001, 4.422, 0, 178.692, 0, [SEP] 54, Drawer, -4.329, 1.014, 4.311, 0, 180, 0, [SEP] 55, Drawer, -3.750, 1.014, 4.311, 0, 180, 0, [SEP] 56, Cabinet, -4.049, 0.561, 4.212, 0, 180, 0, [SEP] 57, Cabinet, -4.032, 0.561, 4.212, 0, 180, 0, [SEP] 58, Cabinet, -2.884, 0.561, 4.212, 0, 180, 0, [SEP] 59, Dresser, -4.041, -0.000, 4.589, 0, 180, 0, [SEP] 60, Drawer, -4.916, 1.014, 4.311, 0, 180, 0, [SEP] 61, Drawer, -3.166, 1.014, 4.311, 0, 180, 0, [SEP] 62, Cabinet, -5.196, 0.561, 4.212, 0, 180, 0, [SEP] 63, Sofa, -0.705, -0.002, 2.753, 0, 270, 0, [SEP] 64, NorthWall, , , , , , , [SEP] 65, SouthWall, , , , , , , [SEP] 66, SouthWall, , , , , , , ", "output": ["STEP 1: Turn right and walk to the dresser. | STEP 2: Open the drawer of the dresser under the newspaper and take out the watch. | STEP 3: Turn around and walk to the safe. | STEP 4: Put the watch in the safe. | END"]} +{"id": "trial_T20190909_025308_903206-0", "input": "Take a cup from the microwave, place it in the sink and put the knife inside the cup. 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, 1.5, 0, 270, 0, [SEP] 1, Statue, -1.104, 0.936, -0.118, 0, 0, 0, 55 [SEP] 2, Statue, -0.772, 0.936, -1.386, 0, 0, 0, 55 [SEP] 3, Potato, 0.944, 0.941, -0.729, 0, 0, 0, 56 [SEP] 4, Potato, -0.865, 0.209, 0.510, 0, 180, 0, 75 [SEP] 5, CreditCard, -1.469, 0.878, 2.665, 0, 0, 0, 82 [SEP] 6, DishSponge, 0.915, 0.702, -0.731, 0, 270, 0, 53 [SEP] 7, Fork, -1.104, 0.934, -0.643, 0, 0, 0, 55 [SEP] 8, Spatula, -0.642, 0.791, -0.918, 0, 0, 0, 76 [SEP] 9, Egg, -0.920, 0.971, -1.386, 0, 0, 0, 55 [SEP] 10, Egg, -0.808, 0.818, -0.486, 0, 90, 0, 76 [SEP] 11, Cup, 0.995, 1.792, -1.339, 0, 270, 0, 77 [SEP] 12, Tomato, -1.007, 0.219, 0.576, 0, 180, 0, 75 [SEP] 13, Tomato, 0.688, 0.952, -2.308, 0, 0, 0, 61 [SEP] 14, Bowl, 1.026, 0.866, 1.158, 0, 270, 0, 78 [SEP] 15, PepperShaker, -1.292, 0.929, -0.118, 0, 0, 0, 55 [SEP] 16, PepperShaker, 0.713, 0.490, -0.607, 0, 270, 0, 59 [SEP] 17, Lettuce, 0.688, 0.988, -0.555, 0, 0, 0, 56 [SEP] 18, Lettuce, 1.114, 0.988, -0.208, 0, 0, 0, 56 [SEP] 19, Mug, 0.859, 0.906, -0.381, 0, 0, 0, 56 [SEP] 20, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 74 [SEP] 21, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 55 [SEP] 22, Glassbottle, 0.688, 0.912, 0.313, 0, 0, 0, 56 [SEP] 23, Bread, 0.859, 0.992, -0.208, 0, 0, 0, 56 [SEP] 24, CreditCard, -0.550, 0.930, 0.315, 0, 0, 0, 55 [SEP] 25, CellPhone, 1.114, 0.908, -1.879, 0, 0, 0, 61 [SEP] 26, Potato, 0.688, 0.941, -2.051, 0, 0, 0, 61 [SEP] 27, Knife, 0.773, 0.934, -1.879, 0, 270, 0, 61 [SEP] 28, Fork, 0.874, 0.154, -0.571, 0, 0, 0, 58 [SEP] 29, Pan, 0.966, 1.640, 1.063, 0, 180, 0, 78 [SEP] 30, Lettuce, -0.642, 0.857, -0.745, 0, 90, 0, 76 [SEP] 31, Plate, 1.169, 2.211, -1.299, 0, 270, 0, 62 [SEP] 32, Apple, -0.477, 0.983, 0.239, 0, 0, 0, 55 [SEP] 33, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 51 [SEP] 34, Spatula, -0.587, 0.795, -0.659, 0, 0, 0, 76 [SEP] 35, PaperTowelRoll, -0.477, 1.037, -0.067, 0, 0, 0, 55 [SEP] 36, Tomato, 1.026, 1.683, 1.540, 0, 270, 0, 78 [SEP] 37, Egg, 1.060, 1.821, -1.236, 0, 270, 0, 77 [SEP] 38, SaltShaker, -1.881, 0.550, 2.667, 0, 0, 0, 81 [SEP] 39, PepperShaker, 0.996, 2.204, -1.191, 0, 270, 0, 62 [SEP] 40, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 81 [SEP] 41, ButterKnife, -0.697, 0.776, -0.832, 0, 90, 0, 76 [SEP] 42, SoapBottle, -1.104, 0.933, 0.144, 0, 0, 0, 55 [SEP] 43, Vase, 1.194, 1.667, -0.401, 0, 270, 0, 64 [SEP] 44, Bowl, 1.193, 1.669, 0.216, 0, 270, 0, 63 [SEP] 45, DishSponge, 0.833, 0.153, -0.729, 0, 270, 0, 58 [SEP] 46, Spoon, 0.859, 0.912, 0.139, 0, 270, 0, 56 [SEP] 47, Cup, 0.905, 1.132, 1.254, 0, 270, 0, 78 [SEP] 48, Mug, 0.966, 0.858, 1.349, 0, 270, 0, 78 [SEP] 49, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 50, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 51, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 52, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 53, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 54, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 55, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 56, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 57, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 58, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 59, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 60, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 61, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 62, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 63, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 64, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 65, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 66, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 67, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 68, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 69, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 70, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 71, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 72, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 73, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 74, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 75, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 76, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 77, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 78, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 79, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 80, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 81, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 82, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 83, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 84, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 85, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 86, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 87, NorthWall, , , , , , , [SEP] 88, EastWall, , , , , , , [SEP] 89, SouthWall, , , , , , , [SEP] 90, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and walk towards the refrigerator. Turn right and go to the stove. Look up at the microwave. | STEP 2: Look in the microwave and remove the green cup. | STEP 3: Turn around and go to the sink to your left. | STEP 4: Put the green cup in the sink. | STEP 5: Pick up the knife in the sink. | STEP 6: Place the knife inside the green cup. | END"]} +{"id": "trial_T20190909_025308_903206-1", "input": "take a green cup from the microwave to the sink and move the knife 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, 1.5, 0, 270, 0, [SEP] 1, Statue, -1.104, 0.936, -0.118, 0, 0, 0, 55 [SEP] 2, Statue, -0.772, 0.936, -1.386, 0, 0, 0, 55 [SEP] 3, Potato, 0.944, 0.941, -0.729, 0, 0, 0, 56 [SEP] 4, Potato, -0.865, 0.209, 0.510, 0, 180, 0, 75 [SEP] 5, CreditCard, -1.469, 0.878, 2.665, 0, 0, 0, 82 [SEP] 6, DishSponge, 0.915, 0.702, -0.731, 0, 270, 0, 53 [SEP] 7, Fork, -1.104, 0.934, -0.643, 0, 0, 0, 55 [SEP] 8, Spatula, -0.642, 0.791, -0.918, 0, 0, 0, 76 [SEP] 9, Egg, -0.920, 0.971, -1.386, 0, 0, 0, 55 [SEP] 10, Egg, -0.808, 0.818, -0.486, 0, 90, 0, 76 [SEP] 11, Cup, 0.995, 1.792, -1.339, 0, 270, 0, 77 [SEP] 12, Tomato, -1.007, 0.219, 0.576, 0, 180, 0, 75 [SEP] 13, Tomato, 0.688, 0.952, -2.308, 0, 0, 0, 61 [SEP] 14, Bowl, 1.026, 0.866, 1.158, 0, 270, 0, 78 [SEP] 15, PepperShaker, -1.292, 0.929, -0.118, 0, 0, 0, 55 [SEP] 16, PepperShaker, 0.713, 0.490, -0.607, 0, 270, 0, 59 [SEP] 17, Lettuce, 0.688, 0.988, -0.555, 0, 0, 0, 56 [SEP] 18, Lettuce, 1.114, 0.988, -0.208, 0, 0, 0, 56 [SEP] 19, Mug, 0.859, 0.906, -0.381, 0, 0, 0, 56 [SEP] 20, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 74 [SEP] 21, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 55 [SEP] 22, Glassbottle, 0.688, 0.912, 0.313, 0, 0, 0, 56 [SEP] 23, Bread, 0.859, 0.992, -0.208, 0, 0, 0, 56 [SEP] 24, CreditCard, -0.550, 0.930, 0.315, 0, 0, 0, 55 [SEP] 25, CellPhone, 1.114, 0.908, -1.879, 0, 0, 0, 61 [SEP] 26, Potato, 0.688, 0.941, -2.051, 0, 0, 0, 61 [SEP] 27, Knife, 0.773, 0.934, -1.879, 0, 270, 0, 61 [SEP] 28, Fork, 0.874, 0.154, -0.571, 0, 0, 0, 58 [SEP] 29, Pan, 0.966, 1.640, 1.063, 0, 180, 0, 78 [SEP] 30, Lettuce, -0.642, 0.857, -0.745, 0, 90, 0, 76 [SEP] 31, Plate, 1.169, 2.211, -1.299, 0, 270, 0, 62 [SEP] 32, Apple, -0.477, 0.983, 0.239, 0, 0, 0, 55 [SEP] 33, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 51 [SEP] 34, Spatula, -0.587, 0.795, -0.659, 0, 0, 0, 76 [SEP] 35, PaperTowelRoll, -0.477, 1.037, -0.067, 0, 0, 0, 55 [SEP] 36, Tomato, 1.026, 1.683, 1.540, 0, 270, 0, 78 [SEP] 37, Egg, 1.060, 1.821, -1.236, 0, 270, 0, 77 [SEP] 38, SaltShaker, -1.881, 0.550, 2.667, 0, 0, 0, 81 [SEP] 39, PepperShaker, 0.996, 2.204, -1.191, 0, 270, 0, 62 [SEP] 40, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 81 [SEP] 41, ButterKnife, -0.697, 0.776, -0.832, 0, 90, 0, 76 [SEP] 42, SoapBottle, -1.104, 0.933, 0.144, 0, 0, 0, 55 [SEP] 43, Vase, 1.194, 1.667, -0.401, 0, 270, 0, 64 [SEP] 44, Bowl, 1.193, 1.669, 0.216, 0, 270, 0, 63 [SEP] 45, DishSponge, 0.833, 0.153, -0.729, 0, 270, 0, 58 [SEP] 46, Spoon, 0.859, 0.912, 0.139, 0, 270, 0, 56 [SEP] 47, Cup, 0.905, 1.132, 1.254, 0, 270, 0, 78 [SEP] 48, Mug, 0.966, 0.858, 1.349, 0, 270, 0, 78 [SEP] 49, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 50, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 51, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 52, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 53, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 54, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 55, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 56, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 57, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 58, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 59, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 60, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 61, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 62, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 63, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 64, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 65, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 66, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 67, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 68, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 69, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 70, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 71, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 72, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 73, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 74, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 75, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 76, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 77, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 78, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 79, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 80, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 81, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 82, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 83, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 84, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 85, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 86, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 87, NorthWall, , , , , , , [SEP] 88, EastWall, , , , , , , [SEP] 89, SouthWall, , , , , , , [SEP] 90, WestWall, , , , , , , ", "output": ["STEP 1: go to the microwave | STEP 2: take out the green cup | STEP 3: take the cup to the sink | STEP 4: put the cup in the sink | STEP 5: pick up the knife from the sink on left | STEP 6: put the knife back in the sink on the right | END"]} +{"id": "trial_T20190909_025308_903206-2", "input": "put a butter knife and cup into a sink 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, 1.5, 0, 270, 0, [SEP] 1, Statue, -1.104, 0.936, -0.118, 0, 0, 0, 55 [SEP] 2, Statue, -0.772, 0.936, -1.386, 0, 0, 0, 55 [SEP] 3, Potato, 0.944, 0.941, -0.729, 0, 0, 0, 56 [SEP] 4, Potato, -0.865, 0.209, 0.510, 0, 180, 0, 75 [SEP] 5, CreditCard, -1.469, 0.878, 2.665, 0, 0, 0, 82 [SEP] 6, DishSponge, 0.915, 0.702, -0.731, 0, 270, 0, 53 [SEP] 7, Fork, -1.104, 0.934, -0.643, 0, 0, 0, 55 [SEP] 8, Spatula, -0.642, 0.791, -0.918, 0, 0, 0, 76 [SEP] 9, Egg, -0.920, 0.971, -1.386, 0, 0, 0, 55 [SEP] 10, Egg, -0.808, 0.818, -0.486, 0, 90, 0, 76 [SEP] 11, Cup, 0.995, 1.792, -1.339, 0, 270, 0, 77 [SEP] 12, Tomato, -1.007, 0.219, 0.576, 0, 180, 0, 75 [SEP] 13, Tomato, 0.688, 0.952, -2.308, 0, 0, 0, 61 [SEP] 14, Bowl, 1.026, 0.866, 1.158, 0, 270, 0, 78 [SEP] 15, PepperShaker, -1.292, 0.929, -0.118, 0, 0, 0, 55 [SEP] 16, PepperShaker, 0.713, 0.490, -0.607, 0, 270, 0, 59 [SEP] 17, Lettuce, 0.688, 0.988, -0.555, 0, 0, 0, 56 [SEP] 18, Lettuce, 1.114, 0.988, -0.208, 0, 0, 0, 56 [SEP] 19, Mug, 0.859, 0.906, -0.381, 0, 0, 0, 56 [SEP] 20, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 74 [SEP] 21, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 55 [SEP] 22, Glassbottle, 0.688, 0.912, 0.313, 0, 0, 0, 56 [SEP] 23, Bread, 0.859, 0.992, -0.208, 0, 0, 0, 56 [SEP] 24, CreditCard, -0.550, 0.930, 0.315, 0, 0, 0, 55 [SEP] 25, CellPhone, 1.114, 0.908, -1.879, 0, 0, 0, 61 [SEP] 26, Potato, 0.688, 0.941, -2.051, 0, 0, 0, 61 [SEP] 27, Knife, 0.773, 0.934, -1.879, 0, 270, 0, 61 [SEP] 28, Fork, 0.874, 0.154, -0.571, 0, 0, 0, 58 [SEP] 29, Pan, 0.966, 1.640, 1.063, 0, 180, 0, 78 [SEP] 30, Lettuce, -0.642, 0.857, -0.745, 0, 90, 0, 76 [SEP] 31, Plate, 1.169, 2.211, -1.299, 0, 270, 0, 62 [SEP] 32, Apple, -0.477, 0.983, 0.239, 0, 0, 0, 55 [SEP] 33, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 51 [SEP] 34, Spatula, -0.587, 0.795, -0.659, 0, 0, 0, 76 [SEP] 35, PaperTowelRoll, -0.477, 1.037, -0.067, 0, 0, 0, 55 [SEP] 36, Tomato, 1.026, 1.683, 1.540, 0, 270, 0, 78 [SEP] 37, Egg, 1.060, 1.821, -1.236, 0, 270, 0, 77 [SEP] 38, SaltShaker, -1.881, 0.550, 2.667, 0, 0, 0, 81 [SEP] 39, PepperShaker, 0.996, 2.204, -1.191, 0, 270, 0, 62 [SEP] 40, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 81 [SEP] 41, ButterKnife, -0.697, 0.776, -0.832, 0, 90, 0, 76 [SEP] 42, SoapBottle, -1.104, 0.933, 0.144, 0, 0, 0, 55 [SEP] 43, Vase, 1.194, 1.667, -0.401, 0, 270, 0, 64 [SEP] 44, Bowl, 1.193, 1.669, 0.216, 0, 270, 0, 63 [SEP] 45, DishSponge, 0.833, 0.153, -0.729, 0, 270, 0, 58 [SEP] 46, Spoon, 0.859, 0.912, 0.139, 0, 270, 0, 56 [SEP] 47, Cup, 0.905, 1.132, 1.254, 0, 270, 0, 78 [SEP] 48, Mug, 0.966, 0.858, 1.349, 0, 270, 0, 78 [SEP] 49, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 50, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 51, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 52, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 53, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 54, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 55, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 56, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 57, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 58, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 59, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 60, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 61, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 62, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 63, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 64, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 65, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 66, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 67, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 68, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 69, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 70, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 71, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 72, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 73, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 74, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 75, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 76, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 77, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 78, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 79, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 80, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 81, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 82, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 83, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 84, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 85, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 86, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 87, NorthWall, , , , , , , [SEP] 88, EastWall, , , , , , , [SEP] 89, SouthWall, , , , , , , [SEP] 90, WestWall, , , , , , , ", "output": ["STEP 1: walk to face microwave | STEP 2: remove green cup from microwave | STEP 3: walk to face sink | STEP 4: put green cup in sink | STEP 5: pick up butter knife from sink | STEP 6: put butter knife into green cup inside sink | END"]} +{"id": "trial_T20190907_004404_604165-0", "input": "place a soap dispenser on top 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, 3.0, 0, 180, 0, [SEP] 1, Cloth, -0.331, 0.076, 3.462, 0, 0, 0, 24 [SEP] 2, SprayBottle, -0.264, 0.955, 2.948, 0, 0, 0, 23 [SEP] 3, Candle, -0.432, 0.076, 2.609, 0, 0, 0, 20 [SEP] 4, Candle, -0.129, 0.076, 3.462, 0, 0, 0, 24 [SEP] 5, SoapBar, -0.131, 0.953, 1.544, 0, 0, 0, 31 [SEP] 6, HandTowel, -0.038, 1.619, 1.887, 0, 90, 0, 29 [SEP] 7, Towel, -1.082, 1.326, 1.302, 0, 0, 0, 26 [SEP] 8, SoapBar, -0.347, 0.826, 2.466, 0, 0, 0, 37 [SEP] 9, ToiletPaper, -0.117, 0.945, 1.629, 0, 0, 0, 31 [SEP] 10, Plunger, -0.112, -0.000, 1.848, 0, 0, 0, [SEP] 11, Candle, -0.129, 0.076, 2.698, 0, 0, 0, 20 [SEP] 12, ToiletPaper, -2.227, 0.014, 3.807, 0, 0, 0, 32 [SEP] 13, SprayBottle, -0.330, 0.076, 3.100, 0, 0, 0, 24 [SEP] 14, Cloth, -0.351, 0.946, 2.074, 0, 0, 0, 37 [SEP] 15, ScrubBrush, -0.322, 3.109, 1.950, 0, 0, 0, [SEP] 16, SoapBottle, -0.388, 0.955, 2.807, 0, 0, 0, 23 [SEP] 17, Mirror, -0.030, 1.544, 2.864, 0, 0, 0, [SEP] 18, Sink, -0.302, 0.799, 3.263, 0, 270, 0, [SEP] 19, Cabinet, -0.491, 0.404, 2.863, 0, 0, 0, [SEP] 20, Cabinet, -0.495, 0.384, 2.842, 0, 0, 0, [SEP] 21, ShowerDoor, -1.647, 1.017, 1.180, 0, 0, 0, [SEP] 22, ShowerGlass, -0.909, 0.788, 0.485, 0, 0, 0, [SEP] 23, CounterTop, -0.261, 0.927, 2.843, 0, 0, 0, [SEP] 24, Cabinet, -0.495, 0.384, 3.650, 0, 0, 0, [SEP] 25, Cabinet, -0.491, 0.404, 2.055, 0, 0, 0, [SEP] 26, TowelHolder, -1.082, 1.312, 1.195, 0, 0, 0, [SEP] 27, LightSwitch, -2.424, 1.447, 3.338, 0, 90, 0, [SEP] 28, ToiletPaperHanger, -0.266, 0.786, 2.043, 0, 180, 0, [SEP] 29, HandTowelHolder, 0.000, 1.721, 1.887, 0, 180, 0, [SEP] 30, HandTowelHolder, 0.000, 1.721, 3.799, 0, 180, 0, [SEP] 31, Toilet, -0.542, 3.109, 1.493, 0, 270, 0, [SEP] 32, GarbageCan, -2.159, -0.000, 3.756, 0, 0, 0, [SEP] 33, SinkBasin, -0.308, 0.820, 3.266, 0, 0, 0, [SEP] 34, ShowerHead, -0.134, 1.888, 0.564, 0, 90, 0, [SEP] 35, Faucet, 0.0, 1.009, 3.265, 0, 0, 0, [SEP] 36, Faucet, 0.0, 1.009, 2.421, 0, 0, 0, [SEP] 37, SinkBasin, -0.308, 0.820, 2.422, 0, 0, 0, [SEP] 38, Sink, -0.302, 0.799, 2.419, 0, 270, 0, [SEP] 39, NorthWall, , , , , , , [SEP] 40, SouthWall, , , , , , , [SEP] 41, SouthWall, , , , , , , ", "output": ["STEP 1: turn left and walk over to the bathroom sink | STEP 2: grab the soap dispenser off of the countertop | STEP 3: turn around to face the toilet | STEP 4: place the soap dispenser on top of the toilet | END"]} +{"id": "trial_T20190907_004404_604165-1", "input": "Place a soap dispenser on the toilet cistern. 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, 3.0, 0, 180, 0, [SEP] 1, Cloth, -0.331, 0.076, 3.462, 0, 0, 0, 24 [SEP] 2, SprayBottle, -0.264, 0.955, 2.948, 0, 0, 0, 23 [SEP] 3, Candle, -0.432, 0.076, 2.609, 0, 0, 0, 20 [SEP] 4, Candle, -0.129, 0.076, 3.462, 0, 0, 0, 24 [SEP] 5, SoapBar, -0.131, 0.953, 1.544, 0, 0, 0, 31 [SEP] 6, HandTowel, -0.038, 1.619, 1.887, 0, 90, 0, 29 [SEP] 7, Towel, -1.082, 1.326, 1.302, 0, 0, 0, 26 [SEP] 8, SoapBar, -0.347, 0.826, 2.466, 0, 0, 0, 37 [SEP] 9, ToiletPaper, -0.117, 0.945, 1.629, 0, 0, 0, 31 [SEP] 10, Plunger, -0.112, -0.000, 1.848, 0, 0, 0, [SEP] 11, Candle, -0.129, 0.076, 2.698, 0, 0, 0, 20 [SEP] 12, ToiletPaper, -2.227, 0.014, 3.807, 0, 0, 0, 32 [SEP] 13, SprayBottle, -0.330, 0.076, 3.100, 0, 0, 0, 24 [SEP] 14, Cloth, -0.351, 0.946, 2.074, 0, 0, 0, 37 [SEP] 15, ScrubBrush, -0.322, 3.109, 1.950, 0, 0, 0, [SEP] 16, SoapBottle, -0.388, 0.955, 2.807, 0, 0, 0, 23 [SEP] 17, Mirror, -0.030, 1.544, 2.864, 0, 0, 0, [SEP] 18, Sink, -0.302, 0.799, 3.263, 0, 270, 0, [SEP] 19, Cabinet, -0.491, 0.404, 2.863, 0, 0, 0, [SEP] 20, Cabinet, -0.495, 0.384, 2.842, 0, 0, 0, [SEP] 21, ShowerDoor, -1.647, 1.017, 1.180, 0, 0, 0, [SEP] 22, ShowerGlass, -0.909, 0.788, 0.485, 0, 0, 0, [SEP] 23, CounterTop, -0.261, 0.927, 2.843, 0, 0, 0, [SEP] 24, Cabinet, -0.495, 0.384, 3.650, 0, 0, 0, [SEP] 25, Cabinet, -0.491, 0.404, 2.055, 0, 0, 0, [SEP] 26, TowelHolder, -1.082, 1.312, 1.195, 0, 0, 0, [SEP] 27, LightSwitch, -2.424, 1.447, 3.338, 0, 90, 0, [SEP] 28, ToiletPaperHanger, -0.266, 0.786, 2.043, 0, 180, 0, [SEP] 29, HandTowelHolder, 0.000, 1.721, 1.887, 0, 180, 0, [SEP] 30, HandTowelHolder, 0.000, 1.721, 3.799, 0, 180, 0, [SEP] 31, Toilet, -0.542, 3.109, 1.493, 0, 270, 0, [SEP] 32, GarbageCan, -2.159, -0.000, 3.756, 0, 0, 0, [SEP] 33, SinkBasin, -0.308, 0.820, 3.266, 0, 0, 0, [SEP] 34, ShowerHead, -0.134, 1.888, 0.564, 0, 90, 0, [SEP] 35, Faucet, 0.0, 1.009, 3.265, 0, 0, 0, [SEP] 36, Faucet, 0.0, 1.009, 2.421, 0, 0, 0, [SEP] 37, SinkBasin, -0.308, 0.820, 2.422, 0, 0, 0, [SEP] 38, Sink, -0.302, 0.799, 2.419, 0, 270, 0, [SEP] 39, NorthWall, , , , , , , [SEP] 40, SouthWall, , , , , , , [SEP] 41, SouthWall, , , , , , , ", "output": ["STEP 1: Move towards the shower stall then turn left and move to the counter area between the two sinks. | STEP 2: Take the soap dispenser between the two sinks and to the right of the spray bottle. | STEP 3: Turn right and move towards the toilet between the sinks and the shower stall. | STEP 4: Place the soap dispenser on top of the toilet cistern to the right of the toilet paper and bar of soap. | END"]} +{"id": "trial_T20190907_004404_604165-2", "input": "move soap bottle from counter to 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, 3.0, 0, 180, 0, [SEP] 1, Cloth, -0.331, 0.076, 3.462, 0, 0, 0, 24 [SEP] 2, SprayBottle, -0.264, 0.955, 2.948, 0, 0, 0, 23 [SEP] 3, Candle, -0.432, 0.076, 2.609, 0, 0, 0, 20 [SEP] 4, Candle, -0.129, 0.076, 3.462, 0, 0, 0, 24 [SEP] 5, SoapBar, -0.131, 0.953, 1.544, 0, 0, 0, 31 [SEP] 6, HandTowel, -0.038, 1.619, 1.887, 0, 90, 0, 29 [SEP] 7, Towel, -1.082, 1.326, 1.302, 0, 0, 0, 26 [SEP] 8, SoapBar, -0.347, 0.826, 2.466, 0, 0, 0, 37 [SEP] 9, ToiletPaper, -0.117, 0.945, 1.629, 0, 0, 0, 31 [SEP] 10, Plunger, -0.112, -0.000, 1.848, 0, 0, 0, [SEP] 11, Candle, -0.129, 0.076, 2.698, 0, 0, 0, 20 [SEP] 12, ToiletPaper, -2.227, 0.014, 3.807, 0, 0, 0, 32 [SEP] 13, SprayBottle, -0.330, 0.076, 3.100, 0, 0, 0, 24 [SEP] 14, Cloth, -0.351, 0.946, 2.074, 0, 0, 0, 37 [SEP] 15, ScrubBrush, -0.322, 3.109, 1.950, 0, 0, 0, [SEP] 16, SoapBottle, -0.388, 0.955, 2.807, 0, 0, 0, 23 [SEP] 17, Mirror, -0.030, 1.544, 2.864, 0, 0, 0, [SEP] 18, Sink, -0.302, 0.799, 3.263, 0, 270, 0, [SEP] 19, Cabinet, -0.491, 0.404, 2.863, 0, 0, 0, [SEP] 20, Cabinet, -0.495, 0.384, 2.842, 0, 0, 0, [SEP] 21, ShowerDoor, -1.647, 1.017, 1.180, 0, 0, 0, [SEP] 22, ShowerGlass, -0.909, 0.788, 0.485, 0, 0, 0, [SEP] 23, CounterTop, -0.261, 0.927, 2.843, 0, 0, 0, [SEP] 24, Cabinet, -0.495, 0.384, 3.650, 0, 0, 0, [SEP] 25, Cabinet, -0.491, 0.404, 2.055, 0, 0, 0, [SEP] 26, TowelHolder, -1.082, 1.312, 1.195, 0, 0, 0, [SEP] 27, LightSwitch, -2.424, 1.447, 3.338, 0, 90, 0, [SEP] 28, ToiletPaperHanger, -0.266, 0.786, 2.043, 0, 180, 0, [SEP] 29, HandTowelHolder, 0.000, 1.721, 1.887, 0, 180, 0, [SEP] 30, HandTowelHolder, 0.000, 1.721, 3.799, 0, 180, 0, [SEP] 31, Toilet, -0.542, 3.109, 1.493, 0, 270, 0, [SEP] 32, GarbageCan, -2.159, -0.000, 3.756, 0, 0, 0, [SEP] 33, SinkBasin, -0.308, 0.820, 3.266, 0, 0, 0, [SEP] 34, ShowerHead, -0.134, 1.888, 0.564, 0, 90, 0, [SEP] 35, Faucet, 0.0, 1.009, 3.265, 0, 0, 0, [SEP] 36, Faucet, 0.0, 1.009, 2.421, 0, 0, 0, [SEP] 37, SinkBasin, -0.308, 0.820, 2.422, 0, 0, 0, [SEP] 38, Sink, -0.302, 0.799, 2.419, 0, 270, 0, [SEP] 39, NorthWall, , , , , , , [SEP] 40, SouthWall, , , , , , , [SEP] 41, SouthWall, , , , , , , ", "output": ["STEP 1: turn left, walk towards counter, stop to face counter between the sinks | STEP 2: pick up the soap bottle that is on the counter | STEP 3: turn right, walk towards toilet, | STEP 4: put soap bottle on to the back of the toilet | END"]} +{"id": "trial_T20190907_004404_604165-3", "input": "Place soap on top of a 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, 3.0, 0, 180, 0, [SEP] 1, Cloth, -0.331, 0.076, 3.462, 0, 0, 0, 24 [SEP] 2, SprayBottle, -0.264, 0.955, 2.948, 0, 0, 0, 23 [SEP] 3, Candle, -0.432, 0.076, 2.609, 0, 0, 0, 20 [SEP] 4, Candle, -0.129, 0.076, 3.462, 0, 0, 0, 24 [SEP] 5, SoapBar, -0.131, 0.953, 1.544, 0, 0, 0, 31 [SEP] 6, HandTowel, -0.038, 1.619, 1.887, 0, 90, 0, 29 [SEP] 7, Towel, -1.082, 1.326, 1.302, 0, 0, 0, 26 [SEP] 8, SoapBar, -0.347, 0.826, 2.466, 0, 0, 0, 37 [SEP] 9, ToiletPaper, -0.117, 0.945, 1.629, 0, 0, 0, 31 [SEP] 10, Plunger, -0.112, -0.000, 1.848, 0, 0, 0, [SEP] 11, Candle, -0.129, 0.076, 2.698, 0, 0, 0, 20 [SEP] 12, ToiletPaper, -2.227, 0.014, 3.807, 0, 0, 0, 32 [SEP] 13, SprayBottle, -0.330, 0.076, 3.100, 0, 0, 0, 24 [SEP] 14, Cloth, -0.351, 0.946, 2.074, 0, 0, 0, 37 [SEP] 15, ScrubBrush, -0.322, 3.109, 1.950, 0, 0, 0, [SEP] 16, SoapBottle, -0.388, 0.955, 2.807, 0, 0, 0, 23 [SEP] 17, Mirror, -0.030, 1.544, 2.864, 0, 0, 0, [SEP] 18, Sink, -0.302, 0.799, 3.263, 0, 270, 0, [SEP] 19, Cabinet, -0.491, 0.404, 2.863, 0, 0, 0, [SEP] 20, Cabinet, -0.495, 0.384, 2.842, 0, 0, 0, [SEP] 21, ShowerDoor, -1.647, 1.017, 1.180, 0, 0, 0, [SEP] 22, ShowerGlass, -0.909, 0.788, 0.485, 0, 0, 0, [SEP] 23, CounterTop, -0.261, 0.927, 2.843, 0, 0, 0, [SEP] 24, Cabinet, -0.495, 0.384, 3.650, 0, 0, 0, [SEP] 25, Cabinet, -0.491, 0.404, 2.055, 0, 0, 0, [SEP] 26, TowelHolder, -1.082, 1.312, 1.195, 0, 0, 0, [SEP] 27, LightSwitch, -2.424, 1.447, 3.338, 0, 90, 0, [SEP] 28, ToiletPaperHanger, -0.266, 0.786, 2.043, 0, 180, 0, [SEP] 29, HandTowelHolder, 0.000, 1.721, 1.887, 0, 180, 0, [SEP] 30, HandTowelHolder, 0.000, 1.721, 3.799, 0, 180, 0, [SEP] 31, Toilet, -0.542, 3.109, 1.493, 0, 270, 0, [SEP] 32, GarbageCan, -2.159, -0.000, 3.756, 0, 0, 0, [SEP] 33, SinkBasin, -0.308, 0.820, 3.266, 0, 0, 0, [SEP] 34, ShowerHead, -0.134, 1.888, 0.564, 0, 90, 0, [SEP] 35, Faucet, 0.0, 1.009, 3.265, 0, 0, 0, [SEP] 36, Faucet, 0.0, 1.009, 2.421, 0, 0, 0, [SEP] 37, SinkBasin, -0.308, 0.820, 2.422, 0, 0, 0, [SEP] 38, Sink, -0.302, 0.799, 2.419, 0, 270, 0, [SEP] 39, NorthWall, , , , , , , [SEP] 40, SouthWall, , , , , , , [SEP] 41, SouthWall, , , , , , , ", "output": ["STEP 1: Turn left and walk to the sinks | STEP 2: Pick up the soap dispenser that is in between the two sinks | STEP 3: Turn right and walk to the toilet | STEP 4: Place soap on top of the toilet tank | END"]} +{"id": "trial_T20190908_145143_820541-0", "input": "Put a warmed up 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, 0.0, 0.900, 0.75, 0, 0, 0, [SEP] 1, Potato, -0.642, 0.810, -0.573, 0, 180, 0, 76 [SEP] 2, Potato, -0.808, 0.811, -0.573, 0, 90, 0, 76 [SEP] 3, CreditCard, -0.477, 0.930, -1.231, 0, 0, 0, 55 [SEP] 4, DishSponge, 0.793, 0.153, -0.690, 0, 270, 0, 58 [SEP] 5, Spoon, 0.875, 0.495, -0.607, 0, 270, 0, 59 [SEP] 6, Spoon, 0.773, 0.912, -1.965, 0, 0, 0, 61 [SEP] 7, Spatula, 0.859, 0.926, -0.555, 0, 180, 0, 56 [SEP] 8, Spatula, 0.914, 0.168, -0.571, 0, 0, 0, 58 [SEP] 9, Egg, -0.587, 0.818, -0.400, 0, 90, 0, 76 [SEP] 10, Egg, 0.688, 0.949, -2.136, 0, 0, 0, 61 [SEP] 11, Cup, -0.846, 0.930, 0.315, 0, 0, 0, 55 [SEP] 12, Cup, 1.194, 1.663, -0.273, 0, 270, 0, 64 [SEP] 13, Tomato, 0.773, 0.952, -0.555, 0, 0, 0, 56 [SEP] 14, Tomato, 0.965, 1.683, 1.540, 0, 270, 0, 78 [SEP] 15, SoapBottle, 1.029, 0.911, -0.208, 0, 0, 0, 56 [SEP] 16, Bowl, 1.026, 0.866, 1.254, 0, 270, 0, 78 [SEP] 17, SaltShaker, 0.956, 0.698, -0.772, 0, 270, 0, 53 [SEP] 18, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 74 [SEP] 19, Apple, -1.104, 0.983, 0.144, 0, 0, 0, 55 [SEP] 20, Apple, -0.753, 0.830, -0.745, 0, 90, 0, 76 [SEP] 21, Statue, -1.104, 0.936, -0.643, 0, 0, 0, 55 [SEP] 22, Glassbottle, -0.753, 0.781, -0.400, 0, 90, 0, 76 [SEP] 23, Bread, -0.624, 1.014, -1.231, 0, 0, 0, 55 [SEP] 24, CreditCard, -1.881, 0.551, 2.667, 0, 0, 0, 81 [SEP] 25, CellPhone, 1.199, 0.908, -0.208, 0, 0, 0, 56 [SEP] 26, Potato, -0.912, 0.209, 0.510, 0, 180, 0, 75 [SEP] 27, Knife, -0.698, 0.957, -1.618, 0, 0, 0, 55 [SEP] 28, Fork, -0.697, 0.781, -0.832, 0, 180, 0, 76 [SEP] 29, Pan, 0.966, 1.132, 1.254, 0, 0, 0, 78 [SEP] 30, Lettuce, 0.944, 0.988, 0.139, 0, 0, 0, 56 [SEP] 31, Plate, 1.026, 1.405, 1.349, 0, 270, 0, 78 [SEP] 32, Apple, 0.688, 0.961, -2.308, 0, 0, 0, 61 [SEP] 33, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 51 [SEP] 34, Spatula, -0.808, 0.795, -0.659, 0, 180, 0, 76 [SEP] 35, PaperTowelRoll, -1.054, 0.281, 0.641, 0, 180, 0, 75 [SEP] 36, Tomato, -0.624, 0.974, 0.086, 0, 0, 0, 55 [SEP] 37, Egg, -0.846, 0.971, -1.463, 0, 0, 0, 55 [SEP] 38, SaltShaker, 0.794, 0.491, -0.772, 0, 270, 0, 59 [SEP] 39, PepperShaker, 0.954, 0.150, -0.690, 0, 270, 0, 58 [SEP] 40, Vase, 0.773, 0.911, -1.793, 0, 0, 0, 61 [SEP] 41, ButterKnife, -0.698, 0.933, 0.086, 0, 0, 0, 55 [SEP] 42, SoapBottle, 0.944, 0.911, -1.793, 0, 0, 0, 61 [SEP] 43, Vase, 1.193, 1.667, 0.280, 0, 270, 0, 63 [SEP] 44, Bowl, -1.167, 0.936, -0.905, 0, 0, 0, 55 [SEP] 45, DishSponge, 0.861, 0.107, -1.812, 0, 0, 0, 60 [SEP] 46, Spoon, 0.944, 0.912, -0.729, 0, 0, 0, 56 [SEP] 47, Cup, 1.082, 2.205, -1.517, 0, 270, 0, 62 [SEP] 48, Mug, 1.194, 1.661, -2.166, 0, 270, 0, 54 [SEP] 49, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 50, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 51, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 52, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 53, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 54, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 55, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 56, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 57, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 58, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 59, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 60, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 61, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 62, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 63, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 64, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 65, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 66, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 67, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 68, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 69, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 70, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 71, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 72, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 73, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 74, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 75, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 76, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 77, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 78, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 79, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 80, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 81, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 82, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 83, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 84, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 85, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 86, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 87, NorthWall, , , , , , , [SEP] 88, EastWall, , , , , , , [SEP] 89, SouthWall, , , , , , , [SEP] 90, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and move to the end of the island above the trash can. | STEP 2: Pick up the green apple from the counter. | STEP 3: Turn left and move across the room to the microwave on the left. | STEP 4: Warm the apple in the microwave for a few seconds and then take it back out. | STEP 5: Turn left and head back to the end of the island where the trash can is located. | STEP 6: Throw the apple into the trash can. | END"]} +{"id": "trial_T20190908_145143_820541-1", "input": "Put the heather apple 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, 0.0, 0.900, 0.75, 0, 0, 0, [SEP] 1, Potato, -0.642, 0.810, -0.573, 0, 180, 0, 76 [SEP] 2, Potato, -0.808, 0.811, -0.573, 0, 90, 0, 76 [SEP] 3, CreditCard, -0.477, 0.930, -1.231, 0, 0, 0, 55 [SEP] 4, DishSponge, 0.793, 0.153, -0.690, 0, 270, 0, 58 [SEP] 5, Spoon, 0.875, 0.495, -0.607, 0, 270, 0, 59 [SEP] 6, Spoon, 0.773, 0.912, -1.965, 0, 0, 0, 61 [SEP] 7, Spatula, 0.859, 0.926, -0.555, 0, 180, 0, 56 [SEP] 8, Spatula, 0.914, 0.168, -0.571, 0, 0, 0, 58 [SEP] 9, Egg, -0.587, 0.818, -0.400, 0, 90, 0, 76 [SEP] 10, Egg, 0.688, 0.949, -2.136, 0, 0, 0, 61 [SEP] 11, Cup, -0.846, 0.930, 0.315, 0, 0, 0, 55 [SEP] 12, Cup, 1.194, 1.663, -0.273, 0, 270, 0, 64 [SEP] 13, Tomato, 0.773, 0.952, -0.555, 0, 0, 0, 56 [SEP] 14, Tomato, 0.965, 1.683, 1.540, 0, 270, 0, 78 [SEP] 15, SoapBottle, 1.029, 0.911, -0.208, 0, 0, 0, 56 [SEP] 16, Bowl, 1.026, 0.866, 1.254, 0, 270, 0, 78 [SEP] 17, SaltShaker, 0.956, 0.698, -0.772, 0, 270, 0, 53 [SEP] 18, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 74 [SEP] 19, Apple, -1.104, 0.983, 0.144, 0, 0, 0, 55 [SEP] 20, Apple, -0.753, 0.830, -0.745, 0, 90, 0, 76 [SEP] 21, Statue, -1.104, 0.936, -0.643, 0, 0, 0, 55 [SEP] 22, Glassbottle, -0.753, 0.781, -0.400, 0, 90, 0, 76 [SEP] 23, Bread, -0.624, 1.014, -1.231, 0, 0, 0, 55 [SEP] 24, CreditCard, -1.881, 0.551, 2.667, 0, 0, 0, 81 [SEP] 25, CellPhone, 1.199, 0.908, -0.208, 0, 0, 0, 56 [SEP] 26, Potato, -0.912, 0.209, 0.510, 0, 180, 0, 75 [SEP] 27, Knife, -0.698, 0.957, -1.618, 0, 0, 0, 55 [SEP] 28, Fork, -0.697, 0.781, -0.832, 0, 180, 0, 76 [SEP] 29, Pan, 0.966, 1.132, 1.254, 0, 0, 0, 78 [SEP] 30, Lettuce, 0.944, 0.988, 0.139, 0, 0, 0, 56 [SEP] 31, Plate, 1.026, 1.405, 1.349, 0, 270, 0, 78 [SEP] 32, Apple, 0.688, 0.961, -2.308, 0, 0, 0, 61 [SEP] 33, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 51 [SEP] 34, Spatula, -0.808, 0.795, -0.659, 0, 180, 0, 76 [SEP] 35, PaperTowelRoll, -1.054, 0.281, 0.641, 0, 180, 0, 75 [SEP] 36, Tomato, -0.624, 0.974, 0.086, 0, 0, 0, 55 [SEP] 37, Egg, -0.846, 0.971, -1.463, 0, 0, 0, 55 [SEP] 38, SaltShaker, 0.794, 0.491, -0.772, 0, 270, 0, 59 [SEP] 39, PepperShaker, 0.954, 0.150, -0.690, 0, 270, 0, 58 [SEP] 40, Vase, 0.773, 0.911, -1.793, 0, 0, 0, 61 [SEP] 41, ButterKnife, -0.698, 0.933, 0.086, 0, 0, 0, 55 [SEP] 42, SoapBottle, 0.944, 0.911, -1.793, 0, 0, 0, 61 [SEP] 43, Vase, 1.193, 1.667, 0.280, 0, 270, 0, 63 [SEP] 44, Bowl, -1.167, 0.936, -0.905, 0, 0, 0, 55 [SEP] 45, DishSponge, 0.861, 0.107, -1.812, 0, 0, 0, 60 [SEP] 46, Spoon, 0.944, 0.912, -0.729, 0, 0, 0, 56 [SEP] 47, Cup, 1.082, 2.205, -1.517, 0, 270, 0, 62 [SEP] 48, Mug, 1.194, 1.661, -2.166, 0, 270, 0, 54 [SEP] 49, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 50, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 51, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 52, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 53, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 54, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 55, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 56, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 57, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 58, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 59, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 60, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 61, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 62, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 63, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 64, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 65, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 66, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 67, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 68, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 69, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 70, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 71, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 72, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 73, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 74, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 75, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 76, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 77, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 78, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 79, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 80, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 81, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 82, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 83, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 84, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 85, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 86, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 87, NorthWall, , , , , , , [SEP] 88, EastWall, , , , , , , [SEP] 89, SouthWall, , , , , , , [SEP] 90, WestWall, , , , , , , ", "output": ["STEP 1: Turn left walk towards the counter in front of the trash bin | STEP 2: Pick up the apple on the counter | STEP 3: Turn left the right and head to the microwave on your left | STEP 4: Open the microwave put in and out the apple then close the microwave | STEP 5: Turn left walk forward then turn left face the trash bin | STEP 6: Drop the apple in the trash bin | END"]} +{"id": "trial_T20190908_145143_820541-2", "input": "Heat an apple and throw it away. 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, 0, 0, [SEP] 1, Potato, -0.642, 0.810, -0.573, 0, 180, 0, 76 [SEP] 2, Potato, -0.808, 0.811, -0.573, 0, 90, 0, 76 [SEP] 3, CreditCard, -0.477, 0.930, -1.231, 0, 0, 0, 55 [SEP] 4, DishSponge, 0.793, 0.153, -0.690, 0, 270, 0, 58 [SEP] 5, Spoon, 0.875, 0.495, -0.607, 0, 270, 0, 59 [SEP] 6, Spoon, 0.773, 0.912, -1.965, 0, 0, 0, 61 [SEP] 7, Spatula, 0.859, 0.926, -0.555, 0, 180, 0, 56 [SEP] 8, Spatula, 0.914, 0.168, -0.571, 0, 0, 0, 58 [SEP] 9, Egg, -0.587, 0.818, -0.400, 0, 90, 0, 76 [SEP] 10, Egg, 0.688, 0.949, -2.136, 0, 0, 0, 61 [SEP] 11, Cup, -0.846, 0.930, 0.315, 0, 0, 0, 55 [SEP] 12, Cup, 1.194, 1.663, -0.273, 0, 270, 0, 64 [SEP] 13, Tomato, 0.773, 0.952, -0.555, 0, 0, 0, 56 [SEP] 14, Tomato, 0.965, 1.683, 1.540, 0, 270, 0, 78 [SEP] 15, SoapBottle, 1.029, 0.911, -0.208, 0, 0, 0, 56 [SEP] 16, Bowl, 1.026, 0.866, 1.254, 0, 270, 0, 78 [SEP] 17, SaltShaker, 0.956, 0.698, -0.772, 0, 270, 0, 53 [SEP] 18, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 74 [SEP] 19, Apple, -1.104, 0.983, 0.144, 0, 0, 0, 55 [SEP] 20, Apple, -0.753, 0.830, -0.745, 0, 90, 0, 76 [SEP] 21, Statue, -1.104, 0.936, -0.643, 0, 0, 0, 55 [SEP] 22, Glassbottle, -0.753, 0.781, -0.400, 0, 90, 0, 76 [SEP] 23, Bread, -0.624, 1.014, -1.231, 0, 0, 0, 55 [SEP] 24, CreditCard, -1.881, 0.551, 2.667, 0, 0, 0, 81 [SEP] 25, CellPhone, 1.199, 0.908, -0.208, 0, 0, 0, 56 [SEP] 26, Potato, -0.912, 0.209, 0.510, 0, 180, 0, 75 [SEP] 27, Knife, -0.698, 0.957, -1.618, 0, 0, 0, 55 [SEP] 28, Fork, -0.697, 0.781, -0.832, 0, 180, 0, 76 [SEP] 29, Pan, 0.966, 1.132, 1.254, 0, 0, 0, 78 [SEP] 30, Lettuce, 0.944, 0.988, 0.139, 0, 0, 0, 56 [SEP] 31, Plate, 1.026, 1.405, 1.349, 0, 270, 0, 78 [SEP] 32, Apple, 0.688, 0.961, -2.308, 0, 0, 0, 61 [SEP] 33, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 51 [SEP] 34, Spatula, -0.808, 0.795, -0.659, 0, 180, 0, 76 [SEP] 35, PaperTowelRoll, -1.054, 0.281, 0.641, 0, 180, 0, 75 [SEP] 36, Tomato, -0.624, 0.974, 0.086, 0, 0, 0, 55 [SEP] 37, Egg, -0.846, 0.971, -1.463, 0, 0, 0, 55 [SEP] 38, SaltShaker, 0.794, 0.491, -0.772, 0, 270, 0, 59 [SEP] 39, PepperShaker, 0.954, 0.150, -0.690, 0, 270, 0, 58 [SEP] 40, Vase, 0.773, 0.911, -1.793, 0, 0, 0, 61 [SEP] 41, ButterKnife, -0.698, 0.933, 0.086, 0, 0, 0, 55 [SEP] 42, SoapBottle, 0.944, 0.911, -1.793, 0, 0, 0, 61 [SEP] 43, Vase, 1.193, 1.667, 0.280, 0, 270, 0, 63 [SEP] 44, Bowl, -1.167, 0.936, -0.905, 0, 0, 0, 55 [SEP] 45, DishSponge, 0.861, 0.107, -1.812, 0, 0, 0, 60 [SEP] 46, Spoon, 0.944, 0.912, -0.729, 0, 0, 0, 56 [SEP] 47, Cup, 1.082, 2.205, -1.517, 0, 270, 0, 62 [SEP] 48, Mug, 1.194, 1.661, -2.166, 0, 270, 0, 54 [SEP] 49, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 50, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 51, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 52, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 53, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 54, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 55, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 56, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 57, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 58, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 59, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 60, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 61, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 62, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 63, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 64, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 65, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 66, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 67, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 68, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 69, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 70, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 71, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 72, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 73, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 74, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 75, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 76, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 77, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 78, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 79, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 80, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 81, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 82, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 83, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 84, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 85, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 86, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 87, NorthWall, , , , , , , [SEP] 88, EastWall, , , , , , , [SEP] 89, SouthWall, , , , , , , [SEP] 90, WestWall, , , , , , , ", "output": ["STEP 1: Turn to the left, and then left again to face the trash can. | STEP 2: Pick up the apple from the island on the closer side. | STEP 3: Carry the apple and turn to the left and then right. Look up to the microwave. | STEP 4: Open the microwave and place the apple inside. Shut the door. Open the door and take out the apple. Shut the door. | STEP 5: Carry the apple and turn to the left, then the left again to face the trash can. | STEP 6: Place the apple in the trash can on the floor. | END"]} +{"id": "trial_T20190909_062026_099967-0", "input": "Slice a tomato and cool it. 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, 0.5, 0, 180, 0, [SEP] 1, Pan, 0.905, 1.132, 1.444, 0, 0, 0, 80 [SEP] 2, Vase, -0.550, 0.934, -1.540, 0, 0, 0, 57 [SEP] 3, Potato, 0.905, 0.893, 1.444, 0, 270, 0, 80 [SEP] 4, CellPhone, 0.793, 0.150, -0.690, 0, 270, 0, 60 [SEP] 5, ButterKnife, 0.773, 0.911, -0.381, 0, 0, 0, 58 [SEP] 6, Glassbottle, -1.571, 0.882, 2.746, 0, 0, 0, 84 [SEP] 7, Glassbottle, -0.550, 0.934, 0.315, 0, 0, 0, 57 [SEP] 8, Fork, 0.875, 0.702, -0.607, 0, 0, 0, 55 [SEP] 9, Spoon, -0.697, 0.777, -0.745, 0, 90, 0, 78 [SEP] 10, Spoon, 0.834, 0.496, -0.607, 0, 270, 0, 61 [SEP] 11, Spatula, -0.698, 0.948, 0.009, 0, 0, 0, 57 [SEP] 12, Egg, -1.054, 0.214, 0.543, 0, 180, 0, 77 [SEP] 13, Egg, -0.808, 0.814, -0.832, 0, 90, 0, 78 [SEP] 14, Plate, 1.194, 1.669, -0.593, 0, 270, 0, 66 [SEP] 15, Plate, 1.101, 1.669, 0.089, 0, 270, 0, 65 [SEP] 16, SoapBottle, 1.082, 2.208, -1.191, 0, 270, 0, 64 [SEP] 17, Bowl, 1.082, 2.211, -0.973, 0, 270, 0, 64 [SEP] 18, SaltShaker, 1.194, 1.662, -0.401, 0, 270, 0, 66 [SEP] 19, PepperShaker, 0.713, 0.491, -0.772, 0, 270, 0, 61 [SEP] 20, Bread, -1.229, 1.014, -0.118, 0, 0, 0, 57 [SEP] 21, Apple, 0.844, 1.693, 0.967, 0, 270, 0, 80 [SEP] 22, Apple, -0.587, 0.830, -0.400, 0, 90, 0, 78 [SEP] 23, Statue, -1.355, 0.936, 0.144, 0, 0, 0, 57 [SEP] 24, Glassbottle, 1.114, 0.912, -0.555, 0, 0, 0, 58 [SEP] 25, Bread, 1.029, 0.992, -0.208, 0, 0, 0, 58 [SEP] 26, CreditCard, 0.833, 0.150, -0.611, 0, 270, 0, 60 [SEP] 27, CellPhone, -1.363, 0.550, 2.770, 0, 0, 0, 83 [SEP] 28, Potato, -0.865, 0.207, 0.608, 0, 180, 0, 77 [SEP] 29, Knife, -0.624, 0.957, -0.067, 0, 90, 0, 57 [SEP] 30, Fork, 0.944, 0.911, -0.555, 0, 0, 0, 58 [SEP] 31, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 51 [SEP] 32, Lettuce, 1.026, 1.212, 1.063, 0, 270, 0, 80 [SEP] 33, Plate, 0.966, 1.405, 1.254, 0, 270, 0, 80 [SEP] 34, Apple, 0.905, 0.913, 1.158, 0, 270, 0, 80 [SEP] 35, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 53 [SEP] 36, Spatula, -0.753, 0.791, -0.573, 0, 180, 0, 78 [SEP] 37, PaperTowelRoll, 0.688, 1.015, -0.034, 0, 0, 0, 58 [SEP] 38, Tomato, 1.199, 0.952, -0.381, 0, 0, 0, 58 [SEP] 39, Egg, 1.126, 1.833, -1.339, 0, 270, 0, 79 [SEP] 40, SaltShaker, 0.875, 0.491, -0.690, 0, 270, 0, 61 [SEP] 41, PepperShaker, 0.794, 0.491, -0.565, 0, 270, 0, 61 [SEP] 42, Vase, 1.101, 1.666, -1.961, 0, 270, 0, 56 [SEP] 43, ButterKnife, 0.773, 0.911, -0.208, 0, 0, 0, 58 [SEP] 44, SoapBottle, 1.212, 2.208, -1.191, 0, 270, 0, 64 [SEP] 45, Vase, -0.550, 0.934, -1.231, 0, 0, 0, 57 [SEP] 46, Bowl, 1.169, 2.211, -1.408, 0, 270, 0, 64 [SEP] 47, DishSponge, -1.570, 0.553, 2.718, 0, 0, 0, 83 [SEP] 48, Spoon, 1.029, 0.912, -0.729, 0, 0, 0, 58 [SEP] 49, Cup, 1.060, 1.792, -1.132, 0, 270, 0, 79 [SEP] 50, Mug, 1.026, 0.858, 0.967, 0, 270, 0, 80 [SEP] 51, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 52, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 53, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 54, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 55, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 56, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 57, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 58, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 59, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 60, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 61, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 62, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 63, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 64, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 65, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 66, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 67, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 68, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 69, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 70, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 71, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 72, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 73, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 74, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 75, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 76, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 77, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 78, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 79, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 80, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 81, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 82, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 83, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 84, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 85, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 86, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 87, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 88, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 89, NorthWall, , , , , , , [SEP] 90, EastWall, , , , , , , [SEP] 91, SouthWall, , , , , , , [SEP] 92, WestWall, , , , , , , ", "output": ["STEP 1: Turn around, take a step, turn right and walk across the room to the refrigerator. Turn right at the refrigerator and walk forward to the dish washer in the middle of the room. Turn left and face the dish washer. | STEP 2: Pick up the knife on the left next to the roll of paper towels. | STEP 3: Turn right, take a step and turn left to face the counter. | STEP 4: Slice the tomato. | STEP 5: Turn right and walk to the wall. At the wall, turn left and face the counter. | STEP 6: Put the knife down in front of the keurig. | STEP 7: Turn left and walk forward to the middle of the room. At the dish washer, turn right and face the counter. | STEP 8: Pick up the right end of the tomato. | STEP 9: Turn left and walk forward with the tomato slice to the front of the refrigerator. Face the refrigerator. | STEP 10: Open the refrigerator door and put the tomato slice in the refrigerator in between the egg and the apple toward the front of the shelf. Close the door. Open the door and grab the tomato slice. Close the refrigerator door. | STEP 11: Turn right and walk to the other side of the room. At the wall, turn left and face the counter in front of the keurig. | STEP 12: Put the tomato slice down to the left of the knife. | END"]} +{"id": "trial_T20190909_062026_099967-1", "input": "Put a knife and a cold 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, -3.75, 0.900, 0.5, 0, 180, 0, [SEP] 1, Pan, 0.905, 1.132, 1.444, 0, 0, 0, 80 [SEP] 2, Vase, -0.550, 0.934, -1.540, 0, 0, 0, 57 [SEP] 3, Potato, 0.905, 0.893, 1.444, 0, 270, 0, 80 [SEP] 4, CellPhone, 0.793, 0.150, -0.690, 0, 270, 0, 60 [SEP] 5, ButterKnife, 0.773, 0.911, -0.381, 0, 0, 0, 58 [SEP] 6, Glassbottle, -1.571, 0.882, 2.746, 0, 0, 0, 84 [SEP] 7, Glassbottle, -0.550, 0.934, 0.315, 0, 0, 0, 57 [SEP] 8, Fork, 0.875, 0.702, -0.607, 0, 0, 0, 55 [SEP] 9, Spoon, -0.697, 0.777, -0.745, 0, 90, 0, 78 [SEP] 10, Spoon, 0.834, 0.496, -0.607, 0, 270, 0, 61 [SEP] 11, Spatula, -0.698, 0.948, 0.009, 0, 0, 0, 57 [SEP] 12, Egg, -1.054, 0.214, 0.543, 0, 180, 0, 77 [SEP] 13, Egg, -0.808, 0.814, -0.832, 0, 90, 0, 78 [SEP] 14, Plate, 1.194, 1.669, -0.593, 0, 270, 0, 66 [SEP] 15, Plate, 1.101, 1.669, 0.089, 0, 270, 0, 65 [SEP] 16, SoapBottle, 1.082, 2.208, -1.191, 0, 270, 0, 64 [SEP] 17, Bowl, 1.082, 2.211, -0.973, 0, 270, 0, 64 [SEP] 18, SaltShaker, 1.194, 1.662, -0.401, 0, 270, 0, 66 [SEP] 19, PepperShaker, 0.713, 0.491, -0.772, 0, 270, 0, 61 [SEP] 20, Bread, -1.229, 1.014, -0.118, 0, 0, 0, 57 [SEP] 21, Apple, 0.844, 1.693, 0.967, 0, 270, 0, 80 [SEP] 22, Apple, -0.587, 0.830, -0.400, 0, 90, 0, 78 [SEP] 23, Statue, -1.355, 0.936, 0.144, 0, 0, 0, 57 [SEP] 24, Glassbottle, 1.114, 0.912, -0.555, 0, 0, 0, 58 [SEP] 25, Bread, 1.029, 0.992, -0.208, 0, 0, 0, 58 [SEP] 26, CreditCard, 0.833, 0.150, -0.611, 0, 270, 0, 60 [SEP] 27, CellPhone, -1.363, 0.550, 2.770, 0, 0, 0, 83 [SEP] 28, Potato, -0.865, 0.207, 0.608, 0, 180, 0, 77 [SEP] 29, Knife, -0.624, 0.957, -0.067, 0, 90, 0, 57 [SEP] 30, Fork, 0.944, 0.911, -0.555, 0, 0, 0, 58 [SEP] 31, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 51 [SEP] 32, Lettuce, 1.026, 1.212, 1.063, 0, 270, 0, 80 [SEP] 33, Plate, 0.966, 1.405, 1.254, 0, 270, 0, 80 [SEP] 34, Apple, 0.905, 0.913, 1.158, 0, 270, 0, 80 [SEP] 35, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 53 [SEP] 36, Spatula, -0.753, 0.791, -0.573, 0, 180, 0, 78 [SEP] 37, PaperTowelRoll, 0.688, 1.015, -0.034, 0, 0, 0, 58 [SEP] 38, Tomato, 1.199, 0.952, -0.381, 0, 0, 0, 58 [SEP] 39, Egg, 1.126, 1.833, -1.339, 0, 270, 0, 79 [SEP] 40, SaltShaker, 0.875, 0.491, -0.690, 0, 270, 0, 61 [SEP] 41, PepperShaker, 0.794, 0.491, -0.565, 0, 270, 0, 61 [SEP] 42, Vase, 1.101, 1.666, -1.961, 0, 270, 0, 56 [SEP] 43, ButterKnife, 0.773, 0.911, -0.208, 0, 0, 0, 58 [SEP] 44, SoapBottle, 1.212, 2.208, -1.191, 0, 270, 0, 64 [SEP] 45, Vase, -0.550, 0.934, -1.231, 0, 0, 0, 57 [SEP] 46, Bowl, 1.169, 2.211, -1.408, 0, 270, 0, 64 [SEP] 47, DishSponge, -1.570, 0.553, 2.718, 0, 0, 0, 83 [SEP] 48, Spoon, 1.029, 0.912, -0.729, 0, 0, 0, 58 [SEP] 49, Cup, 1.060, 1.792, -1.132, 0, 270, 0, 79 [SEP] 50, Mug, 1.026, 0.858, 0.967, 0, 270, 0, 80 [SEP] 51, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 52, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 53, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 54, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 55, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 56, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 57, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 58, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 59, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 60, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 61, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 62, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 63, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 64, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 65, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 66, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 67, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 68, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 69, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 70, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 71, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 72, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 73, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 74, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 75, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 76, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 77, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 78, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 79, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 80, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 81, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 82, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 83, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 84, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 85, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 86, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 87, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 88, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 89, NorthWall, , , , , , , [SEP] 90, EastWall, , , , , , , [SEP] 91, SouthWall, , , , , , , [SEP] 92, WestWall, , , , , , , ", "output": ["STEP 1: Turn to your left and go past the island, to the refrigerator, then turn to your right and go to the counter top to your right, just past the refrigerator. | STEP 2: Pick up the knife directly in front of the loaf of bread, on the counter. | STEP 3: Move over to the right side of the counter, near the stove. | STEP 4: Cut the tomato on the back of the counter, to the left of the vase, into slices. | STEP 5: Turn to your right and go to the end of the counter, where the coffee maker is, on your right. | STEP 6: Place the knife on the drip pan of the coffee maker. | STEP 7: Turn to your left and go back to the stove where the tomato is on, past the stove, and to your right. | STEP 8: Pick up one of the tomato slices, on the counter. | STEP 9: Turn to the refrigerator on your left. | STEP 10: Place the tomato slice in the refrigerator, on the top shelf, between the apple and the egg, wait a moment for the tomato slice to chill, then remove the tomato from the refrigerator. | STEP 11: Turn to your right and walk to the end of the kitchen, then turn to the counter on your left, where the knife is. | STEP 12: Place the tomato on the counter to the left of the knife. | END"]} +{"id": "trial_T20190909_062026_099967-2", "input": "Use the table knife to slice a tomato, place it next to the coffee maker 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, -3.75, 0.900, 0.5, 0, 180, 0, [SEP] 1, Pan, 0.905, 1.132, 1.444, 0, 0, 0, 80 [SEP] 2, Vase, -0.550, 0.934, -1.540, 0, 0, 0, 57 [SEP] 3, Potato, 0.905, 0.893, 1.444, 0, 270, 0, 80 [SEP] 4, CellPhone, 0.793, 0.150, -0.690, 0, 270, 0, 60 [SEP] 5, ButterKnife, 0.773, 0.911, -0.381, 0, 0, 0, 58 [SEP] 6, Glassbottle, -1.571, 0.882, 2.746, 0, 0, 0, 84 [SEP] 7, Glassbottle, -0.550, 0.934, 0.315, 0, 0, 0, 57 [SEP] 8, Fork, 0.875, 0.702, -0.607, 0, 0, 0, 55 [SEP] 9, Spoon, -0.697, 0.777, -0.745, 0, 90, 0, 78 [SEP] 10, Spoon, 0.834, 0.496, -0.607, 0, 270, 0, 61 [SEP] 11, Spatula, -0.698, 0.948, 0.009, 0, 0, 0, 57 [SEP] 12, Egg, -1.054, 0.214, 0.543, 0, 180, 0, 77 [SEP] 13, Egg, -0.808, 0.814, -0.832, 0, 90, 0, 78 [SEP] 14, Plate, 1.194, 1.669, -0.593, 0, 270, 0, 66 [SEP] 15, Plate, 1.101, 1.669, 0.089, 0, 270, 0, 65 [SEP] 16, SoapBottle, 1.082, 2.208, -1.191, 0, 270, 0, 64 [SEP] 17, Bowl, 1.082, 2.211, -0.973, 0, 270, 0, 64 [SEP] 18, SaltShaker, 1.194, 1.662, -0.401, 0, 270, 0, 66 [SEP] 19, PepperShaker, 0.713, 0.491, -0.772, 0, 270, 0, 61 [SEP] 20, Bread, -1.229, 1.014, -0.118, 0, 0, 0, 57 [SEP] 21, Apple, 0.844, 1.693, 0.967, 0, 270, 0, 80 [SEP] 22, Apple, -0.587, 0.830, -0.400, 0, 90, 0, 78 [SEP] 23, Statue, -1.355, 0.936, 0.144, 0, 0, 0, 57 [SEP] 24, Glassbottle, 1.114, 0.912, -0.555, 0, 0, 0, 58 [SEP] 25, Bread, 1.029, 0.992, -0.208, 0, 0, 0, 58 [SEP] 26, CreditCard, 0.833, 0.150, -0.611, 0, 270, 0, 60 [SEP] 27, CellPhone, -1.363, 0.550, 2.770, 0, 0, 0, 83 [SEP] 28, Potato, -0.865, 0.207, 0.608, 0, 180, 0, 77 [SEP] 29, Knife, -0.624, 0.957, -0.067, 0, 90, 0, 57 [SEP] 30, Fork, 0.944, 0.911, -0.555, 0, 0, 0, 58 [SEP] 31, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 51 [SEP] 32, Lettuce, 1.026, 1.212, 1.063, 0, 270, 0, 80 [SEP] 33, Plate, 0.966, 1.405, 1.254, 0, 270, 0, 80 [SEP] 34, Apple, 0.905, 0.913, 1.158, 0, 270, 0, 80 [SEP] 35, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 53 [SEP] 36, Spatula, -0.753, 0.791, -0.573, 0, 180, 0, 78 [SEP] 37, PaperTowelRoll, 0.688, 1.015, -0.034, 0, 0, 0, 58 [SEP] 38, Tomato, 1.199, 0.952, -0.381, 0, 0, 0, 58 [SEP] 39, Egg, 1.126, 1.833, -1.339, 0, 270, 0, 79 [SEP] 40, SaltShaker, 0.875, 0.491, -0.690, 0, 270, 0, 61 [SEP] 41, PepperShaker, 0.794, 0.491, -0.565, 0, 270, 0, 61 [SEP] 42, Vase, 1.101, 1.666, -1.961, 0, 270, 0, 56 [SEP] 43, ButterKnife, 0.773, 0.911, -0.208, 0, 0, 0, 58 [SEP] 44, SoapBottle, 1.212, 2.208, -1.191, 0, 270, 0, 64 [SEP] 45, Vase, -0.550, 0.934, -1.231, 0, 0, 0, 57 [SEP] 46, Bowl, 1.169, 2.211, -1.408, 0, 270, 0, 64 [SEP] 47, DishSponge, -1.570, 0.553, 2.718, 0, 0, 0, 83 [SEP] 48, Spoon, 1.029, 0.912, -0.729, 0, 0, 0, 58 [SEP] 49, Cup, 1.060, 1.792, -1.132, 0, 270, 0, 79 [SEP] 50, Mug, 1.026, 0.858, 0.967, 0, 270, 0, 80 [SEP] 51, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 52, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 53, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 54, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 55, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 56, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 57, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 58, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 59, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 60, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 61, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 62, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 63, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 64, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 65, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 66, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 67, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 68, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 69, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 70, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 71, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 72, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 73, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 74, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 75, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 76, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 77, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 78, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 79, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 80, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 81, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 82, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 83, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 84, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 85, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 86, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 87, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 88, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 89, NorthWall, , , , , , , [SEP] 90, EastWall, , , , , , , [SEP] 91, SouthWall, , , , , , , [SEP] 92, WestWall, , , , , , , ", "output": ["STEP 1: Turn around then turn right move forward toward the fridge then turn right the turn left to face the kitchen counter. | STEP 2: Pick up the table knife on the left from the kitchen counter. | STEP 3: Carry the table knife and move to the right to reach the tomato on the kitchen counter. | STEP 4: Slice the tomato on the kitchen counter using the table knife. | STEP 5: Take table knife , turn to the right then left and face the kitchen counter. | STEP 6: Place knife next to the coffee maker on the kitchen counter. | STEP 7: Turn left, then turn to the right and face the kitchen counter | STEP 8: Pick up a slice of tomato | STEP 9: Take the slice of tomato turn around turn to the right then right again to face the fridge. | STEP 10: Open the fridge door, place sliced tomato onto the shelf in the fridge, close fridge door. | STEP 11: Open fridge door, take out sliced tomato from the shelf inside the fridge, close fridge door. Turn right toward the coffee maker then left and face the coffee maker on the kitchen counter. | STEP 12: Place sliced tomato onto kitchen counter next to the knife near the coffee maker. | END"]} +{"id": "trial_T20190908_100512_362932-0", "input": "Place a washed towel in the middle of two sinks 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, 2.25, 0, 270, 0, [SEP] 1, SprayBottle, -0.178, 0.076, 3.055, 0, 0, 0, 21 [SEP] 2, Candle, -0.202, 0.954, 2.913, 0, 0, 0, 24 [SEP] 3, SoapBar, -0.131, 0.953, 1.544, 0, 0, 0, 32 [SEP] 4, SoapBar, -0.347, 0.826, 2.510, 0, 0, 0, 38 [SEP] 5, SoapBottle, -0.326, 0.955, 2.737, 0, 0, 0, 24 [SEP] 6, SoapBottle, -0.330, 0.076, 2.157, 0, 0, 0, 26 [SEP] 7, HandTowel, -0.038, 1.619, 3.799, 0, 90, 0, 31 [SEP] 8, Towel, -1.082, 1.326, 1.302, 0, 0, 0, 27 [SEP] 9, SoapBar, -2.202, 0.017, 3.756, 0, 0, 0, 33 [SEP] 10, ToiletPaper, -0.450, 0.951, 2.878, 0, 0, 0, 24 [SEP] 11, Plunger, -0.112, -0.000, 1.848, 0, 0, 0, [SEP] 12, Candle, -0.051, 0.953, 1.356, 0, 0, 0, 32 [SEP] 13, ToiletPaper, -0.280, 0.654, 1.985, 0, 180, 90, 29 [SEP] 14, SprayBottle, -0.230, 0.077, 2.564, 0, 0, 0, 21 [SEP] 15, Cloth, -0.351, 0.946, 2.074, 0, 0, 0, 38 [SEP] 16, ScrubBrush, -0.322, 3.109, 1.950, 0, 0, 0, [SEP] 17, SoapBottle, -0.382, 0.077, 2.609, 0, 0, 0, 21 [SEP] 18, Mirror, -0.030, 1.544, 2.864, 0, 0, 0, [SEP] 19, Sink, -0.302, 0.799, 3.263, 0, 270, 0, [SEP] 20, Cabinet, -0.491, 0.404, 2.863, 0, 0, 0, [SEP] 21, Cabinet, -0.495, 0.384, 2.842, 0, 0, 0, [SEP] 22, ShowerDoor, -1.647, 1.017, 1.180, 0, 0, 0, [SEP] 23, ShowerGlass, -0.909, 0.788, 0.485, 0, 0, 0, [SEP] 24, CounterTop, -0.261, 0.927, 2.843, 0, 0, 0, [SEP] 25, Cabinet, -0.495, 0.384, 3.650, 0, 0, 0, [SEP] 26, Cabinet, -0.491, 0.404, 2.055, 0, 0, 0, [SEP] 27, TowelHolder, -1.082, 1.312, 1.195, 0, 0, 0, [SEP] 28, LightSwitch, -2.424, 1.447, 3.338, 0, 90, 0, [SEP] 29, ToiletPaperHanger, -0.266, 0.786, 2.043, 0, 180, 0, [SEP] 30, HandTowelHolder, 0.000, 1.721, 1.887, 0, 180, 0, [SEP] 31, HandTowelHolder, 0.000, 1.721, 3.799, 0, 180, 0, [SEP] 32, Toilet, -0.542, 3.109, 1.493, 0, 270, 0, [SEP] 33, GarbageCan, -2.159, -0.000, 3.756, 0, 0, 0, [SEP] 34, SinkBasin, -0.308, 0.820, 3.266, 0, 0, 0, [SEP] 35, ShowerHead, -0.134, 1.888, 0.564, 0, 90, 0, [SEP] 36, Faucet, 0.0, 1.009, 3.265, 0, 0, 0, [SEP] 37, Faucet, 0.0, 1.009, 2.421, 0, 0, 0, [SEP] 38, SinkBasin, -0.308, 0.820, 2.422, 0, 0, 0, [SEP] 39, Sink, -0.302, 0.799, 2.419, 0, 270, 0, [SEP] 40, NorthWall, , , , , , , [SEP] 41, SouthWall, , , , , , , [SEP] 42, SouthWall, , , , , , , ", "output": ["STEP 1: Go to the right sink | STEP 2: Pick up the dirty towel next to the sink | STEP 3: Turn around and face the sink | STEP 4: Wash the dirty towel in the sink | STEP 5: Turn around and face the sinks | STEP 6: Place the cleaned towel in the middle of the sinks | END"]} +{"id": "trial_T20190908_100512_362932-1", "input": "Put a clean blue rag 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, 2.25, 0, 270, 0, [SEP] 1, SprayBottle, -0.178, 0.076, 3.055, 0, 0, 0, 21 [SEP] 2, Candle, -0.202, 0.954, 2.913, 0, 0, 0, 24 [SEP] 3, SoapBar, -0.131, 0.953, 1.544, 0, 0, 0, 32 [SEP] 4, SoapBar, -0.347, 0.826, 2.510, 0, 0, 0, 38 [SEP] 5, SoapBottle, -0.326, 0.955, 2.737, 0, 0, 0, 24 [SEP] 6, SoapBottle, -0.330, 0.076, 2.157, 0, 0, 0, 26 [SEP] 7, HandTowel, -0.038, 1.619, 3.799, 0, 90, 0, 31 [SEP] 8, Towel, -1.082, 1.326, 1.302, 0, 0, 0, 27 [SEP] 9, SoapBar, -2.202, 0.017, 3.756, 0, 0, 0, 33 [SEP] 10, ToiletPaper, -0.450, 0.951, 2.878, 0, 0, 0, 24 [SEP] 11, Plunger, -0.112, -0.000, 1.848, 0, 0, 0, [SEP] 12, Candle, -0.051, 0.953, 1.356, 0, 0, 0, 32 [SEP] 13, ToiletPaper, -0.280, 0.654, 1.985, 0, 180, 90, 29 [SEP] 14, SprayBottle, -0.230, 0.077, 2.564, 0, 0, 0, 21 [SEP] 15, Cloth, -0.351, 0.946, 2.074, 0, 0, 0, 38 [SEP] 16, ScrubBrush, -0.322, 3.109, 1.950, 0, 0, 0, [SEP] 17, SoapBottle, -0.382, 0.077, 2.609, 0, 0, 0, 21 [SEP] 18, Mirror, -0.030, 1.544, 2.864, 0, 0, 0, [SEP] 19, Sink, -0.302, 0.799, 3.263, 0, 270, 0, [SEP] 20, Cabinet, -0.491, 0.404, 2.863, 0, 0, 0, [SEP] 21, Cabinet, -0.495, 0.384, 2.842, 0, 0, 0, [SEP] 22, ShowerDoor, -1.647, 1.017, 1.180, 0, 0, 0, [SEP] 23, ShowerGlass, -0.909, 0.788, 0.485, 0, 0, 0, [SEP] 24, CounterTop, -0.261, 0.927, 2.843, 0, 0, 0, [SEP] 25, Cabinet, -0.495, 0.384, 3.650, 0, 0, 0, [SEP] 26, Cabinet, -0.491, 0.404, 2.055, 0, 0, 0, [SEP] 27, TowelHolder, -1.082, 1.312, 1.195, 0, 0, 0, [SEP] 28, LightSwitch, -2.424, 1.447, 3.338, 0, 90, 0, [SEP] 29, ToiletPaperHanger, -0.266, 0.786, 2.043, 0, 180, 0, [SEP] 30, HandTowelHolder, 0.000, 1.721, 1.887, 0, 180, 0, [SEP] 31, HandTowelHolder, 0.000, 1.721, 3.799, 0, 180, 0, [SEP] 32, Toilet, -0.542, 3.109, 1.493, 0, 270, 0, [SEP] 33, GarbageCan, -2.159, -0.000, 3.756, 0, 0, 0, [SEP] 34, SinkBasin, -0.308, 0.820, 3.266, 0, 0, 0, [SEP] 35, ShowerHead, -0.134, 1.888, 0.564, 0, 90, 0, [SEP] 36, Faucet, 0.0, 1.009, 3.265, 0, 0, 0, [SEP] 37, Faucet, 0.0, 1.009, 2.421, 0, 0, 0, [SEP] 38, SinkBasin, -0.308, 0.820, 2.422, 0, 0, 0, [SEP] 39, Sink, -0.302, 0.799, 2.419, 0, 270, 0, [SEP] 40, NorthWall, , , , , , , [SEP] 41, SouthWall, , , , , , , [SEP] 42, SouthWall, , , , , , , ", "output": ["STEP 1: Walk over to the right side of the sink counter. | STEP 2: Pick up the dirty blue rag off of the counter. | STEP 3: Walk up to the rightmost sink. | STEP 4: Put the dirty rag in the sink and turn on the water, after a couple seconds turn the water off and remove the now clean blue rag. | STEP 5: Turn left and walk forward, then turn right to face the counter. | STEP 6: Put the clean blue rag on the counter in between the two sinks. | END"]} +{"id": "trial_T20190908_100512_362932-2", "input": "Put a clean cloth 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, 2.25, 0, 270, 0, [SEP] 1, SprayBottle, -0.178, 0.076, 3.055, 0, 0, 0, 21 [SEP] 2, Candle, -0.202, 0.954, 2.913, 0, 0, 0, 24 [SEP] 3, SoapBar, -0.131, 0.953, 1.544, 0, 0, 0, 32 [SEP] 4, SoapBar, -0.347, 0.826, 2.510, 0, 0, 0, 38 [SEP] 5, SoapBottle, -0.326, 0.955, 2.737, 0, 0, 0, 24 [SEP] 6, SoapBottle, -0.330, 0.076, 2.157, 0, 0, 0, 26 [SEP] 7, HandTowel, -0.038, 1.619, 3.799, 0, 90, 0, 31 [SEP] 8, Towel, -1.082, 1.326, 1.302, 0, 0, 0, 27 [SEP] 9, SoapBar, -2.202, 0.017, 3.756, 0, 0, 0, 33 [SEP] 10, ToiletPaper, -0.450, 0.951, 2.878, 0, 0, 0, 24 [SEP] 11, Plunger, -0.112, -0.000, 1.848, 0, 0, 0, [SEP] 12, Candle, -0.051, 0.953, 1.356, 0, 0, 0, 32 [SEP] 13, ToiletPaper, -0.280, 0.654, 1.985, 0, 180, 90, 29 [SEP] 14, SprayBottle, -0.230, 0.077, 2.564, 0, 0, 0, 21 [SEP] 15, Cloth, -0.351, 0.946, 2.074, 0, 0, 0, 38 [SEP] 16, ScrubBrush, -0.322, 3.109, 1.950, 0, 0, 0, [SEP] 17, SoapBottle, -0.382, 0.077, 2.609, 0, 0, 0, 21 [SEP] 18, Mirror, -0.030, 1.544, 2.864, 0, 0, 0, [SEP] 19, Sink, -0.302, 0.799, 3.263, 0, 270, 0, [SEP] 20, Cabinet, -0.491, 0.404, 2.863, 0, 0, 0, [SEP] 21, Cabinet, -0.495, 0.384, 2.842, 0, 0, 0, [SEP] 22, ShowerDoor, -1.647, 1.017, 1.180, 0, 0, 0, [SEP] 23, ShowerGlass, -0.909, 0.788, 0.485, 0, 0, 0, [SEP] 24, CounterTop, -0.261, 0.927, 2.843, 0, 0, 0, [SEP] 25, Cabinet, -0.495, 0.384, 3.650, 0, 0, 0, [SEP] 26, Cabinet, -0.491, 0.404, 2.055, 0, 0, 0, [SEP] 27, TowelHolder, -1.082, 1.312, 1.195, 0, 0, 0, [SEP] 28, LightSwitch, -2.424, 1.447, 3.338, 0, 90, 0, [SEP] 29, ToiletPaperHanger, -0.266, 0.786, 2.043, 0, 180, 0, [SEP] 30, HandTowelHolder, 0.000, 1.721, 1.887, 0, 180, 0, [SEP] 31, HandTowelHolder, 0.000, 1.721, 3.799, 0, 180, 0, [SEP] 32, Toilet, -0.542, 3.109, 1.493, 0, 270, 0, [SEP] 33, GarbageCan, -2.159, -0.000, 3.756, 0, 0, 0, [SEP] 34, SinkBasin, -0.308, 0.820, 3.266, 0, 0, 0, [SEP] 35, ShowerHead, -0.134, 1.888, 0.564, 0, 90, 0, [SEP] 36, Faucet, 0.0, 1.009, 3.265, 0, 0, 0, [SEP] 37, Faucet, 0.0, 1.009, 2.421, 0, 0, 0, [SEP] 38, SinkBasin, -0.308, 0.820, 2.422, 0, 0, 0, [SEP] 39, Sink, -0.302, 0.799, 2.419, 0, 270, 0, [SEP] 40, NorthWall, , , , , , , [SEP] 41, SouthWall, , , , , , , [SEP] 42, SouthWall, , , , , , , ", "output": ["STEP 1: Turn around and face the counter to the right of the sink. | STEP 2: Pick up the cloth from the counter. | STEP 3: Move to the left and face the sink on the right. | STEP 4: Put the cloth in the sink and turn the water on and then off and pick the cloth up from the sink. | STEP 5: Move to the left and face the counter in between the two sinks. | STEP 6: Put the cloth on the counter between the two sinks. | END"]} +{"id": "trial_T20190908_145356_918528-0", "input": "Put in the heated apple 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, -2.25, 0.900, 1.5, 0, 90, 0, [SEP] 1, Pan, 1.077, 0.950, -1.098, 0, 0, 0, 63 [SEP] 2, Vase, -1.881, 0.555, 2.615, 0, 0, 0, 87 [SEP] 3, Potato, 0.966, 1.673, 1.158, 0, 270, 0, 84 [SEP] 4, CreditCard, 1.029, 0.908, -0.381, 0, 0, 0, 62 [SEP] 5, CellPhone, 0.688, 0.908, -0.729, 0, 0, 0, 62 [SEP] 6, CellPhone, 0.944, 0.908, -1.879, 0, 0, 0, 67 [SEP] 7, DishSponge, 1.029, 0.910, 0.139, 0, 0, 0, 62 [SEP] 8, ButterKnife, -0.624, 0.933, -1.308, 0, 0, 0, 61 [SEP] 9, Glassbottle, 1.212, 2.208, -1.191, 0, 270, 0, 68 [SEP] 10, Glassbottle, 0.811, 0.121, 0.398, 0, 270, 0, 56 [SEP] 11, Spatula, 1.114, 0.926, -0.034, 0, 0, 0, 62 [SEP] 12, Spatula, 0.915, 0.509, -0.648, 0, 0, 0, 65 [SEP] 13, Egg, -0.697, 0.818, -0.573, 0, 90, 0, 82 [SEP] 14, Egg, -0.698, 0.971, 0.315, 0, 0, 0, 61 [SEP] 15, Plate, 0.773, 0.914, -0.381, 0, 0, 0, 62 [SEP] 16, Tomato, -0.808, 0.821, -0.659, 0, 90, 0, 82 [SEP] 17, SoapBottle, 1.101, 1.666, 0.280, 0, 270, 0, 69 [SEP] 18, SaltShaker, 0.754, 0.491, -0.731, 0, 270, 0, 65 [SEP] 19, PepperShaker, -1.363, 0.550, 2.822, 0, 0, 0, 87 [SEP] 20, PepperShaker, -1.570, 0.550, 2.874, 0, 0, 0, 87 [SEP] 21, Lettuce, 1.114, 0.988, -0.381, 0, 0, 0, 62 [SEP] 22, Lettuce, 1.026, 0.940, 1.158, 0, 270, 0, 84 [SEP] 23, Bread, -1.292, 1.014, 0.144, 0, 0, 0, 61 [SEP] 24, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 80 [SEP] 25, Mug, -1.981, 0.876, 2.692, 0, 0, 0, 88 [SEP] 26, Apple, -0.865, 0.227, 0.608, 0, 180, 0, 81 [SEP] 27, Statue, -0.550, 0.936, 0.162, 0, 0, 0, 61 [SEP] 28, Glassbottle, -0.920, 0.934, -1.386, 0, 0, 0, 61 [SEP] 29, Bread, 0.966, 1.482, 1.349, 0, 270, 0, 84 [SEP] 30, CreditCard, 0.834, 0.492, -0.607, 0, 270, 0, 65 [SEP] 31, CellPhone, 0.875, 0.699, -0.690, 0, 270, 0, 59 [SEP] 32, Potato, -0.587, 0.811, -0.745, 0, 90, 0, 82 [SEP] 33, Knife, -0.624, 0.957, -1.386, 0, 0, 0, 61 [SEP] 34, Fork, 0.875, 0.702, -0.565, 0, 0, 0, 59 [SEP] 35, Pan, 0.842, 0.950, -1.504, 0, 0, 0, 58 [SEP] 36, Lettuce, 0.859, 0.988, 0.139, 0, 0, 0, 62 [SEP] 37, Plate, 1.148, 1.669, -2.097, 0, 270, 0, 60 [SEP] 38, Apple, -0.960, 0.229, 0.510, 0, 180, 0, 81 [SEP] 39, Pot, -1.221, 0.92, -0.49, 0, 0, 0, 61 [SEP] 40, Spatula, 0.944, 0.926, -0.381, 0, 90, 0, 62 [SEP] 41, PaperTowelRoll, -1.571, 0.986, 2.773, 0, 0, 0, 88 [SEP] 42, Tomato, 0.688, 0.952, -1.879, 0, 0, 0, 67 [SEP] 43, Egg, -0.697, 0.814, -0.832, 0, 90, 0, 82 [SEP] 44, SaltShaker, 1.056, 1.662, -0.337, 0, 270, 0, 70 [SEP] 45, PepperShaker, -0.920, 0.929, 0.162, 0, 0, 0, 61 [SEP] 46, Vase, 1.194, 1.666, -0.465, 0, 270, 0, 70 [SEP] 47, ButterKnife, -0.550, 0.933, -0.143, 0, 0, 0, 61 [SEP] 48, SoapBottle, 1.169, 2.208, -1.408, 0, 270, 0, 68 [SEP] 49, Vase, -1.355, 0.934, -0.905, 0, 0, 0, 61 [SEP] 50, Bowl, 1.026, 1.138, 1.540, 0, 270, 0, 84 [SEP] 51, DishSponge, 0.875, 0.493, -0.731, 0, 270, 0, 65 [SEP] 52, Spoon, -0.772, 0.934, 0.086, 0, 0, 0, 61 [SEP] 53, Cup, 0.783, 0.860, 0.967, 0, 270, 0, 84 [SEP] 54, Mug, 1.239, 1.661, -0.038, 0, 0, 0, 69 [SEP] 55, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 56, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 57, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 58, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 59, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 60, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 61, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 62, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 63, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 64, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 65, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 66, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 67, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 68, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 69, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 70, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 71, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 72, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 73, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 74, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 75, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 76, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 77, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 78, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 79, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 80, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 81, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 82, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 83, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 84, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 85, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 86, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 87, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 88, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 89, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 90, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 91, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 92, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 93, NorthWall, , , , , , , [SEP] 94, EastWall, , , , , , , [SEP] 95, SouthWall, , , , , , , [SEP] 96, WestWall, , , , , , , ", "output": ["STEP 1: Walk forward then turn right stand on the left side of the trash bin | STEP 2: Pick up the apple in the trash bin | STEP 3: Turn left then turn right head to the microwave on your left | STEP 4: Open the microwave, put in the microwave then take it out and close the microwave | STEP 5: Turn left,walk straight then turn left walk few step and face the trash bin | STEP 6: Put in the apple in the trash bin | END"]} +{"id": "trial_T20190908_145356_918528-1", "input": "Put a heated 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, 1.5, 0, 90, 0, [SEP] 1, Pan, 1.077, 0.950, -1.098, 0, 0, 0, 63 [SEP] 2, Vase, -1.881, 0.555, 2.615, 0, 0, 0, 87 [SEP] 3, Potato, 0.966, 1.673, 1.158, 0, 270, 0, 84 [SEP] 4, CreditCard, 1.029, 0.908, -0.381, 0, 0, 0, 62 [SEP] 5, CellPhone, 0.688, 0.908, -0.729, 0, 0, 0, 62 [SEP] 6, CellPhone, 0.944, 0.908, -1.879, 0, 0, 0, 67 [SEP] 7, DishSponge, 1.029, 0.910, 0.139, 0, 0, 0, 62 [SEP] 8, ButterKnife, -0.624, 0.933, -1.308, 0, 0, 0, 61 [SEP] 9, Glassbottle, 1.212, 2.208, -1.191, 0, 270, 0, 68 [SEP] 10, Glassbottle, 0.811, 0.121, 0.398, 0, 270, 0, 56 [SEP] 11, Spatula, 1.114, 0.926, -0.034, 0, 0, 0, 62 [SEP] 12, Spatula, 0.915, 0.509, -0.648, 0, 0, 0, 65 [SEP] 13, Egg, -0.697, 0.818, -0.573, 0, 90, 0, 82 [SEP] 14, Egg, -0.698, 0.971, 0.315, 0, 0, 0, 61 [SEP] 15, Plate, 0.773, 0.914, -0.381, 0, 0, 0, 62 [SEP] 16, Tomato, -0.808, 0.821, -0.659, 0, 90, 0, 82 [SEP] 17, SoapBottle, 1.101, 1.666, 0.280, 0, 270, 0, 69 [SEP] 18, SaltShaker, 0.754, 0.491, -0.731, 0, 270, 0, 65 [SEP] 19, PepperShaker, -1.363, 0.550, 2.822, 0, 0, 0, 87 [SEP] 20, PepperShaker, -1.570, 0.550, 2.874, 0, 0, 0, 87 [SEP] 21, Lettuce, 1.114, 0.988, -0.381, 0, 0, 0, 62 [SEP] 22, Lettuce, 1.026, 0.940, 1.158, 0, 270, 0, 84 [SEP] 23, Bread, -1.292, 1.014, 0.144, 0, 0, 0, 61 [SEP] 24, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 80 [SEP] 25, Mug, -1.981, 0.876, 2.692, 0, 0, 0, 88 [SEP] 26, Apple, -0.865, 0.227, 0.608, 0, 180, 0, 81 [SEP] 27, Statue, -0.550, 0.936, 0.162, 0, 0, 0, 61 [SEP] 28, Glassbottle, -0.920, 0.934, -1.386, 0, 0, 0, 61 [SEP] 29, Bread, 0.966, 1.482, 1.349, 0, 270, 0, 84 [SEP] 30, CreditCard, 0.834, 0.492, -0.607, 0, 270, 0, 65 [SEP] 31, CellPhone, 0.875, 0.699, -0.690, 0, 270, 0, 59 [SEP] 32, Potato, -0.587, 0.811, -0.745, 0, 90, 0, 82 [SEP] 33, Knife, -0.624, 0.957, -1.386, 0, 0, 0, 61 [SEP] 34, Fork, 0.875, 0.702, -0.565, 0, 0, 0, 59 [SEP] 35, Pan, 0.842, 0.950, -1.504, 0, 0, 0, 58 [SEP] 36, Lettuce, 0.859, 0.988, 0.139, 0, 0, 0, 62 [SEP] 37, Plate, 1.148, 1.669, -2.097, 0, 270, 0, 60 [SEP] 38, Apple, -0.960, 0.229, 0.510, 0, 180, 0, 81 [SEP] 39, Pot, -1.221, 0.92, -0.49, 0, 0, 0, 61 [SEP] 40, Spatula, 0.944, 0.926, -0.381, 0, 90, 0, 62 [SEP] 41, PaperTowelRoll, -1.571, 0.986, 2.773, 0, 0, 0, 88 [SEP] 42, Tomato, 0.688, 0.952, -1.879, 0, 0, 0, 67 [SEP] 43, Egg, -0.697, 0.814, -0.832, 0, 90, 0, 82 [SEP] 44, SaltShaker, 1.056, 1.662, -0.337, 0, 270, 0, 70 [SEP] 45, PepperShaker, -0.920, 0.929, 0.162, 0, 0, 0, 61 [SEP] 46, Vase, 1.194, 1.666, -0.465, 0, 270, 0, 70 [SEP] 47, ButterKnife, -0.550, 0.933, -0.143, 0, 0, 0, 61 [SEP] 48, SoapBottle, 1.169, 2.208, -1.408, 0, 270, 0, 68 [SEP] 49, Vase, -1.355, 0.934, -0.905, 0, 0, 0, 61 [SEP] 50, Bowl, 1.026, 1.138, 1.540, 0, 270, 0, 84 [SEP] 51, DishSponge, 0.875, 0.493, -0.731, 0, 270, 0, 65 [SEP] 52, Spoon, -0.772, 0.934, 0.086, 0, 0, 0, 61 [SEP] 53, Cup, 0.783, 0.860, 0.967, 0, 270, 0, 84 [SEP] 54, Mug, 1.239, 1.661, -0.038, 0, 0, 0, 69 [SEP] 55, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 56, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 57, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 58, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 59, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 60, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 61, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 62, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 63, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 64, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 65, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 66, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 67, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 68, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 69, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 70, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 71, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 72, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 73, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 74, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 75, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 76, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 77, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 78, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 79, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 80, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 81, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 82, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 83, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 84, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 85, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 86, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 87, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 88, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 89, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 90, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 91, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 92, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 93, NorthWall, , , , , , , [SEP] 94, EastWall, , , , , , , [SEP] 95, SouthWall, , , , , , , [SEP] 96, WestWall, , , , , , , ", "output": ["STEP 1: Go forward and turn to the right to face the trash can next to the counter. | STEP 2: Take the green apple on the right out of the trash can. | STEP 3: Turn around and go right and then turn to the left to face the microwave above the stove. | 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: Go left and then turn to the left again to face the trash can. | STEP 6: Put the apple in the trash can. | END"]} +{"id": "trial_T20190908_145356_918528-2", "input": "Put a heated apple back in the garbage where you got 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, 0.900, 1.5, 0, 90, 0, [SEP] 1, Pan, 1.077, 0.950, -1.098, 0, 0, 0, 63 [SEP] 2, Vase, -1.881, 0.555, 2.615, 0, 0, 0, 87 [SEP] 3, Potato, 0.966, 1.673, 1.158, 0, 270, 0, 84 [SEP] 4, CreditCard, 1.029, 0.908, -0.381, 0, 0, 0, 62 [SEP] 5, CellPhone, 0.688, 0.908, -0.729, 0, 0, 0, 62 [SEP] 6, CellPhone, 0.944, 0.908, -1.879, 0, 0, 0, 67 [SEP] 7, DishSponge, 1.029, 0.910, 0.139, 0, 0, 0, 62 [SEP] 8, ButterKnife, -0.624, 0.933, -1.308, 0, 0, 0, 61 [SEP] 9, Glassbottle, 1.212, 2.208, -1.191, 0, 270, 0, 68 [SEP] 10, Glassbottle, 0.811, 0.121, 0.398, 0, 270, 0, 56 [SEP] 11, Spatula, 1.114, 0.926, -0.034, 0, 0, 0, 62 [SEP] 12, Spatula, 0.915, 0.509, -0.648, 0, 0, 0, 65 [SEP] 13, Egg, -0.697, 0.818, -0.573, 0, 90, 0, 82 [SEP] 14, Egg, -0.698, 0.971, 0.315, 0, 0, 0, 61 [SEP] 15, Plate, 0.773, 0.914, -0.381, 0, 0, 0, 62 [SEP] 16, Tomato, -0.808, 0.821, -0.659, 0, 90, 0, 82 [SEP] 17, SoapBottle, 1.101, 1.666, 0.280, 0, 270, 0, 69 [SEP] 18, SaltShaker, 0.754, 0.491, -0.731, 0, 270, 0, 65 [SEP] 19, PepperShaker, -1.363, 0.550, 2.822, 0, 0, 0, 87 [SEP] 20, PepperShaker, -1.570, 0.550, 2.874, 0, 0, 0, 87 [SEP] 21, Lettuce, 1.114, 0.988, -0.381, 0, 0, 0, 62 [SEP] 22, Lettuce, 1.026, 0.940, 1.158, 0, 270, 0, 84 [SEP] 23, Bread, -1.292, 1.014, 0.144, 0, 0, 0, 61 [SEP] 24, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 80 [SEP] 25, Mug, -1.981, 0.876, 2.692, 0, 0, 0, 88 [SEP] 26, Apple, -0.865, 0.227, 0.608, 0, 180, 0, 81 [SEP] 27, Statue, -0.550, 0.936, 0.162, 0, 0, 0, 61 [SEP] 28, Glassbottle, -0.920, 0.934, -1.386, 0, 0, 0, 61 [SEP] 29, Bread, 0.966, 1.482, 1.349, 0, 270, 0, 84 [SEP] 30, CreditCard, 0.834, 0.492, -0.607, 0, 270, 0, 65 [SEP] 31, CellPhone, 0.875, 0.699, -0.690, 0, 270, 0, 59 [SEP] 32, Potato, -0.587, 0.811, -0.745, 0, 90, 0, 82 [SEP] 33, Knife, -0.624, 0.957, -1.386, 0, 0, 0, 61 [SEP] 34, Fork, 0.875, 0.702, -0.565, 0, 0, 0, 59 [SEP] 35, Pan, 0.842, 0.950, -1.504, 0, 0, 0, 58 [SEP] 36, Lettuce, 0.859, 0.988, 0.139, 0, 0, 0, 62 [SEP] 37, Plate, 1.148, 1.669, -2.097, 0, 270, 0, 60 [SEP] 38, Apple, -0.960, 0.229, 0.510, 0, 180, 0, 81 [SEP] 39, Pot, -1.221, 0.92, -0.49, 0, 0, 0, 61 [SEP] 40, Spatula, 0.944, 0.926, -0.381, 0, 90, 0, 62 [SEP] 41, PaperTowelRoll, -1.571, 0.986, 2.773, 0, 0, 0, 88 [SEP] 42, Tomato, 0.688, 0.952, -1.879, 0, 0, 0, 67 [SEP] 43, Egg, -0.697, 0.814, -0.832, 0, 90, 0, 82 [SEP] 44, SaltShaker, 1.056, 1.662, -0.337, 0, 270, 0, 70 [SEP] 45, PepperShaker, -0.920, 0.929, 0.162, 0, 0, 0, 61 [SEP] 46, Vase, 1.194, 1.666, -0.465, 0, 270, 0, 70 [SEP] 47, ButterKnife, -0.550, 0.933, -0.143, 0, 0, 0, 61 [SEP] 48, SoapBottle, 1.169, 2.208, -1.408, 0, 270, 0, 68 [SEP] 49, Vase, -1.355, 0.934, -0.905, 0, 0, 0, 61 [SEP] 50, Bowl, 1.026, 1.138, 1.540, 0, 270, 0, 84 [SEP] 51, DishSponge, 0.875, 0.493, -0.731, 0, 270, 0, 65 [SEP] 52, Spoon, -0.772, 0.934, 0.086, 0, 0, 0, 61 [SEP] 53, Cup, 0.783, 0.860, 0.967, 0, 270, 0, 84 [SEP] 54, Mug, 1.239, 1.661, -0.038, 0, 0, 0, 69 [SEP] 55, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 56, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 57, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 58, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 59, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 60, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 61, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 62, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 63, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 64, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 65, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 66, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 67, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 68, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 69, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 70, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 71, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 72, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 73, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 74, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 75, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 76, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 77, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 78, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 79, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 80, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 81, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 82, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 83, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 84, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 85, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 86, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 87, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 88, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 89, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 90, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 91, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 92, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 93, NorthWall, , , , , , , [SEP] 94, EastWall, , , , , , , [SEP] 95, SouthWall, , , , , , , [SEP] 96, WestWall, , , , , , , ", "output": ["STEP 1: Walk to the refrigerator, turn right, turn right again, walk to garbage can. | STEP 2: Pick up the apple that is in the near right corner of the can. | STEP 3: TUrn left, walk to the stove, turn left to face the stove. | STEP 4: Put the apple in the microwave, heat it, and take it out. | STEP 5: Turn left, got to the end of the counter, walk to the garbage can, turn left to face the can. | STEP 6: Put the apple in the garbage can to the right of the other apple. | END"]} +{"id": "trial_T20190908_213420_728917-0", "input": "Put a clean plate 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, 1.0, 0, 90, 0, [SEP] 1, Statue, -1.167, 0.936, -0.643, 0, 0, 0, 57 [SEP] 2, Potato, 1.028, 1.825, -1.339, 0, 270, 0, 79 [SEP] 3, Potato, 0.859, 0.941, -1.879, 0, 0, 0, 63 [SEP] 4, CreditCard, -0.920, 0.930, -0.067, 0, 0, 0, 57 [SEP] 5, CreditCard, 0.914, 0.150, -0.690, 0, 270, 0, 60 [SEP] 6, CellPhone, -0.772, 0.930, -1.308, 0, 0, 0, 57 [SEP] 7, CellPhone, 0.773, 0.908, -0.555, 0, 0, 0, 58 [SEP] 8, DishSponge, 0.914, 0.153, -0.571, 0, 270, 0, 60 [SEP] 9, Spatula, -0.550, 0.948, 0.009, 0, 90, 0, 57 [SEP] 10, Spatula, 0.834, 0.510, -0.731, 0, 90, 0, 61 [SEP] 11, Egg, 0.783, 1.680, 1.158, 0, 270, 0, 80 [SEP] 12, Cup, -1.778, 0.551, 2.563, 0, 0, 0, 83 [SEP] 13, Plate, -1.363, 0.557, 2.667, 0, 0, 0, 83 [SEP] 14, Plate, 1.029, 0.914, -0.381, 0, 0, 0, 58 [SEP] 15, Plate, 1.169, 2.211, -1.626, 0, 270, 0, 64 [SEP] 16, Tomato, 1.026, 0.903, 1.063, 0, 270, 0, 80 [SEP] 17, SoapBottle, -1.007, 0.177, 0.543, 0, 180, 0, 77 [SEP] 18, Bowl, 0.761, 0.111, -2.052, 0, 0, 0, 62 [SEP] 19, SaltShaker, -1.778, 0.550, 2.822, 0, 0, 0, 83 [SEP] 20, Lettuce, 1.026, 1.212, 1.444, 0, 270, 0, 80 [SEP] 21, Bread, -0.550, 1.014, -1.231, 0, 0, 0, 57 [SEP] 22, Apple, 0.844, 1.452, 1.254, 0, 270, 0, 80 [SEP] 23, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 57 [SEP] 24, Glassbottle, -0.550, 0.934, -1.463, 0, 0, 0, 57 [SEP] 25, Bread, 0.944, 0.992, 0.139, 0, 0, 0, 58 [SEP] 26, CreditCard, 0.875, 0.699, -0.731, 0, 270, 0, 55 [SEP] 27, CellPhone, 1.114, 0.908, -0.729, 0, 0, 0, 58 [SEP] 28, Potato, 0.773, 0.941, -1.793, 0, 0, 0, 63 [SEP] 29, Knife, 0.868, 0.700, -0.600, 90, 315, 0, 55 [SEP] 30, Fork, -1.229, 0.934, -0.118, 0, 0, 0, 57 [SEP] 31, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 51 [SEP] 32, Lettuce, -0.698, 1.010, 0.239, 0, 0, 0, 57 [SEP] 33, Plate, -1.355, 0.936, -0.905, 0, 0, 0, 57 [SEP] 34, Apple, 0.688, 0.961, -2.222, 0, 0, 0, 63 [SEP] 35, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 53 [SEP] 36, Spatula, 0.754, 0.717, -0.690, 0, 180, 0, 55 [SEP] 37, PaperTowelRoll, 1.114, 1.015, 0.139, 0, 0, 0, 58 [SEP] 38, Tomato, 0.965, 1.683, 1.540, 0, 270, 0, 80 [SEP] 39, Egg, 0.783, 1.680, 1.444, 0, 270, 0, 80 [SEP] 40, SaltShaker, 0.793, 0.150, -0.531, 0, 270, 0, 60 [SEP] 41, PepperShaker, 0.833, 0.150, -0.650, 0, 270, 0, 60 [SEP] 42, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 83 [SEP] 43, ButterKnife, -1.292, 0.933, 0.144, 0, 0, 0, 57 [SEP] 44, SoapBottle, 0.859, 0.911, -0.381, 0, 0, 0, 58 [SEP] 45, Vase, -1.985, 0.555, 2.718, 0, 0, 0, 83 [SEP] 46, Bowl, 0.844, 0.866, 1.444, 0, 270, 0, 80 [SEP] 47, DishSponge, 0.688, 0.910, -2.308, 0, 0, 0, 63 [SEP] 48, Spoon, -1.229, 0.934, -1.430, 0, 90, 0, 57 [SEP] 49, Cup, 1.194, 1.663, -0.529, 0, 270, 0, 66 [SEP] 50, Mug, 0.905, 1.396, 1.444, 0, 270, 0, 80 [SEP] 51, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 52, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 53, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 54, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 55, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 56, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 57, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 58, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 59, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 60, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 61, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 62, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 63, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 64, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 65, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 66, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 67, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 68, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 69, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 70, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 71, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 72, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 73, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 74, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 75, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 76, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 77, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 78, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 79, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 80, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 81, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 82, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 83, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 84, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 85, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 86, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 87, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 88, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 89, NorthWall, , , , , , , [SEP] 90, EastWall, , , , , , , [SEP] 91, SouthWall, , , , , , , [SEP] 92, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and walk to the counter to the left of the stove turning left to face it when you get there. | STEP 2: Pick up the dirty gold plate that's in front of you to the left of the phone. | STEP 3: Turn around to face the sink. | STEP 4: Wash the plate in the sink and then pick it back up and shut off the water. | STEP 5: Turn back around to face the counter again. | STEP 6: Put the plate on the counter to the left of the bottom phone . | END"]} +{"id": "trial_T20190908_213420_728917-1", "input": "place a clean plate down on the kitchen counter space 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, 90, 0, [SEP] 1, Statue, -1.167, 0.936, -0.643, 0, 0, 0, 57 [SEP] 2, Potato, 1.028, 1.825, -1.339, 0, 270, 0, 79 [SEP] 3, Potato, 0.859, 0.941, -1.879, 0, 0, 0, 63 [SEP] 4, CreditCard, -0.920, 0.930, -0.067, 0, 0, 0, 57 [SEP] 5, CreditCard, 0.914, 0.150, -0.690, 0, 270, 0, 60 [SEP] 6, CellPhone, -0.772, 0.930, -1.308, 0, 0, 0, 57 [SEP] 7, CellPhone, 0.773, 0.908, -0.555, 0, 0, 0, 58 [SEP] 8, DishSponge, 0.914, 0.153, -0.571, 0, 270, 0, 60 [SEP] 9, Spatula, -0.550, 0.948, 0.009, 0, 90, 0, 57 [SEP] 10, Spatula, 0.834, 0.510, -0.731, 0, 90, 0, 61 [SEP] 11, Egg, 0.783, 1.680, 1.158, 0, 270, 0, 80 [SEP] 12, Cup, -1.778, 0.551, 2.563, 0, 0, 0, 83 [SEP] 13, Plate, -1.363, 0.557, 2.667, 0, 0, 0, 83 [SEP] 14, Plate, 1.029, 0.914, -0.381, 0, 0, 0, 58 [SEP] 15, Plate, 1.169, 2.211, -1.626, 0, 270, 0, 64 [SEP] 16, Tomato, 1.026, 0.903, 1.063, 0, 270, 0, 80 [SEP] 17, SoapBottle, -1.007, 0.177, 0.543, 0, 180, 0, 77 [SEP] 18, Bowl, 0.761, 0.111, -2.052, 0, 0, 0, 62 [SEP] 19, SaltShaker, -1.778, 0.550, 2.822, 0, 0, 0, 83 [SEP] 20, Lettuce, 1.026, 1.212, 1.444, 0, 270, 0, 80 [SEP] 21, Bread, -0.550, 1.014, -1.231, 0, 0, 0, 57 [SEP] 22, Apple, 0.844, 1.452, 1.254, 0, 270, 0, 80 [SEP] 23, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 57 [SEP] 24, Glassbottle, -0.550, 0.934, -1.463, 0, 0, 0, 57 [SEP] 25, Bread, 0.944, 0.992, 0.139, 0, 0, 0, 58 [SEP] 26, CreditCard, 0.875, 0.699, -0.731, 0, 270, 0, 55 [SEP] 27, CellPhone, 1.114, 0.908, -0.729, 0, 0, 0, 58 [SEP] 28, Potato, 0.773, 0.941, -1.793, 0, 0, 0, 63 [SEP] 29, Knife, 0.868, 0.700, -0.600, 90, 315, 0, 55 [SEP] 30, Fork, -1.229, 0.934, -0.118, 0, 0, 0, 57 [SEP] 31, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 51 [SEP] 32, Lettuce, -0.698, 1.010, 0.239, 0, 0, 0, 57 [SEP] 33, Plate, -1.355, 0.936, -0.905, 0, 0, 0, 57 [SEP] 34, Apple, 0.688, 0.961, -2.222, 0, 0, 0, 63 [SEP] 35, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 53 [SEP] 36, Spatula, 0.754, 0.717, -0.690, 0, 180, 0, 55 [SEP] 37, PaperTowelRoll, 1.114, 1.015, 0.139, 0, 0, 0, 58 [SEP] 38, Tomato, 0.965, 1.683, 1.540, 0, 270, 0, 80 [SEP] 39, Egg, 0.783, 1.680, 1.444, 0, 270, 0, 80 [SEP] 40, SaltShaker, 0.793, 0.150, -0.531, 0, 270, 0, 60 [SEP] 41, PepperShaker, 0.833, 0.150, -0.650, 0, 270, 0, 60 [SEP] 42, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 83 [SEP] 43, ButterKnife, -1.292, 0.933, 0.144, 0, 0, 0, 57 [SEP] 44, SoapBottle, 0.859, 0.911, -0.381, 0, 0, 0, 58 [SEP] 45, Vase, -1.985, 0.555, 2.718, 0, 0, 0, 83 [SEP] 46, Bowl, 0.844, 0.866, 1.444, 0, 270, 0, 80 [SEP] 47, DishSponge, 0.688, 0.910, -2.308, 0, 0, 0, 63 [SEP] 48, Spoon, -1.229, 0.934, -1.430, 0, 90, 0, 57 [SEP] 49, Cup, 1.194, 1.663, -0.529, 0, 270, 0, 66 [SEP] 50, Mug, 0.905, 1.396, 1.444, 0, 270, 0, 80 [SEP] 51, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 52, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 53, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 54, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 55, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 56, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 57, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 58, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 59, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 60, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 61, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 62, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 63, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 64, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 65, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 66, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 67, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 68, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 69, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 70, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 71, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 72, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 73, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 74, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 75, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 76, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 77, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 78, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 79, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 80, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 81, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 82, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 83, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 84, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 85, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 86, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 87, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 88, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 89, NorthWall, , , , , , , [SEP] 90, EastWall, , , , , , , [SEP] 91, SouthWall, , , , , , , [SEP] 92, WestWall, , , , , , , ", "output": ["STEP 1: turn right and walk over to the kitchen counter on the left side of the stove on the left | STEP 2: grab the dirty plate off of the kitchen counter space there | STEP 3: turn around and walk to the kitchen sink up ahead | STEP 4: place the plate inside the sink and turn on the water, clean the plate off, then turn off the water and pick up the plate | STEP 5: turn around and head back to the spot to the left of the stove where you picked up the plate originally | STEP 6: place the plate back down on the kitchen counter there | END"]} +{"id": "trial_T20190908_213420_728917-2", "input": "Put a clean plate 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, 1.0, 0, 90, 0, [SEP] 1, Statue, -1.167, 0.936, -0.643, 0, 0, 0, 57 [SEP] 2, Potato, 1.028, 1.825, -1.339, 0, 270, 0, 79 [SEP] 3, Potato, 0.859, 0.941, -1.879, 0, 0, 0, 63 [SEP] 4, CreditCard, -0.920, 0.930, -0.067, 0, 0, 0, 57 [SEP] 5, CreditCard, 0.914, 0.150, -0.690, 0, 270, 0, 60 [SEP] 6, CellPhone, -0.772, 0.930, -1.308, 0, 0, 0, 57 [SEP] 7, CellPhone, 0.773, 0.908, -0.555, 0, 0, 0, 58 [SEP] 8, DishSponge, 0.914, 0.153, -0.571, 0, 270, 0, 60 [SEP] 9, Spatula, -0.550, 0.948, 0.009, 0, 90, 0, 57 [SEP] 10, Spatula, 0.834, 0.510, -0.731, 0, 90, 0, 61 [SEP] 11, Egg, 0.783, 1.680, 1.158, 0, 270, 0, 80 [SEP] 12, Cup, -1.778, 0.551, 2.563, 0, 0, 0, 83 [SEP] 13, Plate, -1.363, 0.557, 2.667, 0, 0, 0, 83 [SEP] 14, Plate, 1.029, 0.914, -0.381, 0, 0, 0, 58 [SEP] 15, Plate, 1.169, 2.211, -1.626, 0, 270, 0, 64 [SEP] 16, Tomato, 1.026, 0.903, 1.063, 0, 270, 0, 80 [SEP] 17, SoapBottle, -1.007, 0.177, 0.543, 0, 180, 0, 77 [SEP] 18, Bowl, 0.761, 0.111, -2.052, 0, 0, 0, 62 [SEP] 19, SaltShaker, -1.778, 0.550, 2.822, 0, 0, 0, 83 [SEP] 20, Lettuce, 1.026, 1.212, 1.444, 0, 270, 0, 80 [SEP] 21, Bread, -0.550, 1.014, -1.231, 0, 0, 0, 57 [SEP] 22, Apple, 0.844, 1.452, 1.254, 0, 270, 0, 80 [SEP] 23, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 57 [SEP] 24, Glassbottle, -0.550, 0.934, -1.463, 0, 0, 0, 57 [SEP] 25, Bread, 0.944, 0.992, 0.139, 0, 0, 0, 58 [SEP] 26, CreditCard, 0.875, 0.699, -0.731, 0, 270, 0, 55 [SEP] 27, CellPhone, 1.114, 0.908, -0.729, 0, 0, 0, 58 [SEP] 28, Potato, 0.773, 0.941, -1.793, 0, 0, 0, 63 [SEP] 29, Knife, 0.868, 0.700, -0.600, 90, 315, 0, 55 [SEP] 30, Fork, -1.229, 0.934, -0.118, 0, 0, 0, 57 [SEP] 31, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 51 [SEP] 32, Lettuce, -0.698, 1.010, 0.239, 0, 0, 0, 57 [SEP] 33, Plate, -1.355, 0.936, -0.905, 0, 0, 0, 57 [SEP] 34, Apple, 0.688, 0.961, -2.222, 0, 0, 0, 63 [SEP] 35, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 53 [SEP] 36, Spatula, 0.754, 0.717, -0.690, 0, 180, 0, 55 [SEP] 37, PaperTowelRoll, 1.114, 1.015, 0.139, 0, 0, 0, 58 [SEP] 38, Tomato, 0.965, 1.683, 1.540, 0, 270, 0, 80 [SEP] 39, Egg, 0.783, 1.680, 1.444, 0, 270, 0, 80 [SEP] 40, SaltShaker, 0.793, 0.150, -0.531, 0, 270, 0, 60 [SEP] 41, PepperShaker, 0.833, 0.150, -0.650, 0, 270, 0, 60 [SEP] 42, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 83 [SEP] 43, ButterKnife, -1.292, 0.933, 0.144, 0, 0, 0, 57 [SEP] 44, SoapBottle, 0.859, 0.911, -0.381, 0, 0, 0, 58 [SEP] 45, Vase, -1.985, 0.555, 2.718, 0, 0, 0, 83 [SEP] 46, Bowl, 0.844, 0.866, 1.444, 0, 270, 0, 80 [SEP] 47, DishSponge, 0.688, 0.910, -2.308, 0, 0, 0, 63 [SEP] 48, Spoon, -1.229, 0.934, -1.430, 0, 90, 0, 57 [SEP] 49, Cup, 1.194, 1.663, -0.529, 0, 270, 0, 66 [SEP] 50, Mug, 0.905, 1.396, 1.444, 0, 270, 0, 80 [SEP] 51, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 52, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 53, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 54, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 55, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 56, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 57, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 58, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 59, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 60, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 61, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 62, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 63, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 64, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 65, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 66, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 67, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 68, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 69, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 70, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 71, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 72, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 73, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 74, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 75, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 76, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 77, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 78, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 79, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 80, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 81, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 82, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 83, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 84, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 85, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 86, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 87, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 88, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 89, NorthWall, , , , , , , [SEP] 90, EastWall, , , , , , , [SEP] 91, SouthWall, , , , , , , [SEP] 92, WestWall, , , , , , , ", "output": ["STEP 1: Turn right and go towards the dishwasher, then turn left to face the counter next to the dishwasher. | STEP 2: Pick up the plate on the counter. | STEP 3: Turn around to go to the sink. | STEP 4: Clean the plate in the sink. | STEP 5: Turn around to face the counter above the dishwasher. | STEP 6: Put the plate on the counter. | END"]} +{"id": "trial_T20190918_192011_115694-0", "input": "put a box with the set of keys on 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, -3.0, 0.901, 1.5, 0, 0, 0, [SEP] 1, Newspaper, -0.952, 0.615, 1.960, 0, 0, 0, 60 [SEP] 2, CellPhone, -4.826, 1.111, 4.391, 0, 90, 0, 57 [SEP] 3, CellPhone, -0.192, 1.102, 0.826, 0, 270, 0, 47 [SEP] 4, Statue, -1.460, 1.107, 0.192, 0, 0, 0, 42 [SEP] 5, Statue, -1.093, 0.598, 0.185, 0, 0, 0, 46 [SEP] 6, Vase, -3.706, 0.207, 4.331, 0, 90, 0, 54 [SEP] 7, Vase, -4.184, 1.115, 4.490, 0, 90, 0, 56 [SEP] 8, Watch, -1.368, 0.593, 0.295, 0, 0, 0, 46 [SEP] 9, CreditCard, -2.901, 1.111, 4.786, 0, 90, 0, 56 [SEP] 10, CreditCard, -4.797, 0.995, 4.267, 0, 90, 0, 57 [SEP] 11, RemoteControl, -5.024, 1.041, 0.173, 0, 0, 0, 38 [SEP] 12, Box, -0.952, 0.843, 2.753, 0, 0, 0, 60 [SEP] 13, Watch, -3.455, 0.997, 4.313, 0, 90, 0, 56 [SEP] 14, Pillow, -2.031, 0.668, 4.421, 0, 0, 0, 50 [SEP] 15, TissueBox, -2.983, 0.201, 4.589, 0, 90, 0, 55 [SEP] 16, Newspaper, -0.213, 0.079, 1.102, 0, 90, 0, 41 [SEP] 17, CreditCard, -4.854, 1.038, 0.306, 0, 0, 0, 38 [SEP] 18, KeyChain, -2.458, 0.034, 0.421, 0, 180, 0, 39 [SEP] 19, CellPhone, -4.717, 0.861, 0.282, 0, 0, 0, 37 [SEP] 20, Statue, -3.863, 1.113, 4.391, 0, 90, 0, 56 [SEP] 21, Laptop, -3.393, 1.104, 4.492, 0, 191.867, 0, 56 [SEP] 22, RemoteControl, -1.097, 1.594, 0.324, 0, 0, 0, 43 [SEP] 23, Vase, -2.244, 0.037, 0.317, 0, 90, 0, 39 [SEP] 24, DeskLamp, -4.649, 1.051, 0.268, 0, 0, 0, [SEP] 25, DeskLamp, -2.992, 1.107, 4.522, 0, 0, 0, [SEP] 26, FloorLamp, -0.650, 0.007, 4.431, 0, 0, 0, [SEP] 27, FloorLamp, -5.607, 0.007, 4.641, 0, 0, 0, [SEP] 28, Shelf, -5.237, 1.776, 0.070, 0, 0, 0, [SEP] 29, Shelf, -5.238, 1.968, 0.085, 0, 0, 0, [SEP] 30, Shelf, -5.242, 1.391, 0.086, 0, 0, 0, [SEP] 31, Shelf, -5.241, 1.582, 0.065, 0, 0, 0, [SEP] 32, LightSwitch, -6.002, 1.353, 3.404, 0, 90, 0, [SEP] 33, GarbageCan, -5.794, -0.033, 4.073, 0, 90, 0, [SEP] 34, Painting, -6.017, 1.802, 4.177, 90, 270, 0, [SEP] 35, HousePlant, -3.966, 1.625, 0.135, 0, 315, 0, [SEP] 36, Television, -3.355, 0.833, 0.027, 0, 0, 0, [SEP] 37, Drawer, -5.024, 0.903, 0.370, 0, 0, 0, [SEP] 38, SideTable, -5.024, 0.008, 0.267, 0, 0, 0, [SEP] 39, Safe, -2.298, 5.778, 0.268, 0, 90, 0, [SEP] 40, Shelf, -0.253, 0.781, 1.058, 0, 270, 0, [SEP] 41, Shelf, -0.283, 0.274, 1.066, 0, 270, 0, [SEP] 42, Shelf, -1.224, 1.288, 0.270, 0, 0, 0, [SEP] 43, Shelf, -1.218, 1.810, 0.275, 0, 0, 0, [SEP] 44, Shelf, -0.280, 1.810, 1.057, 0, 270, 0, [SEP] 45, Shelf, -1.218, 0.274, 0.262, 0, 0, 0, [SEP] 46, Shelf, -1.223, 0.782, 0.237, 0, 0, 0, [SEP] 47, Shelf, -0.280, 1.288, 1.055, 0, 270, 0, [SEP] 48, ShelvingUnit, -0.268, 0.004, 1.067, 0, 270, 0, [SEP] 49, ShelvingUnit, -1.218, 0.004, 0.244, 0, 0, 0, [SEP] 50, ArmChair, -2.027, 0.001, 4.422, 0, 178.692, 0, [SEP] 51, Drawer, -4.329, 1.014, 4.311, 0, 180, 0, [SEP] 52, Drawer, -3.750, 1.014, 4.311, 0, 180, 0, [SEP] 53, Cabinet, -4.049, 0.561, 4.212, 0, 180, 0, [SEP] 54, Cabinet, -4.032, 0.561, 4.212, 0, 180, 0, [SEP] 55, Cabinet, -2.884, 0.561, 4.212, 0, 180, 0, [SEP] 56, Dresser, -4.041, -0.000, 4.589, 0, 180, 0, [SEP] 57, Drawer, -4.916, 1.014, 4.311, 0, 180, 0, [SEP] 58, Drawer, -3.166, 1.014, 4.311, 0, 180, 0, [SEP] 59, Cabinet, -5.196, 0.561, 4.212, 0, 180, 0, [SEP] 60, Sofa, -0.705, -0.002, 2.753, 0, 270, 0, [SEP] 61, NorthWall, , , , , , , [SEP] 62, SouthWall, , , , , , , [SEP] 63, SouthWall, , , , , , , ", "output": ["STEP 1: turn around and move to the white safe that is on the floor to the left of the fire place | STEP 2: open the safe, remove the set of keys, close the safe | STEP 3: turn around and move forward to the sofa on the right, turn to face the sofa where the box is sitting | STEP 4: put the set of keys in to the box that in on the sofa | STEP 5: pick up the box from the sofa | STEP 6: turn to the left and move to the blue chair with the plaid pillow | STEP 7: put the box on to the chair to the right of the pillow | END"]} +{"id": "trial_T20190918_192011_115694-1", "input": "put box and keys on blue plush chair 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, 1.5, 0, 0, 0, [SEP] 1, Newspaper, -0.952, 0.615, 1.960, 0, 0, 0, 60 [SEP] 2, CellPhone, -4.826, 1.111, 4.391, 0, 90, 0, 57 [SEP] 3, CellPhone, -0.192, 1.102, 0.826, 0, 270, 0, 47 [SEP] 4, Statue, -1.460, 1.107, 0.192, 0, 0, 0, 42 [SEP] 5, Statue, -1.093, 0.598, 0.185, 0, 0, 0, 46 [SEP] 6, Vase, -3.706, 0.207, 4.331, 0, 90, 0, 54 [SEP] 7, Vase, -4.184, 1.115, 4.490, 0, 90, 0, 56 [SEP] 8, Watch, -1.368, 0.593, 0.295, 0, 0, 0, 46 [SEP] 9, CreditCard, -2.901, 1.111, 4.786, 0, 90, 0, 56 [SEP] 10, CreditCard, -4.797, 0.995, 4.267, 0, 90, 0, 57 [SEP] 11, RemoteControl, -5.024, 1.041, 0.173, 0, 0, 0, 38 [SEP] 12, Box, -0.952, 0.843, 2.753, 0, 0, 0, 60 [SEP] 13, Watch, -3.455, 0.997, 4.313, 0, 90, 0, 56 [SEP] 14, Pillow, -2.031, 0.668, 4.421, 0, 0, 0, 50 [SEP] 15, TissueBox, -2.983, 0.201, 4.589, 0, 90, 0, 55 [SEP] 16, Newspaper, -0.213, 0.079, 1.102, 0, 90, 0, 41 [SEP] 17, CreditCard, -4.854, 1.038, 0.306, 0, 0, 0, 38 [SEP] 18, KeyChain, -2.458, 0.034, 0.421, 0, 180, 0, 39 [SEP] 19, CellPhone, -4.717, 0.861, 0.282, 0, 0, 0, 37 [SEP] 20, Statue, -3.863, 1.113, 4.391, 0, 90, 0, 56 [SEP] 21, Laptop, -3.393, 1.104, 4.492, 0, 191.867, 0, 56 [SEP] 22, RemoteControl, -1.097, 1.594, 0.324, 0, 0, 0, 43 [SEP] 23, Vase, -2.244, 0.037, 0.317, 0, 90, 0, 39 [SEP] 24, DeskLamp, -4.649, 1.051, 0.268, 0, 0, 0, [SEP] 25, DeskLamp, -2.992, 1.107, 4.522, 0, 0, 0, [SEP] 26, FloorLamp, -0.650, 0.007, 4.431, 0, 0, 0, [SEP] 27, FloorLamp, -5.607, 0.007, 4.641, 0, 0, 0, [SEP] 28, Shelf, -5.237, 1.776, 0.070, 0, 0, 0, [SEP] 29, Shelf, -5.238, 1.968, 0.085, 0, 0, 0, [SEP] 30, Shelf, -5.242, 1.391, 0.086, 0, 0, 0, [SEP] 31, Shelf, -5.241, 1.582, 0.065, 0, 0, 0, [SEP] 32, LightSwitch, -6.002, 1.353, 3.404, 0, 90, 0, [SEP] 33, GarbageCan, -5.794, -0.033, 4.073, 0, 90, 0, [SEP] 34, Painting, -6.017, 1.802, 4.177, 90, 270, 0, [SEP] 35, HousePlant, -3.966, 1.625, 0.135, 0, 315, 0, [SEP] 36, Television, -3.355, 0.833, 0.027, 0, 0, 0, [SEP] 37, Drawer, -5.024, 0.903, 0.370, 0, 0, 0, [SEP] 38, SideTable, -5.024, 0.008, 0.267, 0, 0, 0, [SEP] 39, Safe, -2.298, 5.778, 0.268, 0, 90, 0, [SEP] 40, Shelf, -0.253, 0.781, 1.058, 0, 270, 0, [SEP] 41, Shelf, -0.283, 0.274, 1.066, 0, 270, 0, [SEP] 42, Shelf, -1.224, 1.288, 0.270, 0, 0, 0, [SEP] 43, Shelf, -1.218, 1.810, 0.275, 0, 0, 0, [SEP] 44, Shelf, -0.280, 1.810, 1.057, 0, 270, 0, [SEP] 45, Shelf, -1.218, 0.274, 0.262, 0, 0, 0, [SEP] 46, Shelf, -1.223, 0.782, 0.237, 0, 0, 0, [SEP] 47, Shelf, -0.280, 1.288, 1.055, 0, 270, 0, [SEP] 48, ShelvingUnit, -0.268, 0.004, 1.067, 0, 270, 0, [SEP] 49, ShelvingUnit, -1.218, 0.004, 0.244, 0, 0, 0, [SEP] 50, ArmChair, -2.027, 0.001, 4.422, 0, 178.692, 0, [SEP] 51, Drawer, -4.329, 1.014, 4.311, 0, 180, 0, [SEP] 52, Drawer, -3.750, 1.014, 4.311, 0, 180, 0, [SEP] 53, Cabinet, -4.049, 0.561, 4.212, 0, 180, 0, [SEP] 54, Cabinet, -4.032, 0.561, 4.212, 0, 180, 0, [SEP] 55, Cabinet, -2.884, 0.561, 4.212, 0, 180, 0, [SEP] 56, Dresser, -4.041, -0.000, 4.589, 0, 180, 0, [SEP] 57, Drawer, -4.916, 1.014, 4.311, 0, 180, 0, [SEP] 58, Drawer, -3.166, 1.014, 4.311, 0, 180, 0, [SEP] 59, Cabinet, -5.196, 0.561, 4.212, 0, 180, 0, [SEP] 60, Sofa, -0.705, -0.002, 2.753, 0, 270, 0, [SEP] 61, NorthWall, , , , , , , [SEP] 62, SouthWall, , , , , , , [SEP] 63, SouthWall, , , , , , , ", "output": ["STEP 1: walk to face safe on floor | STEP 2: pick up keys from inside safe | STEP 3: walk to face sofa with box | STEP 4: put keys in box on sofa | STEP 5: pick up box from sofa | STEP 6: walk to face blue plush chair | STEP 7: put box on chair | END"]} +{"id": "trial_T20190918_192011_115694-2", "input": "Put a box with a key chain in it on an 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, 0.901, 1.5, 0, 0, 0, [SEP] 1, Newspaper, -0.952, 0.615, 1.960, 0, 0, 0, 60 [SEP] 2, CellPhone, -4.826, 1.111, 4.391, 0, 90, 0, 57 [SEP] 3, CellPhone, -0.192, 1.102, 0.826, 0, 270, 0, 47 [SEP] 4, Statue, -1.460, 1.107, 0.192, 0, 0, 0, 42 [SEP] 5, Statue, -1.093, 0.598, 0.185, 0, 0, 0, 46 [SEP] 6, Vase, -3.706, 0.207, 4.331, 0, 90, 0, 54 [SEP] 7, Vase, -4.184, 1.115, 4.490, 0, 90, 0, 56 [SEP] 8, Watch, -1.368, 0.593, 0.295, 0, 0, 0, 46 [SEP] 9, CreditCard, -2.901, 1.111, 4.786, 0, 90, 0, 56 [SEP] 10, CreditCard, -4.797, 0.995, 4.267, 0, 90, 0, 57 [SEP] 11, RemoteControl, -5.024, 1.041, 0.173, 0, 0, 0, 38 [SEP] 12, Box, -0.952, 0.843, 2.753, 0, 0, 0, 60 [SEP] 13, Watch, -3.455, 0.997, 4.313, 0, 90, 0, 56 [SEP] 14, Pillow, -2.031, 0.668, 4.421, 0, 0, 0, 50 [SEP] 15, TissueBox, -2.983, 0.201, 4.589, 0, 90, 0, 55 [SEP] 16, Newspaper, -0.213, 0.079, 1.102, 0, 90, 0, 41 [SEP] 17, CreditCard, -4.854, 1.038, 0.306, 0, 0, 0, 38 [SEP] 18, KeyChain, -2.458, 0.034, 0.421, 0, 180, 0, 39 [SEP] 19, CellPhone, -4.717, 0.861, 0.282, 0, 0, 0, 37 [SEP] 20, Statue, -3.863, 1.113, 4.391, 0, 90, 0, 56 [SEP] 21, Laptop, -3.393, 1.104, 4.492, 0, 191.867, 0, 56 [SEP] 22, RemoteControl, -1.097, 1.594, 0.324, 0, 0, 0, 43 [SEP] 23, Vase, -2.244, 0.037, 0.317, 0, 90, 0, 39 [SEP] 24, DeskLamp, -4.649, 1.051, 0.268, 0, 0, 0, [SEP] 25, DeskLamp, -2.992, 1.107, 4.522, 0, 0, 0, [SEP] 26, FloorLamp, -0.650, 0.007, 4.431, 0, 0, 0, [SEP] 27, FloorLamp, -5.607, 0.007, 4.641, 0, 0, 0, [SEP] 28, Shelf, -5.237, 1.776, 0.070, 0, 0, 0, [SEP] 29, Shelf, -5.238, 1.968, 0.085, 0, 0, 0, [SEP] 30, Shelf, -5.242, 1.391, 0.086, 0, 0, 0, [SEP] 31, Shelf, -5.241, 1.582, 0.065, 0, 0, 0, [SEP] 32, LightSwitch, -6.002, 1.353, 3.404, 0, 90, 0, [SEP] 33, GarbageCan, -5.794, -0.033, 4.073, 0, 90, 0, [SEP] 34, Painting, -6.017, 1.802, 4.177, 90, 270, 0, [SEP] 35, HousePlant, -3.966, 1.625, 0.135, 0, 315, 0, [SEP] 36, Television, -3.355, 0.833, 0.027, 0, 0, 0, [SEP] 37, Drawer, -5.024, 0.903, 0.370, 0, 0, 0, [SEP] 38, SideTable, -5.024, 0.008, 0.267, 0, 0, 0, [SEP] 39, Safe, -2.298, 5.778, 0.268, 0, 90, 0, [SEP] 40, Shelf, -0.253, 0.781, 1.058, 0, 270, 0, [SEP] 41, Shelf, -0.283, 0.274, 1.066, 0, 270, 0, [SEP] 42, Shelf, -1.224, 1.288, 0.270, 0, 0, 0, [SEP] 43, Shelf, -1.218, 1.810, 0.275, 0, 0, 0, [SEP] 44, Shelf, -0.280, 1.810, 1.057, 0, 270, 0, [SEP] 45, Shelf, -1.218, 0.274, 0.262, 0, 0, 0, [SEP] 46, Shelf, -1.223, 0.782, 0.237, 0, 0, 0, [SEP] 47, Shelf, -0.280, 1.288, 1.055, 0, 270, 0, [SEP] 48, ShelvingUnit, -0.268, 0.004, 1.067, 0, 270, 0, [SEP] 49, ShelvingUnit, -1.218, 0.004, 0.244, 0, 0, 0, [SEP] 50, ArmChair, -2.027, 0.001, 4.422, 0, 178.692, 0, [SEP] 51, Drawer, -4.329, 1.014, 4.311, 0, 180, 0, [SEP] 52, Drawer, -3.750, 1.014, 4.311, 0, 180, 0, [SEP] 53, Cabinet, -4.049, 0.561, 4.212, 0, 180, 0, [SEP] 54, Cabinet, -4.032, 0.561, 4.212, 0, 180, 0, [SEP] 55, Cabinet, -2.884, 0.561, 4.212, 0, 180, 0, [SEP] 56, Dresser, -4.041, -0.000, 4.589, 0, 180, 0, [SEP] 57, Drawer, -4.916, 1.014, 4.311, 0, 180, 0, [SEP] 58, Drawer, -3.166, 1.014, 4.311, 0, 180, 0, [SEP] 59, Cabinet, -5.196, 0.561, 4.212, 0, 180, 0, [SEP] 60, Sofa, -0.705, -0.002, 2.753, 0, 270, 0, [SEP] 61, NorthWall, , , , , , , [SEP] 62, SouthWall, , , , , , , [SEP] 63, SouthWall, , , , , , , ", "output": ["STEP 1: Turn around and walk to the safe on the floor. | STEP 2: Take out the key chain from the safe and close the safe. | STEP 3: Turn around, walk forward and turn right before reaching the blue armchair and walk to the box on the sofa. | STEP 4: Put the key chain in the box. | STEP 5: Pick up the box from the sofa. | STEP 6: Turn left and walk to the blue armchair. | STEP 7: Put the box on the seat of the armchair, to the right of the pillow. | END"]} +{"id": "trial_T20190909_011803_423115-0", "input": "put two sets of keys inside safe SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -4.0, 0.901, 1.5, 0, 180, 0, [SEP] 1, CellPhone, -2.901, 1.108, 4.885, 0, 90, 0, 52 [SEP] 2, CellPhone, -4.505, 1.111, 4.885, 0, 90, 0, 52 [SEP] 3, Vase, -3.121, 0.203, 4.589, 0, 90, 0, 51 [SEP] 4, Watch, -2.458, 0.034, 0.212, 0, 90, 0, 35 [SEP] 5, Watch, -4.854, 1.039, 0.504, 0, 0, 0, 34 [SEP] 6, KeyChain, -5.534, 1.039, 0.504, 0, 0, 0, 34 [SEP] 7, Box, -0.787, 0.830, 3.545, 0, 0, 0, 56 [SEP] 8, Box, -0.312, 0.295, 1.011, 0, 270, 0, 37 [SEP] 9, Watch, -2.244, 0.034, 0.160, 0, 90, 0, 35 [SEP] 10, Pillow, -2.031, 0.668, 4.421, 0, 0, 0, 46 [SEP] 11, TissueBox, -0.324, 1.593, 1.189, 0, 270, 0, 36 [SEP] 12, Newspaper, -3.863, 1.114, 4.391, 0, 90, 0, 52 [SEP] 13, CreditCard, -4.912, 0.997, 4.313, 0, 90, 0, 53 [SEP] 14, KeyChain, -0.952, 0.615, 2.488, 0, 0, 0, 56 [SEP] 15, CellPhone, -1.584, 0.590, 4.384, 0, 0, 0, 46 [SEP] 16, Statue, -4.826, 1.117, 4.490, 0, 90, 0, 52 [SEP] 17, Laptop, -3.393, 1.104, 4.492, 0, 191.867, 0, 52 [SEP] 18, RemoteControl, -0.705, 0.611, 2.224, 0, 0, 0, 56 [SEP] 19, Vase, -4.184, 1.111, 4.687, 0, 90, 0, 52 [SEP] 20, DeskLamp, -4.649, 1.051, 0.268, 0, 0, 0, [SEP] 21, DeskLamp, -2.992, 1.107, 4.522, 0, 0, 0, [SEP] 22, FloorLamp, -0.650, 0.007, 4.431, 0, 0, 0, [SEP] 23, FloorLamp, -5.607, 0.007, 4.641, 0, 0, 0, [SEP] 24, Shelf, -5.237, 1.776, 0.070, 0, 0, 0, [SEP] 25, Shelf, -5.238, 1.968, 0.085, 0, 0, 0, [SEP] 26, Shelf, -5.242, 1.391, 0.086, 0, 0, 0, [SEP] 27, Shelf, -5.241, 1.582, 0.065, 0, 0, 0, [SEP] 28, LightSwitch, -6.002, 1.353, 3.404, 0, 90, 0, [SEP] 29, GarbageCan, -5.794, -0.033, 4.073, 0, 90, 0, [SEP] 30, Painting, -6.017, 1.802, 4.177, 90, 270, 0, [SEP] 31, HousePlant, -3.966, 1.625, 0.135, 0, 315, 0, [SEP] 32, Television, -3.355, 0.833, 0.027, 0, 0, 0, [SEP] 33, Drawer, -5.024, 0.903, 0.370, 0, 0, 0, [SEP] 34, SideTable, -5.024, 0.008, 0.267, 0, 0, 0, [SEP] 35, Safe, -2.298, 5.778, 0.268, 0, 90, 0, [SEP] 36, Shelf, -0.253, 0.781, 1.058, 0, 270, 0, [SEP] 37, Shelf, -0.283, 0.274, 1.066, 0, 270, 0, [SEP] 38, Shelf, -1.224, 1.288, 0.270, 0, 0, 0, [SEP] 39, Shelf, -1.218, 1.810, 0.275, 0, 0, 0, [SEP] 40, Shelf, -0.280, 1.810, 1.057, 0, 270, 0, [SEP] 41, Shelf, -1.218, 0.274, 0.262, 0, 0, 0, [SEP] 42, Shelf, -1.223, 0.782, 0.237, 0, 0, 0, [SEP] 43, Shelf, -0.280, 1.288, 1.055, 0, 270, 0, [SEP] 44, ShelvingUnit, -0.268, 0.004, 1.067, 0, 270, 0, [SEP] 45, ShelvingUnit, -1.218, 0.004, 0.244, 0, 0, 0, [SEP] 46, ArmChair, -2.027, 0.001, 4.422, 0, 178.692, 0, [SEP] 47, Drawer, -4.329, 1.014, 4.311, 0, 180, 0, [SEP] 48, Drawer, -3.750, 1.014, 4.311, 0, 180, 0, [SEP] 49, Cabinet, -4.049, 0.561, 4.212, 0, 180, 0, [SEP] 50, Cabinet, -4.032, 0.561, 4.212, 0, 180, 0, [SEP] 51, Cabinet, -2.884, 0.561, 4.212, 0, 180, 0, [SEP] 52, Dresser, -4.041, -0.000, 4.589, 0, 180, 0, [SEP] 53, Drawer, -4.916, 1.014, 4.311, 0, 180, 0, [SEP] 54, Drawer, -3.166, 1.014, 4.311, 0, 180, 0, [SEP] 55, Cabinet, -5.196, 0.561, 4.212, 0, 180, 0, [SEP] 56, Sofa, -0.705, -0.002, 2.753, 0, 270, 0, [SEP] 57, NorthWall, , , , , , , [SEP] 58, SouthWall, , , , , , , [SEP] 59, SouthWall, , , , , , , ", "output": ["STEP 1: turn to face black rectangular table | STEP 2: pick up keys from table | STEP 3: walk to face small white safe | STEP 4: put keys inside safe | STEP 5: walk to face white couch | STEP 6: pick up keys from couch | STEP 7: walk to face small white safe | STEP 8: put keys inside safe | END"]} +{"id": "trial_T20190909_011803_423115-1", "input": "Place keys in the safe. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -4.0, 0.901, 1.5, 0, 180, 0, [SEP] 1, CellPhone, -2.901, 1.108, 4.885, 0, 90, 0, 52 [SEP] 2, CellPhone, -4.505, 1.111, 4.885, 0, 90, 0, 52 [SEP] 3, Vase, -3.121, 0.203, 4.589, 0, 90, 0, 51 [SEP] 4, Watch, -2.458, 0.034, 0.212, 0, 90, 0, 35 [SEP] 5, Watch, -4.854, 1.039, 0.504, 0, 0, 0, 34 [SEP] 6, KeyChain, -5.534, 1.039, 0.504, 0, 0, 0, 34 [SEP] 7, Box, -0.787, 0.830, 3.545, 0, 0, 0, 56 [SEP] 8, Box, -0.312, 0.295, 1.011, 0, 270, 0, 37 [SEP] 9, Watch, -2.244, 0.034, 0.160, 0, 90, 0, 35 [SEP] 10, Pillow, -2.031, 0.668, 4.421, 0, 0, 0, 46 [SEP] 11, TissueBox, -0.324, 1.593, 1.189, 0, 270, 0, 36 [SEP] 12, Newspaper, -3.863, 1.114, 4.391, 0, 90, 0, 52 [SEP] 13, CreditCard, -4.912, 0.997, 4.313, 0, 90, 0, 53 [SEP] 14, KeyChain, -0.952, 0.615, 2.488, 0, 0, 0, 56 [SEP] 15, CellPhone, -1.584, 0.590, 4.384, 0, 0, 0, 46 [SEP] 16, Statue, -4.826, 1.117, 4.490, 0, 90, 0, 52 [SEP] 17, Laptop, -3.393, 1.104, 4.492, 0, 191.867, 0, 52 [SEP] 18, RemoteControl, -0.705, 0.611, 2.224, 0, 0, 0, 56 [SEP] 19, Vase, -4.184, 1.111, 4.687, 0, 90, 0, 52 [SEP] 20, DeskLamp, -4.649, 1.051, 0.268, 0, 0, 0, [SEP] 21, DeskLamp, -2.992, 1.107, 4.522, 0, 0, 0, [SEP] 22, FloorLamp, -0.650, 0.007, 4.431, 0, 0, 0, [SEP] 23, FloorLamp, -5.607, 0.007, 4.641, 0, 0, 0, [SEP] 24, Shelf, -5.237, 1.776, 0.070, 0, 0, 0, [SEP] 25, Shelf, -5.238, 1.968, 0.085, 0, 0, 0, [SEP] 26, Shelf, -5.242, 1.391, 0.086, 0, 0, 0, [SEP] 27, Shelf, -5.241, 1.582, 0.065, 0, 0, 0, [SEP] 28, LightSwitch, -6.002, 1.353, 3.404, 0, 90, 0, [SEP] 29, GarbageCan, -5.794, -0.033, 4.073, 0, 90, 0, [SEP] 30, Painting, -6.017, 1.802, 4.177, 90, 270, 0, [SEP] 31, HousePlant, -3.966, 1.625, 0.135, 0, 315, 0, [SEP] 32, Television, -3.355, 0.833, 0.027, 0, 0, 0, [SEP] 33, Drawer, -5.024, 0.903, 0.370, 0, 0, 0, [SEP] 34, SideTable, -5.024, 0.008, 0.267, 0, 0, 0, [SEP] 35, Safe, -2.298, 5.778, 0.268, 0, 90, 0, [SEP] 36, Shelf, -0.253, 0.781, 1.058, 0, 270, 0, [SEP] 37, Shelf, -0.283, 0.274, 1.066, 0, 270, 0, [SEP] 38, Shelf, -1.224, 1.288, 0.270, 0, 0, 0, [SEP] 39, Shelf, -1.218, 1.810, 0.275, 0, 0, 0, [SEP] 40, Shelf, -0.280, 1.810, 1.057, 0, 270, 0, [SEP] 41, Shelf, -1.218, 0.274, 0.262, 0, 0, 0, [SEP] 42, Shelf, -1.223, 0.782, 0.237, 0, 0, 0, [SEP] 43, Shelf, -0.280, 1.288, 1.055, 0, 270, 0, [SEP] 44, ShelvingUnit, -0.268, 0.004, 1.067, 0, 270, 0, [SEP] 45, ShelvingUnit, -1.218, 0.004, 0.244, 0, 0, 0, [SEP] 46, ArmChair, -2.027, 0.001, 4.422, 0, 178.692, 0, [SEP] 47, Drawer, -4.329, 1.014, 4.311, 0, 180, 0, [SEP] 48, Drawer, -3.750, 1.014, 4.311, 0, 180, 0, [SEP] 49, Cabinet, -4.049, 0.561, 4.212, 0, 180, 0, [SEP] 50, Cabinet, -4.032, 0.561, 4.212, 0, 180, 0, [SEP] 51, Cabinet, -2.884, 0.561, 4.212, 0, 180, 0, [SEP] 52, Dresser, -4.041, -0.000, 4.589, 0, 180, 0, [SEP] 53, Drawer, -4.916, 1.014, 4.311, 0, 180, 0, [SEP] 54, Drawer, -3.166, 1.014, 4.311, 0, 180, 0, [SEP] 55, Cabinet, -5.196, 0.561, 4.212, 0, 180, 0, [SEP] 56, Sofa, -0.705, -0.002, 2.753, 0, 270, 0, [SEP] 57, NorthWall, , , , , , , [SEP] 58, SouthWall, , , , , , , [SEP] 59, SouthWall, , , , , , , ", "output": ["STEP 1: Turn right then face the black table to your left. | STEP 2: Take the keys off of the table in front of you. | STEP 3: Turn left then face the white safe to your right. | STEP 4: Place the keys inside the safe in front of you and close it. | STEP 5: Turn around then face the couch to your right. | STEP 6: Take the keys from the couch in front of you. | STEP 7: Turn right and face the safe in front of you. | STEP 8: Place the keys in the safe in front of you. | END"]} +{"id": "trial_T20190909_011803_423115-2", "input": "Move two sets of keys to the white safe. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -4.0, 0.901, 1.5, 0, 180, 0, [SEP] 1, CellPhone, -2.901, 1.108, 4.885, 0, 90, 0, 52 [SEP] 2, CellPhone, -4.505, 1.111, 4.885, 0, 90, 0, 52 [SEP] 3, Vase, -3.121, 0.203, 4.589, 0, 90, 0, 51 [SEP] 4, Watch, -2.458, 0.034, 0.212, 0, 90, 0, 35 [SEP] 5, Watch, -4.854, 1.039, 0.504, 0, 0, 0, 34 [SEP] 6, KeyChain, -5.534, 1.039, 0.504, 0, 0, 0, 34 [SEP] 7, Box, -0.787, 0.830, 3.545, 0, 0, 0, 56 [SEP] 8, Box, -0.312, 0.295, 1.011, 0, 270, 0, 37 [SEP] 9, Watch, -2.244, 0.034, 0.160, 0, 90, 0, 35 [SEP] 10, Pillow, -2.031, 0.668, 4.421, 0, 0, 0, 46 [SEP] 11, TissueBox, -0.324, 1.593, 1.189, 0, 270, 0, 36 [SEP] 12, Newspaper, -3.863, 1.114, 4.391, 0, 90, 0, 52 [SEP] 13, CreditCard, -4.912, 0.997, 4.313, 0, 90, 0, 53 [SEP] 14, KeyChain, -0.952, 0.615, 2.488, 0, 0, 0, 56 [SEP] 15, CellPhone, -1.584, 0.590, 4.384, 0, 0, 0, 46 [SEP] 16, Statue, -4.826, 1.117, 4.490, 0, 90, 0, 52 [SEP] 17, Laptop, -3.393, 1.104, 4.492, 0, 191.867, 0, 52 [SEP] 18, RemoteControl, -0.705, 0.611, 2.224, 0, 0, 0, 56 [SEP] 19, Vase, -4.184, 1.111, 4.687, 0, 90, 0, 52 [SEP] 20, DeskLamp, -4.649, 1.051, 0.268, 0, 0, 0, [SEP] 21, DeskLamp, -2.992, 1.107, 4.522, 0, 0, 0, [SEP] 22, FloorLamp, -0.650, 0.007, 4.431, 0, 0, 0, [SEP] 23, FloorLamp, -5.607, 0.007, 4.641, 0, 0, 0, [SEP] 24, Shelf, -5.237, 1.776, 0.070, 0, 0, 0, [SEP] 25, Shelf, -5.238, 1.968, 0.085, 0, 0, 0, [SEP] 26, Shelf, -5.242, 1.391, 0.086, 0, 0, 0, [SEP] 27, Shelf, -5.241, 1.582, 0.065, 0, 0, 0, [SEP] 28, LightSwitch, -6.002, 1.353, 3.404, 0, 90, 0, [SEP] 29, GarbageCan, -5.794, -0.033, 4.073, 0, 90, 0, [SEP] 30, Painting, -6.017, 1.802, 4.177, 90, 270, 0, [SEP] 31, HousePlant, -3.966, 1.625, 0.135, 0, 315, 0, [SEP] 32, Television, -3.355, 0.833, 0.027, 0, 0, 0, [SEP] 33, Drawer, -5.024, 0.903, 0.370, 0, 0, 0, [SEP] 34, SideTable, -5.024, 0.008, 0.267, 0, 0, 0, [SEP] 35, Safe, -2.298, 5.778, 0.268, 0, 90, 0, [SEP] 36, Shelf, -0.253, 0.781, 1.058, 0, 270, 0, [SEP] 37, Shelf, -0.283, 0.274, 1.066, 0, 270, 0, [SEP] 38, Shelf, -1.224, 1.288, 0.270, 0, 0, 0, [SEP] 39, Shelf, -1.218, 1.810, 0.275, 0, 0, 0, [SEP] 40, Shelf, -0.280, 1.810, 1.057, 0, 270, 0, [SEP] 41, Shelf, -1.218, 0.274, 0.262, 0, 0, 0, [SEP] 42, Shelf, -1.223, 0.782, 0.237, 0, 0, 0, [SEP] 43, Shelf, -0.280, 1.288, 1.055, 0, 270, 0, [SEP] 44, ShelvingUnit, -0.268, 0.004, 1.067, 0, 270, 0, [SEP] 45, ShelvingUnit, -1.218, 0.004, 0.244, 0, 0, 0, [SEP] 46, ArmChair, -2.027, 0.001, 4.422, 0, 178.692, 0, [SEP] 47, Drawer, -4.329, 1.014, 4.311, 0, 180, 0, [SEP] 48, Drawer, -3.750, 1.014, 4.311, 0, 180, 0, [SEP] 49, Cabinet, -4.049, 0.561, 4.212, 0, 180, 0, [SEP] 50, Cabinet, -4.032, 0.561, 4.212, 0, 180, 0, [SEP] 51, Cabinet, -2.884, 0.561, 4.212, 0, 180, 0, [SEP] 52, Dresser, -4.041, -0.000, 4.589, 0, 180, 0, [SEP] 53, Drawer, -4.916, 1.014, 4.311, 0, 180, 0, [SEP] 54, Drawer, -3.166, 1.014, 4.311, 0, 180, 0, [SEP] 55, Cabinet, -5.196, 0.561, 4.212, 0, 180, 0, [SEP] 56, Sofa, -0.705, -0.002, 2.753, 0, 270, 0, [SEP] 57, NorthWall, , , , , , , [SEP] 58, SouthWall, , , , , , , [SEP] 59, SouthWall, , , , , , , ", "output": ["STEP 1: Turn right to move to stand in front of the black console table against the wall. | STEP 2: Pick up the keys from the front right corner of the table. | STEP 3: Turn around and cross the room to the sofa and then turn right to face the small white safe on the ground. | STEP 4: Put the keys inside the safe and shut the door. | STEP 5: Turn left and move to stand in front of the sofa. | STEP 6: Pick up the keys from the cushion of the sofa closest to the wall with the safe. | STEP 7: Turn right and move back to stand in front of the white safe. | STEP 8: Open the safe, put the keys inside, and close the door. | END"]} +{"id": "trial_T20190918_154424_844749-0", "input": "Place a salt shaker 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, -2.0, 0.900, -1.75, 0, 270, 0, [SEP] 1, Statue, -1.469, 0.884, 2.719, 0, 0, 0, 53 [SEP] 2, Statue, -1.104, 0.936, -0.643, 0, 0, 0, 53 [SEP] 3, CellPhone, 0.834, 0.700, -0.607, 0, 270, 0, 51 [SEP] 4, Glassbottle, 1.114, 0.912, -1.879, 0, 0, 0, 59 [SEP] 5, Glassbottle, -0.587, 0.781, -0.486, 0, 90, 0, 74 [SEP] 6, Fork, 0.875, 0.495, -0.648, 0, 0, 0, 57 [SEP] 7, Fork, -1.104, 0.934, -1.167, 0, 0, 0, 53 [SEP] 8, Spoon, -0.772, 0.934, -1.463, 0, 0, 0, 53 [SEP] 9, Spatula, 1.199, 0.926, -0.034, 0, 0, 0, 54 [SEP] 10, Knife, -0.624, 0.957, -1.231, 0, 0, 0, 53 [SEP] 11, Plate, -1.363, 0.557, 2.667, 0, 0, 0, 79 [SEP] 12, Plate, 0.773, 0.914, -0.208, 0, 0, 0, 54 [SEP] 13, Bowl, 0.905, 1.405, 0.967, 0, 270, 0, 76 [SEP] 14, Bowl, 0.688, 0.914, -2.308, 0, 0, 0, 59 [SEP] 15, SaltShaker, 1.039, 2.204, -1.626, 0, 270, 0, 60 [SEP] 16, PepperShaker, 1.240, 1.662, -1.961, 0, 270, 0, 52 [SEP] 17, PepperShaker, 0.859, 0.907, -1.879, 0, 0, 0, 59 [SEP] 18, Lettuce, 0.944, 0.988, -0.381, 0, 0, 0, 54 [SEP] 19, Statue, -1.167, 0.936, -0.380, 0, 0, 0, 53 [SEP] 20, Glassbottle, 1.101, 1.667, -2.234, 0, 270, 0, 52 [SEP] 21, Bread, 1.026, 0.944, 1.349, 0, 270, 0, 76 [SEP] 22, CreditCard, -1.985, 0.551, 2.667, 0, 0, 0, 79 [SEP] 23, CellPhone, 0.688, 0.908, -0.381, 0, 0, 0, 54 [SEP] 24, Potato, -0.912, 0.209, 0.576, 0, 180, 0, 73 [SEP] 25, Knife, 0.859, 0.934, -0.729, 0, 0, 0, 54 [SEP] 26, Fork, 0.859, 0.911, -0.555, 0, 0, 0, 54 [SEP] 27, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 47 [SEP] 28, Lettuce, 1.026, 1.479, 1.158, 0, 270, 0, 76 [SEP] 29, Plate, -0.550, 0.936, -1.308, 0, 0, 0, 53 [SEP] 30, Apple, 1.199, 0.961, -0.729, 0, 0, 0, 54 [SEP] 31, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 49 [SEP] 32, Spatula, 0.944, 0.926, 0.139, 0, 270, 0, 54 [SEP] 33, PaperTowelRoll, -1.674, 0.658, 2.874, 0, 0, 0, 79 [SEP] 34, Tomato, 1.026, 1.175, 1.254, 0, 270, 0, 76 [SEP] 35, Egg, -0.808, 0.818, -0.573, 0, 90, 0, 74 [SEP] 36, SaltShaker, 0.915, 0.491, -0.565, 0, 270, 0, 57 [SEP] 37, PepperShaker, 1.082, 2.204, -1.299, 0, 270, 0, 60 [SEP] 38, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 79 [SEP] 39, ButterKnife, -0.772, 0.933, -1.540, 0, 0, 0, 53 [SEP] 40, SoapBottle, -0.477, 0.933, 0.009, 0, 0, 0, 53 [SEP] 41, Vase, 1.193, 1.667, 0.153, 0, 270, 0, 61 [SEP] 42, Bowl, 0.844, 1.646, 1.349, 0, 270, 0, 76 [SEP] 43, DishSponge, 1.101, 1.665, -2.097, 0, 270, 0, 52 [SEP] 44, Spoon, -0.753, 0.781, -0.918, 0, 180, 0, 74 [SEP] 45, Cup, 1.126, 1.792, -1.339, 0, 270, 0, 75 [SEP] 46, Mug, -1.881, 0.549, 2.615, 0, 0, 0, 79 [SEP] 47, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 48, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 49, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 50, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 51, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 52, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 53, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 54, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 55, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 56, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 57, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 58, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 59, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 60, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 61, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 62, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 63, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 64, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 65, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 66, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 67, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 68, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 69, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 70, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 71, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 72, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 73, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 74, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 75, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 76, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 77, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 78, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 79, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 80, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 81, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 82, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 83, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 84, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 85, NorthWall, , , , , , , [SEP] 86, EastWall, , , , , , , [SEP] 87, SouthWall, , , , , , , [SEP] 88, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and walk to the coffee maker on the counter. | STEP 2: Pick up the salt shaker to the left of the coffee maker. | STEP 3: Turn left and go to the shelves in between the stove and the dishwasher. | STEP 4: Put the salt shaker in the second drawer to the left of the silverware. | END"]} +{"id": "trial_T20190918_154424_844749-1", "input": "Place a salt shaker in a drawer my the oven 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, Statue, -1.469, 0.884, 2.719, 0, 0, 0, 53 [SEP] 2, Statue, -1.104, 0.936, -0.643, 0, 0, 0, 53 [SEP] 3, CellPhone, 0.834, 0.700, -0.607, 0, 270, 0, 51 [SEP] 4, Glassbottle, 1.114, 0.912, -1.879, 0, 0, 0, 59 [SEP] 5, Glassbottle, -0.587, 0.781, -0.486, 0, 90, 0, 74 [SEP] 6, Fork, 0.875, 0.495, -0.648, 0, 0, 0, 57 [SEP] 7, Fork, -1.104, 0.934, -1.167, 0, 0, 0, 53 [SEP] 8, Spoon, -0.772, 0.934, -1.463, 0, 0, 0, 53 [SEP] 9, Spatula, 1.199, 0.926, -0.034, 0, 0, 0, 54 [SEP] 10, Knife, -0.624, 0.957, -1.231, 0, 0, 0, 53 [SEP] 11, Plate, -1.363, 0.557, 2.667, 0, 0, 0, 79 [SEP] 12, Plate, 0.773, 0.914, -0.208, 0, 0, 0, 54 [SEP] 13, Bowl, 0.905, 1.405, 0.967, 0, 270, 0, 76 [SEP] 14, Bowl, 0.688, 0.914, -2.308, 0, 0, 0, 59 [SEP] 15, SaltShaker, 1.039, 2.204, -1.626, 0, 270, 0, 60 [SEP] 16, PepperShaker, 1.240, 1.662, -1.961, 0, 270, 0, 52 [SEP] 17, PepperShaker, 0.859, 0.907, -1.879, 0, 0, 0, 59 [SEP] 18, Lettuce, 0.944, 0.988, -0.381, 0, 0, 0, 54 [SEP] 19, Statue, -1.167, 0.936, -0.380, 0, 0, 0, 53 [SEP] 20, Glassbottle, 1.101, 1.667, -2.234, 0, 270, 0, 52 [SEP] 21, Bread, 1.026, 0.944, 1.349, 0, 270, 0, 76 [SEP] 22, CreditCard, -1.985, 0.551, 2.667, 0, 0, 0, 79 [SEP] 23, CellPhone, 0.688, 0.908, -0.381, 0, 0, 0, 54 [SEP] 24, Potato, -0.912, 0.209, 0.576, 0, 180, 0, 73 [SEP] 25, Knife, 0.859, 0.934, -0.729, 0, 0, 0, 54 [SEP] 26, Fork, 0.859, 0.911, -0.555, 0, 0, 0, 54 [SEP] 27, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 47 [SEP] 28, Lettuce, 1.026, 1.479, 1.158, 0, 270, 0, 76 [SEP] 29, Plate, -0.550, 0.936, -1.308, 0, 0, 0, 53 [SEP] 30, Apple, 1.199, 0.961, -0.729, 0, 0, 0, 54 [SEP] 31, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 49 [SEP] 32, Spatula, 0.944, 0.926, 0.139, 0, 270, 0, 54 [SEP] 33, PaperTowelRoll, -1.674, 0.658, 2.874, 0, 0, 0, 79 [SEP] 34, Tomato, 1.026, 1.175, 1.254, 0, 270, 0, 76 [SEP] 35, Egg, -0.808, 0.818, -0.573, 0, 90, 0, 74 [SEP] 36, SaltShaker, 0.915, 0.491, -0.565, 0, 270, 0, 57 [SEP] 37, PepperShaker, 1.082, 2.204, -1.299, 0, 270, 0, 60 [SEP] 38, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 79 [SEP] 39, ButterKnife, -0.772, 0.933, -1.540, 0, 0, 0, 53 [SEP] 40, SoapBottle, -0.477, 0.933, 0.009, 0, 0, 0, 53 [SEP] 41, Vase, 1.193, 1.667, 0.153, 0, 270, 0, 61 [SEP] 42, Bowl, 0.844, 1.646, 1.349, 0, 270, 0, 76 [SEP] 43, DishSponge, 1.101, 1.665, -2.097, 0, 270, 0, 52 [SEP] 44, Spoon, -0.753, 0.781, -0.918, 0, 180, 0, 74 [SEP] 45, Cup, 1.126, 1.792, -1.339, 0, 270, 0, 75 [SEP] 46, Mug, -1.881, 0.549, 2.615, 0, 0, 0, 79 [SEP] 47, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 48, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 49, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 50, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 51, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 52, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 53, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 54, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 55, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 56, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 57, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 58, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 59, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 60, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 61, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 62, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 63, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 64, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 65, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 66, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 67, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 68, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 69, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 70, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 71, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 72, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 73, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 74, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 75, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 76, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 77, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 78, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 79, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 80, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 81, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 82, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 83, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 84, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 85, NorthWall, , , , , , , [SEP] 86, EastWall, , , , , , , [SEP] 87, SouthWall, , , , , , , [SEP] 88, WestWall, , , , , , , ", "output": ["STEP 1: turn to the left and step to the window and turn to the left take a few steps and turn to the left go to the counter and turn to the right and go to the counter | STEP 2: pick up the salt shaker from the counter top | STEP 3: turn to the left twice and take a step and turn to the right and take a few steps | STEP 4: open the middle drawer left of the oven and put the salt shaker in the drawer and close the drawer | END"]} +{"id": "trial_T20190918_154424_844749-2", "input": "Put the salt shaker 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, -2.0, 0.900, -1.75, 0, 270, 0, [SEP] 1, Statue, -1.469, 0.884, 2.719, 0, 0, 0, 53 [SEP] 2, Statue, -1.104, 0.936, -0.643, 0, 0, 0, 53 [SEP] 3, CellPhone, 0.834, 0.700, -0.607, 0, 270, 0, 51 [SEP] 4, Glassbottle, 1.114, 0.912, -1.879, 0, 0, 0, 59 [SEP] 5, Glassbottle, -0.587, 0.781, -0.486, 0, 90, 0, 74 [SEP] 6, Fork, 0.875, 0.495, -0.648, 0, 0, 0, 57 [SEP] 7, Fork, -1.104, 0.934, -1.167, 0, 0, 0, 53 [SEP] 8, Spoon, -0.772, 0.934, -1.463, 0, 0, 0, 53 [SEP] 9, Spatula, 1.199, 0.926, -0.034, 0, 0, 0, 54 [SEP] 10, Knife, -0.624, 0.957, -1.231, 0, 0, 0, 53 [SEP] 11, Plate, -1.363, 0.557, 2.667, 0, 0, 0, 79 [SEP] 12, Plate, 0.773, 0.914, -0.208, 0, 0, 0, 54 [SEP] 13, Bowl, 0.905, 1.405, 0.967, 0, 270, 0, 76 [SEP] 14, Bowl, 0.688, 0.914, -2.308, 0, 0, 0, 59 [SEP] 15, SaltShaker, 1.039, 2.204, -1.626, 0, 270, 0, 60 [SEP] 16, PepperShaker, 1.240, 1.662, -1.961, 0, 270, 0, 52 [SEP] 17, PepperShaker, 0.859, 0.907, -1.879, 0, 0, 0, 59 [SEP] 18, Lettuce, 0.944, 0.988, -0.381, 0, 0, 0, 54 [SEP] 19, Statue, -1.167, 0.936, -0.380, 0, 0, 0, 53 [SEP] 20, Glassbottle, 1.101, 1.667, -2.234, 0, 270, 0, 52 [SEP] 21, Bread, 1.026, 0.944, 1.349, 0, 270, 0, 76 [SEP] 22, CreditCard, -1.985, 0.551, 2.667, 0, 0, 0, 79 [SEP] 23, CellPhone, 0.688, 0.908, -0.381, 0, 0, 0, 54 [SEP] 24, Potato, -0.912, 0.209, 0.576, 0, 180, 0, 73 [SEP] 25, Knife, 0.859, 0.934, -0.729, 0, 0, 0, 54 [SEP] 26, Fork, 0.859, 0.911, -0.555, 0, 0, 0, 54 [SEP] 27, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 47 [SEP] 28, Lettuce, 1.026, 1.479, 1.158, 0, 270, 0, 76 [SEP] 29, Plate, -0.550, 0.936, -1.308, 0, 0, 0, 53 [SEP] 30, Apple, 1.199, 0.961, -0.729, 0, 0, 0, 54 [SEP] 31, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 49 [SEP] 32, Spatula, 0.944, 0.926, 0.139, 0, 270, 0, 54 [SEP] 33, PaperTowelRoll, -1.674, 0.658, 2.874, 0, 0, 0, 79 [SEP] 34, Tomato, 1.026, 1.175, 1.254, 0, 270, 0, 76 [SEP] 35, Egg, -0.808, 0.818, -0.573, 0, 90, 0, 74 [SEP] 36, SaltShaker, 0.915, 0.491, -0.565, 0, 270, 0, 57 [SEP] 37, PepperShaker, 1.082, 2.204, -1.299, 0, 270, 0, 60 [SEP] 38, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 79 [SEP] 39, ButterKnife, -0.772, 0.933, -1.540, 0, 0, 0, 53 [SEP] 40, SoapBottle, -0.477, 0.933, 0.009, 0, 0, 0, 53 [SEP] 41, Vase, 1.193, 1.667, 0.153, 0, 270, 0, 61 [SEP] 42, Bowl, 0.844, 1.646, 1.349, 0, 270, 0, 76 [SEP] 43, DishSponge, 1.101, 1.665, -2.097, 0, 270, 0, 52 [SEP] 44, Spoon, -0.753, 0.781, -0.918, 0, 180, 0, 74 [SEP] 45, Cup, 1.126, 1.792, -1.339, 0, 270, 0, 75 [SEP] 46, Mug, -1.881, 0.549, 2.615, 0, 0, 0, 79 [SEP] 47, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 48, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 49, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 50, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 51, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 52, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 53, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 54, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 55, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 56, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 57, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 58, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 59, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 60, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 61, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 62, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 63, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 64, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 65, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 66, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 67, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 68, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 69, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 70, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 71, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 72, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 73, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 74, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 75, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 76, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 77, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 78, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 79, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 80, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 81, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 82, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 83, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 84, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 85, NorthWall, , , , , , , [SEP] 86, EastWall, , , , , , , [SEP] 87, SouthWall, , , , , , , [SEP] 88, WestWall, , , , , , , ", "output": ["STEP 1: Turn around and go to the kitchen counter with the coffee maker on it. | STEP 2: Pick up the salt shaker to the left of the coffee maker. | STEP 3: Turn to your left and walk to the drawers under the counter, on your right, to the left of the oven. | STEP 4: Put the salt shaker in the second drawer from the top, under the counter, to the left of the stove. | END"]} +{"id": "trial_T20190918_154424_844749-3", "input": "Place the salt shaker next to the coffee maker into the kitchen drawer. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -2.0, 0.900, -1.75, 0, 270, 0, [SEP] 1, Statue, -1.469, 0.884, 2.719, 0, 0, 0, 53 [SEP] 2, Statue, -1.104, 0.936, -0.643, 0, 0, 0, 53 [SEP] 3, CellPhone, 0.834, 0.700, -0.607, 0, 270, 0, 51 [SEP] 4, Glassbottle, 1.114, 0.912, -1.879, 0, 0, 0, 59 [SEP] 5, Glassbottle, -0.587, 0.781, -0.486, 0, 90, 0, 74 [SEP] 6, Fork, 0.875, 0.495, -0.648, 0, 0, 0, 57 [SEP] 7, Fork, -1.104, 0.934, -1.167, 0, 0, 0, 53 [SEP] 8, Spoon, -0.772, 0.934, -1.463, 0, 0, 0, 53 [SEP] 9, Spatula, 1.199, 0.926, -0.034, 0, 0, 0, 54 [SEP] 10, Knife, -0.624, 0.957, -1.231, 0, 0, 0, 53 [SEP] 11, Plate, -1.363, 0.557, 2.667, 0, 0, 0, 79 [SEP] 12, Plate, 0.773, 0.914, -0.208, 0, 0, 0, 54 [SEP] 13, Bowl, 0.905, 1.405, 0.967, 0, 270, 0, 76 [SEP] 14, Bowl, 0.688, 0.914, -2.308, 0, 0, 0, 59 [SEP] 15, SaltShaker, 1.039, 2.204, -1.626, 0, 270, 0, 60 [SEP] 16, PepperShaker, 1.240, 1.662, -1.961, 0, 270, 0, 52 [SEP] 17, PepperShaker, 0.859, 0.907, -1.879, 0, 0, 0, 59 [SEP] 18, Lettuce, 0.944, 0.988, -0.381, 0, 0, 0, 54 [SEP] 19, Statue, -1.167, 0.936, -0.380, 0, 0, 0, 53 [SEP] 20, Glassbottle, 1.101, 1.667, -2.234, 0, 270, 0, 52 [SEP] 21, Bread, 1.026, 0.944, 1.349, 0, 270, 0, 76 [SEP] 22, CreditCard, -1.985, 0.551, 2.667, 0, 0, 0, 79 [SEP] 23, CellPhone, 0.688, 0.908, -0.381, 0, 0, 0, 54 [SEP] 24, Potato, -0.912, 0.209, 0.576, 0, 180, 0, 73 [SEP] 25, Knife, 0.859, 0.934, -0.729, 0, 0, 0, 54 [SEP] 26, Fork, 0.859, 0.911, -0.555, 0, 0, 0, 54 [SEP] 27, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 47 [SEP] 28, Lettuce, 1.026, 1.479, 1.158, 0, 270, 0, 76 [SEP] 29, Plate, -0.550, 0.936, -1.308, 0, 0, 0, 53 [SEP] 30, Apple, 1.199, 0.961, -0.729, 0, 0, 0, 54 [SEP] 31, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 49 [SEP] 32, Spatula, 0.944, 0.926, 0.139, 0, 270, 0, 54 [SEP] 33, PaperTowelRoll, -1.674, 0.658, 2.874, 0, 0, 0, 79 [SEP] 34, Tomato, 1.026, 1.175, 1.254, 0, 270, 0, 76 [SEP] 35, Egg, -0.808, 0.818, -0.573, 0, 90, 0, 74 [SEP] 36, SaltShaker, 0.915, 0.491, -0.565, 0, 270, 0, 57 [SEP] 37, PepperShaker, 1.082, 2.204, -1.299, 0, 270, 0, 60 [SEP] 38, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 79 [SEP] 39, ButterKnife, -0.772, 0.933, -1.540, 0, 0, 0, 53 [SEP] 40, SoapBottle, -0.477, 0.933, 0.009, 0, 0, 0, 53 [SEP] 41, Vase, 1.193, 1.667, 0.153, 0, 270, 0, 61 [SEP] 42, Bowl, 0.844, 1.646, 1.349, 0, 270, 0, 76 [SEP] 43, DishSponge, 1.101, 1.665, -2.097, 0, 270, 0, 52 [SEP] 44, Spoon, -0.753, 0.781, -0.918, 0, 180, 0, 74 [SEP] 45, Cup, 1.126, 1.792, -1.339, 0, 270, 0, 75 [SEP] 46, Mug, -1.881, 0.549, 2.615, 0, 0, 0, 79 [SEP] 47, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 48, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 49, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 50, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 51, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 52, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 53, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 54, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 55, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 56, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 57, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 58, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 59, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 60, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 61, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 62, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 63, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 64, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 65, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 66, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 67, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 68, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 69, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 70, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 71, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 72, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 73, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 74, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 75, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 76, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 77, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 78, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 79, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 80, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 81, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 82, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 83, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 84, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 85, NorthWall, , , , , , , [SEP] 86, EastWall, , , , , , , [SEP] 87, SouthWall, , , , , , , [SEP] 88, WestWall, , , , , , , ", "output": ["STEP 1: Turn left towards the window and then turn left walk towards the coffee maker. | STEP 2: Pick up the salt shaker to the left of the coffee maker. | STEP 3: Turn left and head towards the drawers in between the oven and dishwasher. | STEP 4: Pull out the middle drawer, place the salt shaker in it, close the drawer. | END"]} +{"id": "trial_T20190918_154424_844749-4", "input": "Put a salt shaker 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, -2.0, 0.900, -1.75, 0, 270, 0, [SEP] 1, Statue, -1.469, 0.884, 2.719, 0, 0, 0, 53 [SEP] 2, Statue, -1.104, 0.936, -0.643, 0, 0, 0, 53 [SEP] 3, CellPhone, 0.834, 0.700, -0.607, 0, 270, 0, 51 [SEP] 4, Glassbottle, 1.114, 0.912, -1.879, 0, 0, 0, 59 [SEP] 5, Glassbottle, -0.587, 0.781, -0.486, 0, 90, 0, 74 [SEP] 6, Fork, 0.875, 0.495, -0.648, 0, 0, 0, 57 [SEP] 7, Fork, -1.104, 0.934, -1.167, 0, 0, 0, 53 [SEP] 8, Spoon, -0.772, 0.934, -1.463, 0, 0, 0, 53 [SEP] 9, Spatula, 1.199, 0.926, -0.034, 0, 0, 0, 54 [SEP] 10, Knife, -0.624, 0.957, -1.231, 0, 0, 0, 53 [SEP] 11, Plate, -1.363, 0.557, 2.667, 0, 0, 0, 79 [SEP] 12, Plate, 0.773, 0.914, -0.208, 0, 0, 0, 54 [SEP] 13, Bowl, 0.905, 1.405, 0.967, 0, 270, 0, 76 [SEP] 14, Bowl, 0.688, 0.914, -2.308, 0, 0, 0, 59 [SEP] 15, SaltShaker, 1.039, 2.204, -1.626, 0, 270, 0, 60 [SEP] 16, PepperShaker, 1.240, 1.662, -1.961, 0, 270, 0, 52 [SEP] 17, PepperShaker, 0.859, 0.907, -1.879, 0, 0, 0, 59 [SEP] 18, Lettuce, 0.944, 0.988, -0.381, 0, 0, 0, 54 [SEP] 19, Statue, -1.167, 0.936, -0.380, 0, 0, 0, 53 [SEP] 20, Glassbottle, 1.101, 1.667, -2.234, 0, 270, 0, 52 [SEP] 21, Bread, 1.026, 0.944, 1.349, 0, 270, 0, 76 [SEP] 22, CreditCard, -1.985, 0.551, 2.667, 0, 0, 0, 79 [SEP] 23, CellPhone, 0.688, 0.908, -0.381, 0, 0, 0, 54 [SEP] 24, Potato, -0.912, 0.209, 0.576, 0, 180, 0, 73 [SEP] 25, Knife, 0.859, 0.934, -0.729, 0, 0, 0, 54 [SEP] 26, Fork, 0.859, 0.911, -0.555, 0, 0, 0, 54 [SEP] 27, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 47 [SEP] 28, Lettuce, 1.026, 1.479, 1.158, 0, 270, 0, 76 [SEP] 29, Plate, -0.550, 0.936, -1.308, 0, 0, 0, 53 [SEP] 30, Apple, 1.199, 0.961, -0.729, 0, 0, 0, 54 [SEP] 31, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 49 [SEP] 32, Spatula, 0.944, 0.926, 0.139, 0, 270, 0, 54 [SEP] 33, PaperTowelRoll, -1.674, 0.658, 2.874, 0, 0, 0, 79 [SEP] 34, Tomato, 1.026, 1.175, 1.254, 0, 270, 0, 76 [SEP] 35, Egg, -0.808, 0.818, -0.573, 0, 90, 0, 74 [SEP] 36, SaltShaker, 0.915, 0.491, -0.565, 0, 270, 0, 57 [SEP] 37, PepperShaker, 1.082, 2.204, -1.299, 0, 270, 0, 60 [SEP] 38, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 79 [SEP] 39, ButterKnife, -0.772, 0.933, -1.540, 0, 0, 0, 53 [SEP] 40, SoapBottle, -0.477, 0.933, 0.009, 0, 0, 0, 53 [SEP] 41, Vase, 1.193, 1.667, 0.153, 0, 270, 0, 61 [SEP] 42, Bowl, 0.844, 1.646, 1.349, 0, 270, 0, 76 [SEP] 43, DishSponge, 1.101, 1.665, -2.097, 0, 270, 0, 52 [SEP] 44, Spoon, -0.753, 0.781, -0.918, 0, 180, 0, 74 [SEP] 45, Cup, 1.126, 1.792, -1.339, 0, 270, 0, 75 [SEP] 46, Mug, -1.881, 0.549, 2.615, 0, 0, 0, 79 [SEP] 47, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 48, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 49, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 50, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 51, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 52, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 53, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 54, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 55, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 56, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 57, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 58, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 59, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 60, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 61, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 62, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 63, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 64, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 65, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 66, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 67, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 68, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 69, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 70, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 71, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 72, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 73, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 74, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 75, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 76, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 77, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 78, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 79, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 80, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 81, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 82, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 83, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 84, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 85, NorthWall, , , , , , , [SEP] 86, EastWall, , , , , , , [SEP] 87, SouthWall, , , , , , , [SEP] 88, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and walk to the coffee maker. | STEP 2: Pick up the salt shaker. | STEP 3: Turn left and walk past the stove. | STEP 4: Put the salt shaker in the second drawer immediately to the left of the stove. | END"]} +{"id": "trial_T20190918_154424_844749-5", "input": "Place a salt shaker inside the top drawer. 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, Statue, -1.469, 0.884, 2.719, 0, 0, 0, 53 [SEP] 2, Statue, -1.104, 0.936, -0.643, 0, 0, 0, 53 [SEP] 3, CellPhone, 0.834, 0.700, -0.607, 0, 270, 0, 51 [SEP] 4, Glassbottle, 1.114, 0.912, -1.879, 0, 0, 0, 59 [SEP] 5, Glassbottle, -0.587, 0.781, -0.486, 0, 90, 0, 74 [SEP] 6, Fork, 0.875, 0.495, -0.648, 0, 0, 0, 57 [SEP] 7, Fork, -1.104, 0.934, -1.167, 0, 0, 0, 53 [SEP] 8, Spoon, -0.772, 0.934, -1.463, 0, 0, 0, 53 [SEP] 9, Spatula, 1.199, 0.926, -0.034, 0, 0, 0, 54 [SEP] 10, Knife, -0.624, 0.957, -1.231, 0, 0, 0, 53 [SEP] 11, Plate, -1.363, 0.557, 2.667, 0, 0, 0, 79 [SEP] 12, Plate, 0.773, 0.914, -0.208, 0, 0, 0, 54 [SEP] 13, Bowl, 0.905, 1.405, 0.967, 0, 270, 0, 76 [SEP] 14, Bowl, 0.688, 0.914, -2.308, 0, 0, 0, 59 [SEP] 15, SaltShaker, 1.039, 2.204, -1.626, 0, 270, 0, 60 [SEP] 16, PepperShaker, 1.240, 1.662, -1.961, 0, 270, 0, 52 [SEP] 17, PepperShaker, 0.859, 0.907, -1.879, 0, 0, 0, 59 [SEP] 18, Lettuce, 0.944, 0.988, -0.381, 0, 0, 0, 54 [SEP] 19, Statue, -1.167, 0.936, -0.380, 0, 0, 0, 53 [SEP] 20, Glassbottle, 1.101, 1.667, -2.234, 0, 270, 0, 52 [SEP] 21, Bread, 1.026, 0.944, 1.349, 0, 270, 0, 76 [SEP] 22, CreditCard, -1.985, 0.551, 2.667, 0, 0, 0, 79 [SEP] 23, CellPhone, 0.688, 0.908, -0.381, 0, 0, 0, 54 [SEP] 24, Potato, -0.912, 0.209, 0.576, 0, 180, 0, 73 [SEP] 25, Knife, 0.859, 0.934, -0.729, 0, 0, 0, 54 [SEP] 26, Fork, 0.859, 0.911, -0.555, 0, 0, 0, 54 [SEP] 27, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 47 [SEP] 28, Lettuce, 1.026, 1.479, 1.158, 0, 270, 0, 76 [SEP] 29, Plate, -0.550, 0.936, -1.308, 0, 0, 0, 53 [SEP] 30, Apple, 1.199, 0.961, -0.729, 0, 0, 0, 54 [SEP] 31, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 49 [SEP] 32, Spatula, 0.944, 0.926, 0.139, 0, 270, 0, 54 [SEP] 33, PaperTowelRoll, -1.674, 0.658, 2.874, 0, 0, 0, 79 [SEP] 34, Tomato, 1.026, 1.175, 1.254, 0, 270, 0, 76 [SEP] 35, Egg, -0.808, 0.818, -0.573, 0, 90, 0, 74 [SEP] 36, SaltShaker, 0.915, 0.491, -0.565, 0, 270, 0, 57 [SEP] 37, PepperShaker, 1.082, 2.204, -1.299, 0, 270, 0, 60 [SEP] 38, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 79 [SEP] 39, ButterKnife, -0.772, 0.933, -1.540, 0, 0, 0, 53 [SEP] 40, SoapBottle, -0.477, 0.933, 0.009, 0, 0, 0, 53 [SEP] 41, Vase, 1.193, 1.667, 0.153, 0, 270, 0, 61 [SEP] 42, Bowl, 0.844, 1.646, 1.349, 0, 270, 0, 76 [SEP] 43, DishSponge, 1.101, 1.665, -2.097, 0, 270, 0, 52 [SEP] 44, Spoon, -0.753, 0.781, -0.918, 0, 180, 0, 74 [SEP] 45, Cup, 1.126, 1.792, -1.339, 0, 270, 0, 75 [SEP] 46, Mug, -1.881, 0.549, 2.615, 0, 0, 0, 79 [SEP] 47, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 48, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 49, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 50, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 51, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 52, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 53, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 54, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 55, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 56, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 57, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 58, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 59, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 60, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 61, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 62, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 63, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 64, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 65, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 66, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 67, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 68, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 69, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 70, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 71, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 72, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 73, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 74, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 75, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 76, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 77, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 78, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 79, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 80, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 81, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 82, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 83, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 84, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 85, NorthWall, , , , , , , [SEP] 86, EastWall, , , , , , , [SEP] 87, SouthWall, , , , , , , [SEP] 88, WestWall, , , , , , , ", "output": ["STEP 1: Turn around, then head across the room to the counter. | STEP 2: Pick up the salt shaker off of the counter. | STEP 3: Turn left, walk past the oven and open the top drawer in between the oven and dish washer. | STEP 4: Open the drawer, place the salt shaker inside, and then close the drawer. | END"]} +{"id": "trial_T20190908_114340_674467-0", "input": "Place a clean rag 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, -1.75, 0.901, 1.5, 0, 180, 0, [SEP] 1, Cloth, -0.280, 0.076, 3.417, 0, 0, 0, 27 [SEP] 2, SprayBottle, -0.326, 0.955, 2.737, 0, 0, 0, 26 [SEP] 3, SprayBottle, -0.178, 0.076, 3.011, 0, 0, 0, 23 [SEP] 4, Candle, -0.131, 0.953, 1.669, 0, 0, 0, 34 [SEP] 5, Candle, -0.104, 0.953, 1.544, 0, 0, 0, 34 [SEP] 6, SoapBottle, -0.279, 0.076, 3.011, 0, 0, 0, 22 [SEP] 7, HandTowel, -0.038, 1.619, 1.887, 0, 90, 0, 32 [SEP] 8, ToiletPaper, -0.330, 0.072, 2.966, 0, 0, 0, 22 [SEP] 9, HandTowel, -0.038, 1.619, 3.799, 0, 90, 0, 33 [SEP] 10, Towel, -1.082, 1.326, 1.302, 0, 0, 0, 29 [SEP] 11, SoapBar, -0.280, 0.076, 2.743, 0, 0, 0, 23 [SEP] 12, ToiletPaper, -0.131, 0.950, 1.294, 0, 0, 0, 34 [SEP] 13, Plunger, -0.112, -0.000, 1.848, 0, 0, 0, [SEP] 14, Candle, -0.104, 0.953, 1.606, 0, 0, 0, 34 [SEP] 15, ToiletPaper, -0.280, 0.654, 1.985, 0, 180, 90, 31 [SEP] 16, SprayBottle, -0.229, 0.076, 3.145, 0, 0, 0, 27 [SEP] 17, Cloth, -0.331, 0.076, 2.609, 0, 90, 0, 23 [SEP] 18, ScrubBrush, -0.322, 3.109, 1.950, 0, 0, 0, [SEP] 19, SoapBottle, -0.388, 0.955, 2.843, 0, 0, 0, 26 [SEP] 20, Mirror, -0.030, 1.544, 2.864, 0, 0, 0, [SEP] 21, Sink, -0.302, 0.799, 3.263, 0, 270, 0, [SEP] 22, Cabinet, -0.491, 0.404, 2.863, 0, 0, 0, [SEP] 23, Cabinet, -0.495, 0.384, 2.842, 0, 0, 0, [SEP] 24, ShowerDoor, -1.647, 1.017, 1.180, 0, 0, 0, [SEP] 25, ShowerGlass, -0.909, 0.788, 0.485, 0, 0, 0, [SEP] 26, CounterTop, -0.261, 0.927, 2.843, 0, 0, 0, [SEP] 27, Cabinet, -0.495, 0.384, 3.650, 0, 0, 0, [SEP] 28, Cabinet, -0.491, 0.404, 2.055, 0, 0, 0, [SEP] 29, TowelHolder, -1.082, 1.312, 1.195, 0, 0, 0, [SEP] 30, LightSwitch, -2.424, 1.447, 3.338, 0, 90, 0, [SEP] 31, ToiletPaperHanger, -0.266, 0.786, 2.043, 0, 180, 0, [SEP] 32, HandTowelHolder, 0.000, 1.721, 1.887, 0, 180, 0, [SEP] 33, HandTowelHolder, 0.000, 1.721, 3.799, 0, 180, 0, [SEP] 34, Toilet, -0.542, 3.109, 1.493, 0, 270, 0, [SEP] 35, GarbageCan, -2.159, -0.000, 3.756, 0, 0, 0, [SEP] 36, SinkBasin, -0.308, 0.820, 3.266, 0, 0, 0, [SEP] 37, ShowerHead, -0.134, 1.888, 0.564, 0, 90, 0, [SEP] 38, Faucet, 0.0, 1.009, 3.265, 0, 0, 0, [SEP] 39, Faucet, 0.0, 1.009, 2.421, 0, 0, 0, [SEP] 40, SinkBasin, -0.308, 0.820, 2.422, 0, 0, 0, [SEP] 41, Sink, -0.302, 0.799, 2.419, 0, 270, 0, [SEP] 42, NorthWall, , , , , , , [SEP] 43, SouthWall, , , , , , , [SEP] 44, SouthWall, , , , , , , ", "output": ["STEP 1: Turn around and veer to the rightmost sink. | STEP 2: Open the left cabinet and take out the blue rag. | STEP 3: Look at the sink. | STEP 4: Wash the rag in the sink. | STEP 5: Take a step left. | STEP 6: Place the rag on the counter behind the soap bottle. | END"]} +{"id": "trial_T20190908_114340_674467-1", "input": "Put a clean cloth 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, -1.75, 0.901, 1.5, 0, 180, 0, [SEP] 1, Cloth, -0.280, 0.076, 3.417, 0, 0, 0, 27 [SEP] 2, SprayBottle, -0.326, 0.955, 2.737, 0, 0, 0, 26 [SEP] 3, SprayBottle, -0.178, 0.076, 3.011, 0, 0, 0, 23 [SEP] 4, Candle, -0.131, 0.953, 1.669, 0, 0, 0, 34 [SEP] 5, Candle, -0.104, 0.953, 1.544, 0, 0, 0, 34 [SEP] 6, SoapBottle, -0.279, 0.076, 3.011, 0, 0, 0, 22 [SEP] 7, HandTowel, -0.038, 1.619, 1.887, 0, 90, 0, 32 [SEP] 8, ToiletPaper, -0.330, 0.072, 2.966, 0, 0, 0, 22 [SEP] 9, HandTowel, -0.038, 1.619, 3.799, 0, 90, 0, 33 [SEP] 10, Towel, -1.082, 1.326, 1.302, 0, 0, 0, 29 [SEP] 11, SoapBar, -0.280, 0.076, 2.743, 0, 0, 0, 23 [SEP] 12, ToiletPaper, -0.131, 0.950, 1.294, 0, 0, 0, 34 [SEP] 13, Plunger, -0.112, -0.000, 1.848, 0, 0, 0, [SEP] 14, Candle, -0.104, 0.953, 1.606, 0, 0, 0, 34 [SEP] 15, ToiletPaper, -0.280, 0.654, 1.985, 0, 180, 90, 31 [SEP] 16, SprayBottle, -0.229, 0.076, 3.145, 0, 0, 0, 27 [SEP] 17, Cloth, -0.331, 0.076, 2.609, 0, 90, 0, 23 [SEP] 18, ScrubBrush, -0.322, 3.109, 1.950, 0, 0, 0, [SEP] 19, SoapBottle, -0.388, 0.955, 2.843, 0, 0, 0, 26 [SEP] 20, Mirror, -0.030, 1.544, 2.864, 0, 0, 0, [SEP] 21, Sink, -0.302, 0.799, 3.263, 0, 270, 0, [SEP] 22, Cabinet, -0.491, 0.404, 2.863, 0, 0, 0, [SEP] 23, Cabinet, -0.495, 0.384, 2.842, 0, 0, 0, [SEP] 24, ShowerDoor, -1.647, 1.017, 1.180, 0, 0, 0, [SEP] 25, ShowerGlass, -0.909, 0.788, 0.485, 0, 0, 0, [SEP] 26, CounterTop, -0.261, 0.927, 2.843, 0, 0, 0, [SEP] 27, Cabinet, -0.495, 0.384, 3.650, 0, 0, 0, [SEP] 28, Cabinet, -0.491, 0.404, 2.055, 0, 0, 0, [SEP] 29, TowelHolder, -1.082, 1.312, 1.195, 0, 0, 0, [SEP] 30, LightSwitch, -2.424, 1.447, 3.338, 0, 90, 0, [SEP] 31, ToiletPaperHanger, -0.266, 0.786, 2.043, 0, 180, 0, [SEP] 32, HandTowelHolder, 0.000, 1.721, 1.887, 0, 180, 0, [SEP] 33, HandTowelHolder, 0.000, 1.721, 3.799, 0, 180, 0, [SEP] 34, Toilet, -0.542, 3.109, 1.493, 0, 270, 0, [SEP] 35, GarbageCan, -2.159, -0.000, 3.756, 0, 0, 0, [SEP] 36, SinkBasin, -0.308, 0.820, 3.266, 0, 0, 0, [SEP] 37, ShowerHead, -0.134, 1.888, 0.564, 0, 90, 0, [SEP] 38, Faucet, 0.0, 1.009, 3.265, 0, 0, 0, [SEP] 39, Faucet, 0.0, 1.009, 2.421, 0, 0, 0, [SEP] 40, SinkBasin, -0.308, 0.820, 2.422, 0, 0, 0, [SEP] 41, Sink, -0.302, 0.799, 2.419, 0, 270, 0, [SEP] 42, NorthWall, , , , , , , [SEP] 43, SouthWall, , , , , , , [SEP] 44, SouthWall, , , , , , , ", "output": ["STEP 1: Turn around and go right to face the sink on the right. | STEP 2: Open the cabinet on the left below the sink on the right and pick up the green cloth. | STEP 3: Move a bit to the right and face the sink on the right. | STEP 4: Put the cloth in the sink and turn the water on and then off and pick up the cloth again. | STEP 5: Go left and turn to face the counter between the sinks. | STEP 6: Put the cloth down on the counter between the two sinks. | END"]} +{"id": "trial_T20190908_114340_674467-2", "input": "Put a clean rag 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, -1.75, 0.901, 1.5, 0, 180, 0, [SEP] 1, Cloth, -0.280, 0.076, 3.417, 0, 0, 0, 27 [SEP] 2, SprayBottle, -0.326, 0.955, 2.737, 0, 0, 0, 26 [SEP] 3, SprayBottle, -0.178, 0.076, 3.011, 0, 0, 0, 23 [SEP] 4, Candle, -0.131, 0.953, 1.669, 0, 0, 0, 34 [SEP] 5, Candle, -0.104, 0.953, 1.544, 0, 0, 0, 34 [SEP] 6, SoapBottle, -0.279, 0.076, 3.011, 0, 0, 0, 22 [SEP] 7, HandTowel, -0.038, 1.619, 1.887, 0, 90, 0, 32 [SEP] 8, ToiletPaper, -0.330, 0.072, 2.966, 0, 0, 0, 22 [SEP] 9, HandTowel, -0.038, 1.619, 3.799, 0, 90, 0, 33 [SEP] 10, Towel, -1.082, 1.326, 1.302, 0, 0, 0, 29 [SEP] 11, SoapBar, -0.280, 0.076, 2.743, 0, 0, 0, 23 [SEP] 12, ToiletPaper, -0.131, 0.950, 1.294, 0, 0, 0, 34 [SEP] 13, Plunger, -0.112, -0.000, 1.848, 0, 0, 0, [SEP] 14, Candle, -0.104, 0.953, 1.606, 0, 0, 0, 34 [SEP] 15, ToiletPaper, -0.280, 0.654, 1.985, 0, 180, 90, 31 [SEP] 16, SprayBottle, -0.229, 0.076, 3.145, 0, 0, 0, 27 [SEP] 17, Cloth, -0.331, 0.076, 2.609, 0, 90, 0, 23 [SEP] 18, ScrubBrush, -0.322, 3.109, 1.950, 0, 0, 0, [SEP] 19, SoapBottle, -0.388, 0.955, 2.843, 0, 0, 0, 26 [SEP] 20, Mirror, -0.030, 1.544, 2.864, 0, 0, 0, [SEP] 21, Sink, -0.302, 0.799, 3.263, 0, 270, 0, [SEP] 22, Cabinet, -0.491, 0.404, 2.863, 0, 0, 0, [SEP] 23, Cabinet, -0.495, 0.384, 2.842, 0, 0, 0, [SEP] 24, ShowerDoor, -1.647, 1.017, 1.180, 0, 0, 0, [SEP] 25, ShowerGlass, -0.909, 0.788, 0.485, 0, 0, 0, [SEP] 26, CounterTop, -0.261, 0.927, 2.843, 0, 0, 0, [SEP] 27, Cabinet, -0.495, 0.384, 3.650, 0, 0, 0, [SEP] 28, Cabinet, -0.491, 0.404, 2.055, 0, 0, 0, [SEP] 29, TowelHolder, -1.082, 1.312, 1.195, 0, 0, 0, [SEP] 30, LightSwitch, -2.424, 1.447, 3.338, 0, 90, 0, [SEP] 31, ToiletPaperHanger, -0.266, 0.786, 2.043, 0, 180, 0, [SEP] 32, HandTowelHolder, 0.000, 1.721, 1.887, 0, 180, 0, [SEP] 33, HandTowelHolder, 0.000, 1.721, 3.799, 0, 180, 0, [SEP] 34, Toilet, -0.542, 3.109, 1.493, 0, 270, 0, [SEP] 35, GarbageCan, -2.159, -0.000, 3.756, 0, 0, 0, [SEP] 36, SinkBasin, -0.308, 0.820, 3.266, 0, 0, 0, [SEP] 37, ShowerHead, -0.134, 1.888, 0.564, 0, 90, 0, [SEP] 38, Faucet, 0.0, 1.009, 3.265, 0, 0, 0, [SEP] 39, Faucet, 0.0, 1.009, 2.421, 0, 0, 0, [SEP] 40, SinkBasin, -0.308, 0.820, 2.422, 0, 0, 0, [SEP] 41, Sink, -0.302, 0.799, 2.419, 0, 270, 0, [SEP] 42, NorthWall, , , , , , , [SEP] 43, SouthWall, , , , , , , [SEP] 44, SouthWall, , , , , , , ", "output": ["STEP 1: Turn around, move forward toward the door, then turn right to face the sink. | STEP 2: Open the cabinet under the sink, to the left; take out the rag. | STEP 3: Turn around, step forward, then turn back around to face the sink. | STEP 4: Wash the rag in the sink. | STEP 5: Turn left, move forward, then turn right to face the counter between the sinks. | STEP 6: Put the rag on the counter between the sinks, behind the soap bottle. | END"]} +{"id": "trial_T20190918_143430_997524-0", "input": "Place sliced lettuce into a bin. 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, 2.25, 0, 180, 0, [SEP] 1, Pan, 0.905, 1.132, 1.444, 0, 0, 0, 79 [SEP] 2, Potato, -0.587, 0.811, -0.573, 0, 90, 0, 77 [SEP] 3, CreditCard, 0.833, 0.150, -0.729, 0, 270, 0, 59 [SEP] 4, ButterKnife, 0.859, 0.911, -0.208, 0, 0, 0, 57 [SEP] 5, ButterKnife, 0.859, 0.911, -0.381, 0, 0, 0, 57 [SEP] 6, Fork, 0.834, 0.495, -0.607, 0, 270, 0, 60 [SEP] 7, Spoon, -1.167, 0.934, -0.643, 0, 0, 0, 56 [SEP] 8, Cup, -0.587, 0.777, -0.659, 0, 90, 0, 77 [SEP] 9, Plate, -0.772, 0.936, -1.231, 0, 0, 0, 56 [SEP] 10, Tomato, 0.944, 0.952, -0.381, 0, 0, 0, 57 [SEP] 11, Tomato, -0.912, 0.219, 0.576, 0, 180, 0, 76 [SEP] 12, SoapBottle, 1.194, 1.666, -0.401, 0, 270, 0, 65 [SEP] 13, SoapBottle, 0.688, 0.911, -0.381, 0, 0, 0, 57 [SEP] 14, Bowl, 1.026, 0.866, 1.063, 0, 270, 0, 79 [SEP] 15, Bowl, 1.126, 2.211, -1.517, 0, 270, 0, 63 [SEP] 16, PepperShaker, -1.363, 0.550, 2.718, 0, 0, 0, 82 [SEP] 17, PepperShaker, 0.875, 0.491, -0.565, 0, 270, 0, 60 [SEP] 18, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 75 [SEP] 19, Mug, -0.550, 0.928, 0.315, 0, 0, 0, 56 [SEP] 20, Apple, 0.944, 0.961, 0.139, 0, 0, 0, 57 [SEP] 21, Apple, -0.587, 0.830, -0.745, 0, 90, 0, 77 [SEP] 22, Statue, -1.104, 0.936, -0.118, 0, 0, 0, 56 [SEP] 23, Glassbottle, 0.688, 0.912, -0.729, 0, 0, 0, 57 [SEP] 24, Bread, 1.029, 0.992, -0.034, 0, 0, 0, 57 [SEP] 25, CreditCard, 0.773, 0.908, -1.879, 0, 0, 0, 62 [SEP] 26, CellPhone, -1.104, 0.930, -1.430, 0, 0, 0, 56 [SEP] 27, Potato, 1.087, 0.893, 1.540, 0, 270, 0, 79 [SEP] 28, Knife, -0.624, 0.957, -1.231, 0, 0, 0, 56 [SEP] 29, Fork, 0.773, 0.911, -0.381, 0, 90, 0, 57 [SEP] 30, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 50 [SEP] 31, Lettuce, 1.026, 1.212, 1.158, 0, 270, 0, 79 [SEP] 32, Plate, 1.101, 1.669, -2.234, 0, 270, 0, 55 [SEP] 33, Apple, -0.808, 0.830, -0.832, 0, 90, 0, 77 [SEP] 34, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 52 [SEP] 35, Spatula, 0.859, 0.926, -0.555, 0, 270, 0, 57 [SEP] 36, PaperTowelRoll, -0.624, 1.037, -1.540, 0, 0, 0, 56 [SEP] 37, Tomato, 0.844, 0.903, 1.254, 0, 270, 0, 79 [SEP] 38, Egg, -0.846, 0.971, -1.463, 0, 0, 0, 56 [SEP] 39, SaltShaker, -0.550, 0.929, -1.463, 0, 0, 0, 56 [SEP] 40, PepperShaker, 0.874, 0.150, -0.611, 0, 270, 0, 59 [SEP] 41, Vase, 1.148, 1.666, -2.029, 0, 270, 0, 55 [SEP] 42, ButterKnife, -0.846, 0.933, 0.315, 0, 0, 0, 56 [SEP] 43, SoapBottle, -1.571, 0.882, 2.692, 0, 0, 0, 83 [SEP] 44, Vase, 1.082, 2.209, -0.973, 0, 270, 0, 63 [SEP] 45, Bowl, 0.773, 0.914, -1.879, 0, 0, 0, 62 [SEP] 46, DishSponge, 0.861, 0.107, -2.052, 0, 0, 0, 61 [SEP] 47, Spoon, 1.114, 0.912, -0.729, 0, 270, 0, 57 [SEP] 48, Cup, 0.966, 1.399, 1.158, 0, 270, 0, 79 [SEP] 49, Mug, 0.844, 1.638, 0.967, 0, 270, 0, 79 [SEP] 50, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 51, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 52, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 53, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 54, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 55, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 56, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 57, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 58, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 59, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 60, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 61, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 62, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 63, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 64, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 65, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 66, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 67, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 68, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 69, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 70, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 71, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 72, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 73, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 74, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 75, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 76, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 77, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 78, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 79, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 80, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 81, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 82, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 83, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 84, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 85, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 86, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 87, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 88, NorthWall, , , , , , , [SEP] 89, EastWall, , , , , , , [SEP] 90, SouthWall, , , , , , , [SEP] 91, WestWall, , , , , , , ", "output": ["STEP 1: Turn left, move to the counter in front of the dishwasher. | STEP 2: Pick up the knife, from the counter, that is near the bread. | STEP 3: Turn left, move to in front of the refrigerator. | STEP 4: Slice the lettuce in the refrigerator. | STEP 5: Move to in front of the refrigerator. | STEP 6: Put the knife in the refrigerator. | STEP 7: Move to in front of the refrigerator. | STEP 8: Pick up a slice of lettuce. | STEP 9: Turn right, move to the island in front of the sink. | STEP 10: Put the slice of lettuce in the sink, rinse it, pick it back up. | STEP 11: Turn right, move to the end of the island near the bin. | STEP 12: Put the slice of lettuce in the bin. | END"]} +{"id": "trial_T20190918_143430_997524-1", "input": "put a wet slice of lettuce 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, -3.0, 0.900, 2.25, 0, 180, 0, [SEP] 1, Pan, 0.905, 1.132, 1.444, 0, 0, 0, 79 [SEP] 2, Potato, -0.587, 0.811, -0.573, 0, 90, 0, 77 [SEP] 3, CreditCard, 0.833, 0.150, -0.729, 0, 270, 0, 59 [SEP] 4, ButterKnife, 0.859, 0.911, -0.208, 0, 0, 0, 57 [SEP] 5, ButterKnife, 0.859, 0.911, -0.381, 0, 0, 0, 57 [SEP] 6, Fork, 0.834, 0.495, -0.607, 0, 270, 0, 60 [SEP] 7, Spoon, -1.167, 0.934, -0.643, 0, 0, 0, 56 [SEP] 8, Cup, -0.587, 0.777, -0.659, 0, 90, 0, 77 [SEP] 9, Plate, -0.772, 0.936, -1.231, 0, 0, 0, 56 [SEP] 10, Tomato, 0.944, 0.952, -0.381, 0, 0, 0, 57 [SEP] 11, Tomato, -0.912, 0.219, 0.576, 0, 180, 0, 76 [SEP] 12, SoapBottle, 1.194, 1.666, -0.401, 0, 270, 0, 65 [SEP] 13, SoapBottle, 0.688, 0.911, -0.381, 0, 0, 0, 57 [SEP] 14, Bowl, 1.026, 0.866, 1.063, 0, 270, 0, 79 [SEP] 15, Bowl, 1.126, 2.211, -1.517, 0, 270, 0, 63 [SEP] 16, PepperShaker, -1.363, 0.550, 2.718, 0, 0, 0, 82 [SEP] 17, PepperShaker, 0.875, 0.491, -0.565, 0, 270, 0, 60 [SEP] 18, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 75 [SEP] 19, Mug, -0.550, 0.928, 0.315, 0, 0, 0, 56 [SEP] 20, Apple, 0.944, 0.961, 0.139, 0, 0, 0, 57 [SEP] 21, Apple, -0.587, 0.830, -0.745, 0, 90, 0, 77 [SEP] 22, Statue, -1.104, 0.936, -0.118, 0, 0, 0, 56 [SEP] 23, Glassbottle, 0.688, 0.912, -0.729, 0, 0, 0, 57 [SEP] 24, Bread, 1.029, 0.992, -0.034, 0, 0, 0, 57 [SEP] 25, CreditCard, 0.773, 0.908, -1.879, 0, 0, 0, 62 [SEP] 26, CellPhone, -1.104, 0.930, -1.430, 0, 0, 0, 56 [SEP] 27, Potato, 1.087, 0.893, 1.540, 0, 270, 0, 79 [SEP] 28, Knife, -0.624, 0.957, -1.231, 0, 0, 0, 56 [SEP] 29, Fork, 0.773, 0.911, -0.381, 0, 90, 0, 57 [SEP] 30, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 50 [SEP] 31, Lettuce, 1.026, 1.212, 1.158, 0, 270, 0, 79 [SEP] 32, Plate, 1.101, 1.669, -2.234, 0, 270, 0, 55 [SEP] 33, Apple, -0.808, 0.830, -0.832, 0, 90, 0, 77 [SEP] 34, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 52 [SEP] 35, Spatula, 0.859, 0.926, -0.555, 0, 270, 0, 57 [SEP] 36, PaperTowelRoll, -0.624, 1.037, -1.540, 0, 0, 0, 56 [SEP] 37, Tomato, 0.844, 0.903, 1.254, 0, 270, 0, 79 [SEP] 38, Egg, -0.846, 0.971, -1.463, 0, 0, 0, 56 [SEP] 39, SaltShaker, -0.550, 0.929, -1.463, 0, 0, 0, 56 [SEP] 40, PepperShaker, 0.874, 0.150, -0.611, 0, 270, 0, 59 [SEP] 41, Vase, 1.148, 1.666, -2.029, 0, 270, 0, 55 [SEP] 42, ButterKnife, -0.846, 0.933, 0.315, 0, 0, 0, 56 [SEP] 43, SoapBottle, -1.571, 0.882, 2.692, 0, 0, 0, 83 [SEP] 44, Vase, 1.082, 2.209, -0.973, 0, 270, 0, 63 [SEP] 45, Bowl, 0.773, 0.914, -1.879, 0, 0, 0, 62 [SEP] 46, DishSponge, 0.861, 0.107, -2.052, 0, 0, 0, 61 [SEP] 47, Spoon, 1.114, 0.912, -0.729, 0, 270, 0, 57 [SEP] 48, Cup, 0.966, 1.399, 1.158, 0, 270, 0, 79 [SEP] 49, Mug, 0.844, 1.638, 0.967, 0, 270, 0, 79 [SEP] 50, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 51, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 52, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 53, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 54, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 55, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 56, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 57, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 58, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 59, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 60, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 61, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 62, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 63, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 64, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 65, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 66, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 67, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 68, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 69, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 70, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 71, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 72, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 73, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 74, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 75, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 76, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 77, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 78, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 79, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 80, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 81, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 82, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 83, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 84, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 85, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 86, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 87, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 88, NorthWall, , , , , , , [SEP] 89, EastWall, , , , , , , [SEP] 90, SouthWall, , , , , , , [SEP] 91, WestWall, , , , , , , ", "output": ["STEP 1: go forward to the left go right turn left towards the sink | STEP 2: pick up the knife from the counter | STEP 3: turn to the left towards the refrigerator | STEP 4: put the knife inside the refrigerator | STEP 5: get it back turn to the right | STEP 6: towards the refrigerator put the knife inside the refrigerator | STEP 7: open the refrigerator back again slice the lettuce that is inside the refrigerator | STEP 8: pick up the slice of lettuce | STEP 9: get it out turn to the right and forward towards the sink | STEP 10: put the slice of lettuce inside the sink rinse it off | STEP 11: turn to the right go left towards the trash can | STEP 12: throw the slice of lettuce in the trash can | END"]} +{"id": "trial_T20190918_143430_997524-2", "input": "Put a washed piece of lettuce in a bin 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, -3.0, 0.900, 2.25, 0, 180, 0, [SEP] 1, Pan, 0.905, 1.132, 1.444, 0, 0, 0, 79 [SEP] 2, Potato, -0.587, 0.811, -0.573, 0, 90, 0, 77 [SEP] 3, CreditCard, 0.833, 0.150, -0.729, 0, 270, 0, 59 [SEP] 4, ButterKnife, 0.859, 0.911, -0.208, 0, 0, 0, 57 [SEP] 5, ButterKnife, 0.859, 0.911, -0.381, 0, 0, 0, 57 [SEP] 6, Fork, 0.834, 0.495, -0.607, 0, 270, 0, 60 [SEP] 7, Spoon, -1.167, 0.934, -0.643, 0, 0, 0, 56 [SEP] 8, Cup, -0.587, 0.777, -0.659, 0, 90, 0, 77 [SEP] 9, Plate, -0.772, 0.936, -1.231, 0, 0, 0, 56 [SEP] 10, Tomato, 0.944, 0.952, -0.381, 0, 0, 0, 57 [SEP] 11, Tomato, -0.912, 0.219, 0.576, 0, 180, 0, 76 [SEP] 12, SoapBottle, 1.194, 1.666, -0.401, 0, 270, 0, 65 [SEP] 13, SoapBottle, 0.688, 0.911, -0.381, 0, 0, 0, 57 [SEP] 14, Bowl, 1.026, 0.866, 1.063, 0, 270, 0, 79 [SEP] 15, Bowl, 1.126, 2.211, -1.517, 0, 270, 0, 63 [SEP] 16, PepperShaker, -1.363, 0.550, 2.718, 0, 0, 0, 82 [SEP] 17, PepperShaker, 0.875, 0.491, -0.565, 0, 270, 0, 60 [SEP] 18, Mug, 0.903, 0.942, -2.110, 0, 300.131, 0, 75 [SEP] 19, Mug, -0.550, 0.928, 0.315, 0, 0, 0, 56 [SEP] 20, Apple, 0.944, 0.961, 0.139, 0, 0, 0, 57 [SEP] 21, Apple, -0.587, 0.830, -0.745, 0, 90, 0, 77 [SEP] 22, Statue, -1.104, 0.936, -0.118, 0, 0, 0, 56 [SEP] 23, Glassbottle, 0.688, 0.912, -0.729, 0, 0, 0, 57 [SEP] 24, Bread, 1.029, 0.992, -0.034, 0, 0, 0, 57 [SEP] 25, CreditCard, 0.773, 0.908, -1.879, 0, 0, 0, 62 [SEP] 26, CellPhone, -1.104, 0.930, -1.430, 0, 0, 0, 56 [SEP] 27, Potato, 1.087, 0.893, 1.540, 0, 270, 0, 79 [SEP] 28, Knife, -0.624, 0.957, -1.231, 0, 0, 0, 56 [SEP] 29, Fork, 0.773, 0.911, -0.381, 0, 90, 0, 57 [SEP] 30, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 50 [SEP] 31, Lettuce, 1.026, 1.212, 1.158, 0, 270, 0, 79 [SEP] 32, Plate, 1.101, 1.669, -2.234, 0, 270, 0, 55 [SEP] 33, Apple, -0.808, 0.830, -0.832, 0, 90, 0, 77 [SEP] 34, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 52 [SEP] 35, Spatula, 0.859, 0.926, -0.555, 0, 270, 0, 57 [SEP] 36, PaperTowelRoll, -0.624, 1.037, -1.540, 0, 0, 0, 56 [SEP] 37, Tomato, 0.844, 0.903, 1.254, 0, 270, 0, 79 [SEP] 38, Egg, -0.846, 0.971, -1.463, 0, 0, 0, 56 [SEP] 39, SaltShaker, -0.550, 0.929, -1.463, 0, 0, 0, 56 [SEP] 40, PepperShaker, 0.874, 0.150, -0.611, 0, 270, 0, 59 [SEP] 41, Vase, 1.148, 1.666, -2.029, 0, 270, 0, 55 [SEP] 42, ButterKnife, -0.846, 0.933, 0.315, 0, 0, 0, 56 [SEP] 43, SoapBottle, -1.571, 0.882, 2.692, 0, 0, 0, 83 [SEP] 44, Vase, 1.082, 2.209, -0.973, 0, 270, 0, 63 [SEP] 45, Bowl, 0.773, 0.914, -1.879, 0, 0, 0, 62 [SEP] 46, DishSponge, 0.861, 0.107, -2.052, 0, 0, 0, 61 [SEP] 47, Spoon, 1.114, 0.912, -0.729, 0, 270, 0, 57 [SEP] 48, Cup, 0.966, 1.399, 1.158, 0, 270, 0, 79 [SEP] 49, Mug, 0.844, 1.638, 0.967, 0, 270, 0, 79 [SEP] 50, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 51, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 52, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 53, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 54, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 55, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 56, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 57, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 58, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 59, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 60, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 61, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 62, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 63, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 64, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 65, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 66, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 67, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 68, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 69, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 70, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 71, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 72, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 73, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 74, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 75, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 76, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 77, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 78, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 79, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 80, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 81, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 82, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 83, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 84, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 85, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 86, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 87, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 88, NorthWall, , , , , , , [SEP] 89, EastWall, , , , , , , [SEP] 90, SouthWall, , , , , , , [SEP] 91, WestWall, , , , , , , ", "output": ["STEP 1: Go to the counter above the dishwasher | STEP 2: Take a knife | STEP 3: Go to the fridge | STEP 4: Cut the lettuce in the fridge | STEP 5: Turn and look back to the fridge | STEP 6: Put the knife in the fridge | STEP 7: Close the fridge | STEP 8: Open the fridge and take a piece of lettuce out | STEP 9: Go to the sink | STEP 10: Wash the lettuce | STEP 11: Go to the bin | STEP 12: Put the lettuce in the bin | END"]} +{"id": "trial_T20190913_033141_859977-0", "input": "Put an egg in a bowl 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, -3.25, 0.900, -0.25, 0, 90, 0, [SEP] 1, Pan, 1.077, 0.950, -1.098, 0, 0, 0, 67 [SEP] 2, Vase, -0.624, 0.934, 0.162, 0, 0, 0, 65 [SEP] 3, CreditCard, -1.469, 0.878, 2.773, 0, 0, 0, 92 [SEP] 4, CreditCard, -0.477, 0.930, -1.154, 0, 0, 0, 65 [SEP] 5, CellPhone, -0.550, 0.930, -1.386, 0, 0, 0, 65 [SEP] 6, CellPhone, 0.875, 0.700, -0.690, 0, 270, 0, 63 [SEP] 7, DishSponge, -0.912, 0.176, 0.576, 0, 180, 0, 85 [SEP] 8, DishSponge, 0.944, 0.910, -0.034, 0, 0, 0, 66 [SEP] 9, Glassbottle, 1.193, 1.667, 0.089, 0, 270, 0, 73 [SEP] 10, Fork, -0.753, 0.781, -0.918, 0, 180, 0, 86 [SEP] 11, Fork, 0.793, 0.154, -0.571, 0, 180, 0, 68 [SEP] 12, Spatula, -0.587, 0.791, -0.659, 0, 0, 0, 86 [SEP] 13, Knife, 0.944, 0.934, -0.208, 0, 180, 0, 66 [SEP] 14, Knife, -0.624, 0.957, -1.231, 0, 0, 0, 65 [SEP] 15, Egg, -1.101, 0.214, 0.641, 0, 180, 0, 85 [SEP] 16, Egg, 1.126, 1.833, -1.339, 0, 270, 0, 87 [SEP] 17, Egg, 0.944, 0.949, -1.879, 0, 0, 0, 71 [SEP] 18, Cup, 1.029, 0.908, -0.555, 0, 0, 0, 66 [SEP] 19, Plate, 0.844, 0.866, 1.254, 0, 270, 0, 88 [SEP] 20, SoapBottle, -0.846, 0.933, -1.463, 0, 0, 0, 65 [SEP] 21, Bowl, 1.026, 1.138, 0.967, 0, 270, 0, 88 [SEP] 22, Bowl, 1.148, 1.669, -0.593, 0, 270, 0, 74 [SEP] 23, PepperShaker, 0.834, 0.698, -0.524, 0, 270, 0, 63 [SEP] 24, Lettuce, 1.026, 1.479, 1.254, 0, 270, 0, 88 [SEP] 25, Lettuce, -1.292, 1.010, -0.905, 0, 0, 0, 65 [SEP] 26, Bread, 0.773, 0.992, 0.139, 0, 0, 0, 66 [SEP] 27, Bread, 1.114, 0.992, 0.139, 0, 0, 0, 66 [SEP] 28, Mug, 0.844, 1.396, 0.967, 0, 270, 0, 88 [SEP] 29, Apple, 0.859, 0.961, -1.793, 0, 0, 0, 71 [SEP] 30, Apple, 1.026, 1.693, 1.063, 0, 270, 0, 88 [SEP] 31, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 65 [SEP] 32, Glassbottle, -1.363, 0.554, 2.667, 0, 0, 0, 91 [SEP] 33, Bread, 0.859, 0.992, -0.381, 0, 0, 0, 66 [SEP] 34, CreditCard, 0.773, 0.908, -0.208, 0, 0, 0, 66 [SEP] 35, CellPhone, 0.833, 0.150, -0.690, 0, 270, 0, 68 [SEP] 36, Potato, 0.844, 1.673, 1.540, 0, 270, 0, 88 [SEP] 37, Knife, -0.624, 0.957, -1.463, 0, 0, 0, 65 [SEP] 38, Fork, -0.642, 0.781, -0.832, 0, 0, 0, 86 [SEP] 39, Pan, 0.966, 1.640, 1.254, 0, 180, 0, 88 [SEP] 40, Lettuce, -0.642, 0.857, -0.745, 0, 90, 0, 86 [SEP] 41, Plate, 0.966, 1.138, 1.254, 0, 270, 0, 88 [SEP] 42, Apple, 0.783, 0.913, 0.967, 0, 270, 0, 88 [SEP] 43, Pot, 0.842, 0.950, -1.504, 0, 0, 0, 62 [SEP] 44, Spatula, -1.104, 0.948, -0.118, 0, 0, 0, 65 [SEP] 45, PaperTowelRoll, -1.007, 0.283, 0.641, 0, 180, 0, 85 [SEP] 46, Tomato, -0.698, 0.821, -0.400, 0, 90, 0, 86 [SEP] 47, Egg, 1.114, 0.949, -1.879, 0, 0, 0, 71 [SEP] 48, SaltShaker, 0.859, 0.907, -0.034, 0, 0, 0, 66 [SEP] 49, PepperShaker, -1.363, 0.550, 2.563, 0, 0, 0, 91 [SEP] 50, Vase, 1.126, 2.207, -1.082, 0, 270, 0, 72 [SEP] 51, ButterKnife, -0.772, 0.933, -0.067, 0, 0, 0, 65 [SEP] 52, SoapBottle, 1.194, 1.666, -0.401, 0, 270, 0, 74 [SEP] 53, Vase, -1.881, 0.555, 2.718, 0, 0, 0, 91 [SEP] 54, Bowl, 0.910, 0.111, -1.972, 0, 0, 0, 70 [SEP] 55, DishSponge, 0.754, 0.494, -0.690, 0, 270, 0, 69 [SEP] 56, Spoon, -0.477, 0.934, -1.540, 0, 90, 0, 65 [SEP] 57, Cup, -0.477, 0.930, -0.143, 0, 0, 0, 65 [SEP] 58, Mug, 1.039, 2.203, -1.408, 0, 270, 0, 72 [SEP] 59, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 60, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 61, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 62, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 63, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 64, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 65, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 66, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 67, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 68, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 69, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 70, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 71, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 72, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 73, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 74, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 75, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 76, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 77, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 78, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 79, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 80, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 81, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 82, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 83, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 84, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 85, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 86, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 87, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 88, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 89, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 90, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 91, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 92, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 93, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 94, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 95, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 96, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 97, NorthWall, , , , , , , [SEP] 98, EastWall, , , , , , , [SEP] 99, SouthWall, , , , , , , [SEP] 100, WestWall, , , , , , , ", "output": ["STEP 1: Head past the right side of the island to the coffee machine on the counter. | STEP 2: Open the cabinet under the coffee machine and pick up the big bowl in there. | STEP 3: Bring the bowl up to the counter. | STEP 4: Put the bowl on the counter next to the coffee machine. | STEP 5: Pick up the egg on the back of the counter. | STEP 6: Put the egg in the bowl on the counter. | END"]} +{"id": "trial_T20190913_033141_859977-1", "input": "Put an egg in a bowl, 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, -3.25, 0.900, -0.25, 0, 90, 0, [SEP] 1, Pan, 1.077, 0.950, -1.098, 0, 0, 0, 67 [SEP] 2, Vase, -0.624, 0.934, 0.162, 0, 0, 0, 65 [SEP] 3, CreditCard, -1.469, 0.878, 2.773, 0, 0, 0, 92 [SEP] 4, CreditCard, -0.477, 0.930, -1.154, 0, 0, 0, 65 [SEP] 5, CellPhone, -0.550, 0.930, -1.386, 0, 0, 0, 65 [SEP] 6, CellPhone, 0.875, 0.700, -0.690, 0, 270, 0, 63 [SEP] 7, DishSponge, -0.912, 0.176, 0.576, 0, 180, 0, 85 [SEP] 8, DishSponge, 0.944, 0.910, -0.034, 0, 0, 0, 66 [SEP] 9, Glassbottle, 1.193, 1.667, 0.089, 0, 270, 0, 73 [SEP] 10, Fork, -0.753, 0.781, -0.918, 0, 180, 0, 86 [SEP] 11, Fork, 0.793, 0.154, -0.571, 0, 180, 0, 68 [SEP] 12, Spatula, -0.587, 0.791, -0.659, 0, 0, 0, 86 [SEP] 13, Knife, 0.944, 0.934, -0.208, 0, 180, 0, 66 [SEP] 14, Knife, -0.624, 0.957, -1.231, 0, 0, 0, 65 [SEP] 15, Egg, -1.101, 0.214, 0.641, 0, 180, 0, 85 [SEP] 16, Egg, 1.126, 1.833, -1.339, 0, 270, 0, 87 [SEP] 17, Egg, 0.944, 0.949, -1.879, 0, 0, 0, 71 [SEP] 18, Cup, 1.029, 0.908, -0.555, 0, 0, 0, 66 [SEP] 19, Plate, 0.844, 0.866, 1.254, 0, 270, 0, 88 [SEP] 20, SoapBottle, -0.846, 0.933, -1.463, 0, 0, 0, 65 [SEP] 21, Bowl, 1.026, 1.138, 0.967, 0, 270, 0, 88 [SEP] 22, Bowl, 1.148, 1.669, -0.593, 0, 270, 0, 74 [SEP] 23, PepperShaker, 0.834, 0.698, -0.524, 0, 270, 0, 63 [SEP] 24, Lettuce, 1.026, 1.479, 1.254, 0, 270, 0, 88 [SEP] 25, Lettuce, -1.292, 1.010, -0.905, 0, 0, 0, 65 [SEP] 26, Bread, 0.773, 0.992, 0.139, 0, 0, 0, 66 [SEP] 27, Bread, 1.114, 0.992, 0.139, 0, 0, 0, 66 [SEP] 28, Mug, 0.844, 1.396, 0.967, 0, 270, 0, 88 [SEP] 29, Apple, 0.859, 0.961, -1.793, 0, 0, 0, 71 [SEP] 30, Apple, 1.026, 1.693, 1.063, 0, 270, 0, 88 [SEP] 31, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 65 [SEP] 32, Glassbottle, -1.363, 0.554, 2.667, 0, 0, 0, 91 [SEP] 33, Bread, 0.859, 0.992, -0.381, 0, 0, 0, 66 [SEP] 34, CreditCard, 0.773, 0.908, -0.208, 0, 0, 0, 66 [SEP] 35, CellPhone, 0.833, 0.150, -0.690, 0, 270, 0, 68 [SEP] 36, Potato, 0.844, 1.673, 1.540, 0, 270, 0, 88 [SEP] 37, Knife, -0.624, 0.957, -1.463, 0, 0, 0, 65 [SEP] 38, Fork, -0.642, 0.781, -0.832, 0, 0, 0, 86 [SEP] 39, Pan, 0.966, 1.640, 1.254, 0, 180, 0, 88 [SEP] 40, Lettuce, -0.642, 0.857, -0.745, 0, 90, 0, 86 [SEP] 41, Plate, 0.966, 1.138, 1.254, 0, 270, 0, 88 [SEP] 42, Apple, 0.783, 0.913, 0.967, 0, 270, 0, 88 [SEP] 43, Pot, 0.842, 0.950, -1.504, 0, 0, 0, 62 [SEP] 44, Spatula, -1.104, 0.948, -0.118, 0, 0, 0, 65 [SEP] 45, PaperTowelRoll, -1.007, 0.283, 0.641, 0, 180, 0, 85 [SEP] 46, Tomato, -0.698, 0.821, -0.400, 0, 90, 0, 86 [SEP] 47, Egg, 1.114, 0.949, -1.879, 0, 0, 0, 71 [SEP] 48, SaltShaker, 0.859, 0.907, -0.034, 0, 0, 0, 66 [SEP] 49, PepperShaker, -1.363, 0.550, 2.563, 0, 0, 0, 91 [SEP] 50, Vase, 1.126, 2.207, -1.082, 0, 270, 0, 72 [SEP] 51, ButterKnife, -0.772, 0.933, -0.067, 0, 0, 0, 65 [SEP] 52, SoapBottle, 1.194, 1.666, -0.401, 0, 270, 0, 74 [SEP] 53, Vase, -1.881, 0.555, 2.718, 0, 0, 0, 91 [SEP] 54, Bowl, 0.910, 0.111, -1.972, 0, 0, 0, 70 [SEP] 55, DishSponge, 0.754, 0.494, -0.690, 0, 270, 0, 69 [SEP] 56, Spoon, -0.477, 0.934, -1.540, 0, 90, 0, 65 [SEP] 57, Cup, -0.477, 0.930, -0.143, 0, 0, 0, 65 [SEP] 58, Mug, 1.039, 2.203, -1.408, 0, 270, 0, 72 [SEP] 59, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 60, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 61, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 62, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 63, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 64, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 65, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 66, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 67, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 68, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 69, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 70, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 71, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 72, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 73, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 74, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 75, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 76, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 77, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 78, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 79, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 80, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 81, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 82, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 83, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 84, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 85, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 86, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 87, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 88, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 89, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 90, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 91, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 92, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 93, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 94, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 95, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 96, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 97, NorthWall, , , , , , , [SEP] 98, EastWall, , , , , , , [SEP] 99, SouthWall, , , , , , , [SEP] 100, WestWall, , , , , , , ", "output": ["STEP 1: Turn to your right and go to the windows at the end of the room, then turn left and go to the cabinets straight ahead, below the coffee maker. | STEP 2: Open the cabinets below the coffee maker and remove a bowl. | STEP 3: Step closer to the cabinet in front of you. | STEP 4: Set the bowl on the counter in front of you. | STEP 5: Pick up the egg on the counter that is the furthest to the back. | STEP 6: Place the egg in the bowl on the counter. | END"]} +{"id": "trial_T20190913_033141_859977-2", "input": "Put a bowl with an egg in it on 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, -3.25, 0.900, -0.25, 0, 90, 0, [SEP] 1, Pan, 1.077, 0.950, -1.098, 0, 0, 0, 67 [SEP] 2, Vase, -0.624, 0.934, 0.162, 0, 0, 0, 65 [SEP] 3, CreditCard, -1.469, 0.878, 2.773, 0, 0, 0, 92 [SEP] 4, CreditCard, -0.477, 0.930, -1.154, 0, 0, 0, 65 [SEP] 5, CellPhone, -0.550, 0.930, -1.386, 0, 0, 0, 65 [SEP] 6, CellPhone, 0.875, 0.700, -0.690, 0, 270, 0, 63 [SEP] 7, DishSponge, -0.912, 0.176, 0.576, 0, 180, 0, 85 [SEP] 8, DishSponge, 0.944, 0.910, -0.034, 0, 0, 0, 66 [SEP] 9, Glassbottle, 1.193, 1.667, 0.089, 0, 270, 0, 73 [SEP] 10, Fork, -0.753, 0.781, -0.918, 0, 180, 0, 86 [SEP] 11, Fork, 0.793, 0.154, -0.571, 0, 180, 0, 68 [SEP] 12, Spatula, -0.587, 0.791, -0.659, 0, 0, 0, 86 [SEP] 13, Knife, 0.944, 0.934, -0.208, 0, 180, 0, 66 [SEP] 14, Knife, -0.624, 0.957, -1.231, 0, 0, 0, 65 [SEP] 15, Egg, -1.101, 0.214, 0.641, 0, 180, 0, 85 [SEP] 16, Egg, 1.126, 1.833, -1.339, 0, 270, 0, 87 [SEP] 17, Egg, 0.944, 0.949, -1.879, 0, 0, 0, 71 [SEP] 18, Cup, 1.029, 0.908, -0.555, 0, 0, 0, 66 [SEP] 19, Plate, 0.844, 0.866, 1.254, 0, 270, 0, 88 [SEP] 20, SoapBottle, -0.846, 0.933, -1.463, 0, 0, 0, 65 [SEP] 21, Bowl, 1.026, 1.138, 0.967, 0, 270, 0, 88 [SEP] 22, Bowl, 1.148, 1.669, -0.593, 0, 270, 0, 74 [SEP] 23, PepperShaker, 0.834, 0.698, -0.524, 0, 270, 0, 63 [SEP] 24, Lettuce, 1.026, 1.479, 1.254, 0, 270, 0, 88 [SEP] 25, Lettuce, -1.292, 1.010, -0.905, 0, 0, 0, 65 [SEP] 26, Bread, 0.773, 0.992, 0.139, 0, 0, 0, 66 [SEP] 27, Bread, 1.114, 0.992, 0.139, 0, 0, 0, 66 [SEP] 28, Mug, 0.844, 1.396, 0.967, 0, 270, 0, 88 [SEP] 29, Apple, 0.859, 0.961, -1.793, 0, 0, 0, 71 [SEP] 30, Apple, 1.026, 1.693, 1.063, 0, 270, 0, 88 [SEP] 31, Statue, -1.816, 0.871, 2.754, 0, 180, 0, 65 [SEP] 32, Glassbottle, -1.363, 0.554, 2.667, 0, 0, 0, 91 [SEP] 33, Bread, 0.859, 0.992, -0.381, 0, 0, 0, 66 [SEP] 34, CreditCard, 0.773, 0.908, -0.208, 0, 0, 0, 66 [SEP] 35, CellPhone, 0.833, 0.150, -0.690, 0, 270, 0, 68 [SEP] 36, Potato, 0.844, 1.673, 1.540, 0, 270, 0, 88 [SEP] 37, Knife, -0.624, 0.957, -1.463, 0, 0, 0, 65 [SEP] 38, Fork, -0.642, 0.781, -0.832, 0, 0, 0, 86 [SEP] 39, Pan, 0.966, 1.640, 1.254, 0, 180, 0, 88 [SEP] 40, Lettuce, -0.642, 0.857, -0.745, 0, 90, 0, 86 [SEP] 41, Plate, 0.966, 1.138, 1.254, 0, 270, 0, 88 [SEP] 42, Apple, 0.783, 0.913, 0.967, 0, 270, 0, 88 [SEP] 43, Pot, 0.842, 0.950, -1.504, 0, 0, 0, 62 [SEP] 44, Spatula, -1.104, 0.948, -0.118, 0, 0, 0, 65 [SEP] 45, PaperTowelRoll, -1.007, 0.283, 0.641, 0, 180, 0, 85 [SEP] 46, Tomato, -0.698, 0.821, -0.400, 0, 90, 0, 86 [SEP] 47, Egg, 1.114, 0.949, -1.879, 0, 0, 0, 71 [SEP] 48, SaltShaker, 0.859, 0.907, -0.034, 0, 0, 0, 66 [SEP] 49, PepperShaker, -1.363, 0.550, 2.563, 0, 0, 0, 91 [SEP] 50, Vase, 1.126, 2.207, -1.082, 0, 270, 0, 72 [SEP] 51, ButterKnife, -0.772, 0.933, -0.067, 0, 0, 0, 65 [SEP] 52, SoapBottle, 1.194, 1.666, -0.401, 0, 270, 0, 74 [SEP] 53, Vase, -1.881, 0.555, 2.718, 0, 0, 0, 91 [SEP] 54, Bowl, 0.910, 0.111, -1.972, 0, 0, 0, 70 [SEP] 55, DishSponge, 0.754, 0.494, -0.690, 0, 270, 0, 69 [SEP] 56, Spoon, -0.477, 0.934, -1.540, 0, 90, 0, 65 [SEP] 57, Cup, -0.477, 0.930, -0.143, 0, 0, 0, 65 [SEP] 58, Mug, 1.039, 2.203, -1.408, 0, 270, 0, 72 [SEP] 59, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 60, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 61, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 62, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 63, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 64, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 65, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 66, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 67, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 68, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 69, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 70, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 71, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 72, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 73, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 74, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 75, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 76, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 77, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 78, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 79, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 80, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 81, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 82, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 83, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 84, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 85, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 86, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 87, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 88, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 89, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 90, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 91, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 92, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 93, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 94, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 95, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 96, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 97, NorthWall, , , , , , , [SEP] 98, EastWall, , , , , , , [SEP] 99, SouthWall, , , , , , , [SEP] 100, WestWall, , , , , , , ", "output": ["STEP 1: Turn right, walk forward to the wall, then turn left and walk forward across the room to the coffee machine on the counter. | STEP 2: Open the cabinets below the coffee machine and take out the bowl, then close the cabinets. | STEP 3: Bend up from the cabinets and face the counter top. | STEP 4: Put the bowl on the counter top, in front of the apple. | STEP 5: Pick up the egg in the back from the counter top. | STEP 6: Put the egg in the bowl. | END"]} +{"id": "trial_T20190918_154326_823501-0", "input": "take the salt by the coffee machine, put it in the second 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, -2.0, 0, 180, 0, [SEP] 1, Potato, -0.642, 0.807, -0.400, 0, 90, 0, 80 [SEP] 2, Potato, 1.087, 1.673, 1.540, 0, 270, 0, 82 [SEP] 3, CreditCard, 0.793, 0.150, -0.650, 0, 270, 0, 62 [SEP] 4, CreditCard, -1.104, 0.930, -0.643, 0, 0, 0, 59 [SEP] 5, DishSponge, 0.754, 0.494, -0.565, 0, 270, 0, 63 [SEP] 6, DishSponge, 1.114, 0.910, -0.208, 0, 0, 0, 60 [SEP] 7, Fork, 1.029, 0.911, -0.381, 0, 0, 0, 60 [SEP] 8, Spoon, -1.104, 0.934, -0.905, 0, 0, 0, 59 [SEP] 9, Spoon, 0.859, 0.912, -0.729, 0, 0, 0, 60 [SEP] 10, Spatula, -0.624, 0.948, -1.463, 0, 0, 0, 59 [SEP] 11, Knife, -0.697, 0.803, -0.745, 0, 90, 0, 80 [SEP] 12, Knife, 0.859, 0.934, -0.381, 0, 0, 0, 60 [SEP] 13, Egg, 0.688, 0.949, -2.051, 0, 0, 0, 65 [SEP] 14, Egg, 1.087, 1.680, 1.349, 0, 270, 0, 82 [SEP] 15, Plate, 1.026, 1.138, 1.349, 0, 270, 0, 82 [SEP] 16, Plate, 0.944, 0.914, -0.034, 0, 0, 0, 60 [SEP] 17, Tomato, 0.944, 0.952, -0.208, 0, 0, 0, 60 [SEP] 18, Bowl, 0.905, 1.405, 0.967, 0, 270, 0, 82 [SEP] 19, SaltShaker, 0.956, 0.698, -0.607, 0, 270, 0, 57 [SEP] 20, PepperShaker, 0.688, 0.907, -2.136, 0, 0, 0, 65 [SEP] 21, Lettuce, 0.688, 0.988, 0.139, 0, 0, 0, 60 [SEP] 22, Lettuce, 1.026, 0.940, 1.444, 0, 270, 0, 82 [SEP] 23, Mug, -1.363, 0.549, 2.822, 0, 0, 0, 85 [SEP] 24, Apple, 1.026, 1.693, 0.967, 0, 270, 0, 82 [SEP] 25, Statue, -0.624, 0.936, 0.086, 0, 0, 0, 59 [SEP] 26, Glassbottle, -0.624, 0.934, -1.386, 0, 0, 0, 59 [SEP] 27, Bread, -1.292, 1.014, -0.380, 0, 0, 0, 59 [SEP] 28, CreditCard, -1.674, 0.551, 2.874, 0, 0, 0, 85 [SEP] 29, CellPhone, -1.041, 0.930, 0.144, 0, 0, 0, 59 [SEP] 30, Potato, 0.966, 1.673, 1.158, 0, 270, 0, 82 [SEP] 31, Knife, 0.868, 0.700, -0.600, 90, 315, 0, 57 [SEP] 32, Fork, -0.642, 0.781, -0.918, 0, 0, 0, 80 [SEP] 33, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 53 [SEP] 34, Lettuce, -0.912, 0.256, 0.576, 0, 90, 0, 79 [SEP] 35, Plate, 1.101, 1.669, -2.029, 0, 270, 0, 58 [SEP] 36, Apple, 1.026, 1.185, 1.158, 0, 270, 0, 82 [SEP] 37, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 55 [SEP] 38, Spatula, -0.772, 0.948, 0.009, 0, 270, 0, 59 [SEP] 39, PaperTowelRoll, 1.199, 1.015, -0.729, 0, 0, 0, 60 [SEP] 40, Tomato, 1.114, 0.952, -1.793, 0, 0, 0, 65 [SEP] 41, Egg, 1.126, 1.833, -1.132, 0, 270, 0, 81 [SEP] 42, SaltShaker, 1.194, 1.662, -0.337, 0, 270, 0, 68 [SEP] 43, PepperShaker, -1.467, 0.550, 2.667, 0, 0, 0, 85 [SEP] 44, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 85 [SEP] 45, ButterKnife, 1.029, 0.911, -0.729, 0, 90, 0, 60 [SEP] 46, SoapBottle, 1.194, 1.666, -0.529, 0, 270, 0, 68 [SEP] 47, Vase, 0.859, 0.912, -0.555, 0, 0, 0, 60 [SEP] 48, Bowl, 0.966, 1.405, 1.254, 0, 270, 0, 82 [SEP] 49, DishSponge, 0.915, 0.494, -0.648, 0, 270, 0, 63 [SEP] 50, Spoon, -0.753, 0.777, -0.832, 0, 180, 0, 80 [SEP] 51, Cup, 0.905, 1.132, 1.540, 0, 270, 0, 82 [SEP] 52, Mug, 0.966, 0.858, 0.967, 0, 270, 0, 82 [SEP] 53, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 54, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 55, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 56, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 57, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 58, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 59, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 60, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 61, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 62, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 63, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 64, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 65, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 66, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 67, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 68, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 69, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 70, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 71, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 72, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 73, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 74, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 75, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 76, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 77, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 78, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 79, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 80, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 81, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 82, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 83, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 84, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 85, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 86, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 87, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 88, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 89, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 90, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 91, NorthWall, , , , , , , [SEP] 92, EastWall, , , , , , , [SEP] 93, SouthWall, , , , , , , [SEP] 94, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and walk to the counter | STEP 2: Take the salt bottle near the coffee machine | STEP 3: Turn left and walk to the 3 drawers by the oven | STEP 4: Open the second drawer from the top, put salt in the drawer and close it | END"]} +{"id": "trial_T20190918_154326_823501-1", "input": "Put a salt shaker in the middle drawer 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, -1.0, 0.900, -2.0, 0, 180, 0, [SEP] 1, Potato, -0.642, 0.807, -0.400, 0, 90, 0, 80 [SEP] 2, Potato, 1.087, 1.673, 1.540, 0, 270, 0, 82 [SEP] 3, CreditCard, 0.793, 0.150, -0.650, 0, 270, 0, 62 [SEP] 4, CreditCard, -1.104, 0.930, -0.643, 0, 0, 0, 59 [SEP] 5, DishSponge, 0.754, 0.494, -0.565, 0, 270, 0, 63 [SEP] 6, DishSponge, 1.114, 0.910, -0.208, 0, 0, 0, 60 [SEP] 7, Fork, 1.029, 0.911, -0.381, 0, 0, 0, 60 [SEP] 8, Spoon, -1.104, 0.934, -0.905, 0, 0, 0, 59 [SEP] 9, Spoon, 0.859, 0.912, -0.729, 0, 0, 0, 60 [SEP] 10, Spatula, -0.624, 0.948, -1.463, 0, 0, 0, 59 [SEP] 11, Knife, -0.697, 0.803, -0.745, 0, 90, 0, 80 [SEP] 12, Knife, 0.859, 0.934, -0.381, 0, 0, 0, 60 [SEP] 13, Egg, 0.688, 0.949, -2.051, 0, 0, 0, 65 [SEP] 14, Egg, 1.087, 1.680, 1.349, 0, 270, 0, 82 [SEP] 15, Plate, 1.026, 1.138, 1.349, 0, 270, 0, 82 [SEP] 16, Plate, 0.944, 0.914, -0.034, 0, 0, 0, 60 [SEP] 17, Tomato, 0.944, 0.952, -0.208, 0, 0, 0, 60 [SEP] 18, Bowl, 0.905, 1.405, 0.967, 0, 270, 0, 82 [SEP] 19, SaltShaker, 0.956, 0.698, -0.607, 0, 270, 0, 57 [SEP] 20, PepperShaker, 0.688, 0.907, -2.136, 0, 0, 0, 65 [SEP] 21, Lettuce, 0.688, 0.988, 0.139, 0, 0, 0, 60 [SEP] 22, Lettuce, 1.026, 0.940, 1.444, 0, 270, 0, 82 [SEP] 23, Mug, -1.363, 0.549, 2.822, 0, 0, 0, 85 [SEP] 24, Apple, 1.026, 1.693, 0.967, 0, 270, 0, 82 [SEP] 25, Statue, -0.624, 0.936, 0.086, 0, 0, 0, 59 [SEP] 26, Glassbottle, -0.624, 0.934, -1.386, 0, 0, 0, 59 [SEP] 27, Bread, -1.292, 1.014, -0.380, 0, 0, 0, 59 [SEP] 28, CreditCard, -1.674, 0.551, 2.874, 0, 0, 0, 85 [SEP] 29, CellPhone, -1.041, 0.930, 0.144, 0, 0, 0, 59 [SEP] 30, Potato, 0.966, 1.673, 1.158, 0, 270, 0, 82 [SEP] 31, Knife, 0.868, 0.700, -0.600, 90, 315, 0, 57 [SEP] 32, Fork, -0.642, 0.781, -0.918, 0, 0, 0, 80 [SEP] 33, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 53 [SEP] 34, Lettuce, -0.912, 0.256, 0.576, 0, 90, 0, 79 [SEP] 35, Plate, 1.101, 1.669, -2.029, 0, 270, 0, 58 [SEP] 36, Apple, 1.026, 1.185, 1.158, 0, 270, 0, 82 [SEP] 37, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 55 [SEP] 38, Spatula, -0.772, 0.948, 0.009, 0, 270, 0, 59 [SEP] 39, PaperTowelRoll, 1.199, 1.015, -0.729, 0, 0, 0, 60 [SEP] 40, Tomato, 1.114, 0.952, -1.793, 0, 0, 0, 65 [SEP] 41, Egg, 1.126, 1.833, -1.132, 0, 270, 0, 81 [SEP] 42, SaltShaker, 1.194, 1.662, -0.337, 0, 270, 0, 68 [SEP] 43, PepperShaker, -1.467, 0.550, 2.667, 0, 0, 0, 85 [SEP] 44, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 85 [SEP] 45, ButterKnife, 1.029, 0.911, -0.729, 0, 90, 0, 60 [SEP] 46, SoapBottle, 1.194, 1.666, -0.529, 0, 270, 0, 68 [SEP] 47, Vase, 0.859, 0.912, -0.555, 0, 0, 0, 60 [SEP] 48, Bowl, 0.966, 1.405, 1.254, 0, 270, 0, 82 [SEP] 49, DishSponge, 0.915, 0.494, -0.648, 0, 270, 0, 63 [SEP] 50, Spoon, -0.753, 0.777, -0.832, 0, 180, 0, 80 [SEP] 51, Cup, 0.905, 1.132, 1.540, 0, 270, 0, 82 [SEP] 52, Mug, 0.966, 0.858, 0.967, 0, 270, 0, 82 [SEP] 53, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 54, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 55, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 56, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 57, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 58, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 59, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 60, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 61, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 62, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 63, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 64, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 65, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 66, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 67, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 68, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 69, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 70, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 71, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 72, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 73, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 74, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 75, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 76, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 77, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 78, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 79, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 80, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 81, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 82, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 83, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 84, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 85, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 86, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 87, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 88, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 89, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 90, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 91, NorthWall, , , , , , , [SEP] 92, EastWall, , , , , , , [SEP] 93, SouthWall, , , , , , , [SEP] 94, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and face the coffee machine. | STEP 2: Pick up the salt shaker in front of the coffee machine. | STEP 3: Turn left and stand so the oven is to your right. | STEP 4: Open the middle drawer to the left of the stove and place the salt shaker in the lower left corner, then close the drawer. | END"]} +{"id": "trial_T20190918_154326_823501-2", "input": "Place the salt shaker in the middle 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, -2.0, 0, 180, 0, [SEP] 1, Potato, -0.642, 0.807, -0.400, 0, 90, 0, 80 [SEP] 2, Potato, 1.087, 1.673, 1.540, 0, 270, 0, 82 [SEP] 3, CreditCard, 0.793, 0.150, -0.650, 0, 270, 0, 62 [SEP] 4, CreditCard, -1.104, 0.930, -0.643, 0, 0, 0, 59 [SEP] 5, DishSponge, 0.754, 0.494, -0.565, 0, 270, 0, 63 [SEP] 6, DishSponge, 1.114, 0.910, -0.208, 0, 0, 0, 60 [SEP] 7, Fork, 1.029, 0.911, -0.381, 0, 0, 0, 60 [SEP] 8, Spoon, -1.104, 0.934, -0.905, 0, 0, 0, 59 [SEP] 9, Spoon, 0.859, 0.912, -0.729, 0, 0, 0, 60 [SEP] 10, Spatula, -0.624, 0.948, -1.463, 0, 0, 0, 59 [SEP] 11, Knife, -0.697, 0.803, -0.745, 0, 90, 0, 80 [SEP] 12, Knife, 0.859, 0.934, -0.381, 0, 0, 0, 60 [SEP] 13, Egg, 0.688, 0.949, -2.051, 0, 0, 0, 65 [SEP] 14, Egg, 1.087, 1.680, 1.349, 0, 270, 0, 82 [SEP] 15, Plate, 1.026, 1.138, 1.349, 0, 270, 0, 82 [SEP] 16, Plate, 0.944, 0.914, -0.034, 0, 0, 0, 60 [SEP] 17, Tomato, 0.944, 0.952, -0.208, 0, 0, 0, 60 [SEP] 18, Bowl, 0.905, 1.405, 0.967, 0, 270, 0, 82 [SEP] 19, SaltShaker, 0.956, 0.698, -0.607, 0, 270, 0, 57 [SEP] 20, PepperShaker, 0.688, 0.907, -2.136, 0, 0, 0, 65 [SEP] 21, Lettuce, 0.688, 0.988, 0.139, 0, 0, 0, 60 [SEP] 22, Lettuce, 1.026, 0.940, 1.444, 0, 270, 0, 82 [SEP] 23, Mug, -1.363, 0.549, 2.822, 0, 0, 0, 85 [SEP] 24, Apple, 1.026, 1.693, 0.967, 0, 270, 0, 82 [SEP] 25, Statue, -0.624, 0.936, 0.086, 0, 0, 0, 59 [SEP] 26, Glassbottle, -0.624, 0.934, -1.386, 0, 0, 0, 59 [SEP] 27, Bread, -1.292, 1.014, -0.380, 0, 0, 0, 59 [SEP] 28, CreditCard, -1.674, 0.551, 2.874, 0, 0, 0, 85 [SEP] 29, CellPhone, -1.041, 0.930, 0.144, 0, 0, 0, 59 [SEP] 30, Potato, 0.966, 1.673, 1.158, 0, 270, 0, 82 [SEP] 31, Knife, 0.868, 0.700, -0.600, 90, 315, 0, 57 [SEP] 32, Fork, -0.642, 0.781, -0.918, 0, 0, 0, 80 [SEP] 33, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 53 [SEP] 34, Lettuce, -0.912, 0.256, 0.576, 0, 90, 0, 79 [SEP] 35, Plate, 1.101, 1.669, -2.029, 0, 270, 0, 58 [SEP] 36, Apple, 1.026, 1.185, 1.158, 0, 270, 0, 82 [SEP] 37, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 55 [SEP] 38, Spatula, -0.772, 0.948, 0.009, 0, 270, 0, 59 [SEP] 39, PaperTowelRoll, 1.199, 1.015, -0.729, 0, 0, 0, 60 [SEP] 40, Tomato, 1.114, 0.952, -1.793, 0, 0, 0, 65 [SEP] 41, Egg, 1.126, 1.833, -1.132, 0, 270, 0, 81 [SEP] 42, SaltShaker, 1.194, 1.662, -0.337, 0, 270, 0, 68 [SEP] 43, PepperShaker, -1.467, 0.550, 2.667, 0, 0, 0, 85 [SEP] 44, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 85 [SEP] 45, ButterKnife, 1.029, 0.911, -0.729, 0, 90, 0, 60 [SEP] 46, SoapBottle, 1.194, 1.666, -0.529, 0, 270, 0, 68 [SEP] 47, Vase, 0.859, 0.912, -0.555, 0, 0, 0, 60 [SEP] 48, Bowl, 0.966, 1.405, 1.254, 0, 270, 0, 82 [SEP] 49, DishSponge, 0.915, 0.494, -0.648, 0, 270, 0, 63 [SEP] 50, Spoon, -0.753, 0.777, -0.832, 0, 180, 0, 80 [SEP] 51, Cup, 0.905, 1.132, 1.540, 0, 270, 0, 82 [SEP] 52, Mug, 0.966, 0.858, 0.967, 0, 270, 0, 82 [SEP] 53, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 54, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 55, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 56, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 57, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 58, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 59, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 60, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 61, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 62, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 63, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 64, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 65, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 66, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 67, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 68, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 69, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 70, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 71, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 72, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 73, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 74, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 75, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 76, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 77, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 78, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 79, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 80, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 81, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 82, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 83, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 84, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 85, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 86, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 87, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 88, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 89, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 90, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 91, NorthWall, , , , , , , [SEP] 92, EastWall, , , , , , , [SEP] 93, SouthWall, , , , , , , [SEP] 94, WestWall, , , , , , , ", "output": ["STEP 1: Turn left then straight back to the counter top | STEP 2: Pick up the salt shaker on top of the table | STEP 3: Turn left and move to the drawer in the middle to the right of the dishwasher | STEP 4: Place the salt shaker in the drawer then shut the drawer | END"]} +{"id": "trial_T20190918_154326_823501-3", "input": "Put salt 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, -1.0, 0.900, -2.0, 0, 180, 0, [SEP] 1, Potato, -0.642, 0.807, -0.400, 0, 90, 0, 80 [SEP] 2, Potato, 1.087, 1.673, 1.540, 0, 270, 0, 82 [SEP] 3, CreditCard, 0.793, 0.150, -0.650, 0, 270, 0, 62 [SEP] 4, CreditCard, -1.104, 0.930, -0.643, 0, 0, 0, 59 [SEP] 5, DishSponge, 0.754, 0.494, -0.565, 0, 270, 0, 63 [SEP] 6, DishSponge, 1.114, 0.910, -0.208, 0, 0, 0, 60 [SEP] 7, Fork, 1.029, 0.911, -0.381, 0, 0, 0, 60 [SEP] 8, Spoon, -1.104, 0.934, -0.905, 0, 0, 0, 59 [SEP] 9, Spoon, 0.859, 0.912, -0.729, 0, 0, 0, 60 [SEP] 10, Spatula, -0.624, 0.948, -1.463, 0, 0, 0, 59 [SEP] 11, Knife, -0.697, 0.803, -0.745, 0, 90, 0, 80 [SEP] 12, Knife, 0.859, 0.934, -0.381, 0, 0, 0, 60 [SEP] 13, Egg, 0.688, 0.949, -2.051, 0, 0, 0, 65 [SEP] 14, Egg, 1.087, 1.680, 1.349, 0, 270, 0, 82 [SEP] 15, Plate, 1.026, 1.138, 1.349, 0, 270, 0, 82 [SEP] 16, Plate, 0.944, 0.914, -0.034, 0, 0, 0, 60 [SEP] 17, Tomato, 0.944, 0.952, -0.208, 0, 0, 0, 60 [SEP] 18, Bowl, 0.905, 1.405, 0.967, 0, 270, 0, 82 [SEP] 19, SaltShaker, 0.956, 0.698, -0.607, 0, 270, 0, 57 [SEP] 20, PepperShaker, 0.688, 0.907, -2.136, 0, 0, 0, 65 [SEP] 21, Lettuce, 0.688, 0.988, 0.139, 0, 0, 0, 60 [SEP] 22, Lettuce, 1.026, 0.940, 1.444, 0, 270, 0, 82 [SEP] 23, Mug, -1.363, 0.549, 2.822, 0, 0, 0, 85 [SEP] 24, Apple, 1.026, 1.693, 0.967, 0, 270, 0, 82 [SEP] 25, Statue, -0.624, 0.936, 0.086, 0, 0, 0, 59 [SEP] 26, Glassbottle, -0.624, 0.934, -1.386, 0, 0, 0, 59 [SEP] 27, Bread, -1.292, 1.014, -0.380, 0, 0, 0, 59 [SEP] 28, CreditCard, -1.674, 0.551, 2.874, 0, 0, 0, 85 [SEP] 29, CellPhone, -1.041, 0.930, 0.144, 0, 0, 0, 59 [SEP] 30, Potato, 0.966, 1.673, 1.158, 0, 270, 0, 82 [SEP] 31, Knife, 0.868, 0.700, -0.600, 90, 315, 0, 57 [SEP] 32, Fork, -0.642, 0.781, -0.918, 0, 0, 0, 80 [SEP] 33, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 53 [SEP] 34, Lettuce, -0.912, 0.256, 0.576, 0, 90, 0, 79 [SEP] 35, Plate, 1.101, 1.669, -2.029, 0, 270, 0, 58 [SEP] 36, Apple, 1.026, 1.185, 1.158, 0, 270, 0, 82 [SEP] 37, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 55 [SEP] 38, Spatula, -0.772, 0.948, 0.009, 0, 270, 0, 59 [SEP] 39, PaperTowelRoll, 1.199, 1.015, -0.729, 0, 0, 0, 60 [SEP] 40, Tomato, 1.114, 0.952, -1.793, 0, 0, 0, 65 [SEP] 41, Egg, 1.126, 1.833, -1.132, 0, 270, 0, 81 [SEP] 42, SaltShaker, 1.194, 1.662, -0.337, 0, 270, 0, 68 [SEP] 43, PepperShaker, -1.467, 0.550, 2.667, 0, 0, 0, 85 [SEP] 44, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 85 [SEP] 45, ButterKnife, 1.029, 0.911, -0.729, 0, 90, 0, 60 [SEP] 46, SoapBottle, 1.194, 1.666, -0.529, 0, 270, 0, 68 [SEP] 47, Vase, 0.859, 0.912, -0.555, 0, 0, 0, 60 [SEP] 48, Bowl, 0.966, 1.405, 1.254, 0, 270, 0, 82 [SEP] 49, DishSponge, 0.915, 0.494, -0.648, 0, 270, 0, 63 [SEP] 50, Spoon, -0.753, 0.777, -0.832, 0, 180, 0, 80 [SEP] 51, Cup, 0.905, 1.132, 1.540, 0, 270, 0, 82 [SEP] 52, Mug, 0.966, 0.858, 0.967, 0, 270, 0, 82 [SEP] 53, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 54, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 55, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 56, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 57, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 58, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 59, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 60, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 61, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 62, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 63, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 64, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 65, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 66, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 67, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 68, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 69, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 70, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 71, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 72, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 73, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 74, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 75, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 76, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 77, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 78, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 79, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 80, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 81, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 82, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 83, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 84, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 85, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 86, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 87, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 88, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 89, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 90, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 91, NorthWall, , , , , , , [SEP] 92, EastWall, , , , , , , [SEP] 93, SouthWall, , , , , , , [SEP] 94, WestWall, , , , , , , ", "output": ["STEP 1: Turn left, go forward to the counter with the coffee machine. | STEP 2: Take the salt from the counter. | STEP 3: Turn left, go forward, stop at the stove. | STEP 4: Put the salt in the front corner of the middle drawer between the stove and the dishwasher. | END"]} +{"id": "trial_T20190918_154326_823501-4", "input": "Place a salt shaker into a drawer. SCENE DESCRIPTION: id, object_type, position_x, position_y, position_z, rotation_x, rotation_y, rotation_z, parent_receptacle [SEP] 0, Agent, -1.0, 0.900, -2.0, 0, 180, 0, [SEP] 1, Potato, -0.642, 0.807, -0.400, 0, 90, 0, 80 [SEP] 2, Potato, 1.087, 1.673, 1.540, 0, 270, 0, 82 [SEP] 3, CreditCard, 0.793, 0.150, -0.650, 0, 270, 0, 62 [SEP] 4, CreditCard, -1.104, 0.930, -0.643, 0, 0, 0, 59 [SEP] 5, DishSponge, 0.754, 0.494, -0.565, 0, 270, 0, 63 [SEP] 6, DishSponge, 1.114, 0.910, -0.208, 0, 0, 0, 60 [SEP] 7, Fork, 1.029, 0.911, -0.381, 0, 0, 0, 60 [SEP] 8, Spoon, -1.104, 0.934, -0.905, 0, 0, 0, 59 [SEP] 9, Spoon, 0.859, 0.912, -0.729, 0, 0, 0, 60 [SEP] 10, Spatula, -0.624, 0.948, -1.463, 0, 0, 0, 59 [SEP] 11, Knife, -0.697, 0.803, -0.745, 0, 90, 0, 80 [SEP] 12, Knife, 0.859, 0.934, -0.381, 0, 0, 0, 60 [SEP] 13, Egg, 0.688, 0.949, -2.051, 0, 0, 0, 65 [SEP] 14, Egg, 1.087, 1.680, 1.349, 0, 270, 0, 82 [SEP] 15, Plate, 1.026, 1.138, 1.349, 0, 270, 0, 82 [SEP] 16, Plate, 0.944, 0.914, -0.034, 0, 0, 0, 60 [SEP] 17, Tomato, 0.944, 0.952, -0.208, 0, 0, 0, 60 [SEP] 18, Bowl, 0.905, 1.405, 0.967, 0, 270, 0, 82 [SEP] 19, SaltShaker, 0.956, 0.698, -0.607, 0, 270, 0, 57 [SEP] 20, PepperShaker, 0.688, 0.907, -2.136, 0, 0, 0, 65 [SEP] 21, Lettuce, 0.688, 0.988, 0.139, 0, 0, 0, 60 [SEP] 22, Lettuce, 1.026, 0.940, 1.444, 0, 270, 0, 82 [SEP] 23, Mug, -1.363, 0.549, 2.822, 0, 0, 0, 85 [SEP] 24, Apple, 1.026, 1.693, 0.967, 0, 270, 0, 82 [SEP] 25, Statue, -0.624, 0.936, 0.086, 0, 0, 0, 59 [SEP] 26, Glassbottle, -0.624, 0.934, -1.386, 0, 0, 0, 59 [SEP] 27, Bread, -1.292, 1.014, -0.380, 0, 0, 0, 59 [SEP] 28, CreditCard, -1.674, 0.551, 2.874, 0, 0, 0, 85 [SEP] 29, CellPhone, -1.041, 0.930, 0.144, 0, 0, 0, 59 [SEP] 30, Potato, 0.966, 1.673, 1.158, 0, 270, 0, 82 [SEP] 31, Knife, 0.868, 0.700, -0.600, 90, 315, 0, 57 [SEP] 32, Fork, -0.642, 0.781, -0.918, 0, 0, 0, 80 [SEP] 33, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 53 [SEP] 34, Lettuce, -0.912, 0.256, 0.576, 0, 90, 0, 79 [SEP] 35, Plate, 1.101, 1.669, -2.029, 0, 270, 0, 58 [SEP] 36, Apple, 1.026, 1.185, 1.158, 0, 270, 0, 82 [SEP] 37, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 55 [SEP] 38, Spatula, -0.772, 0.948, 0.009, 0, 270, 0, 59 [SEP] 39, PaperTowelRoll, 1.199, 1.015, -0.729, 0, 0, 0, 60 [SEP] 40, Tomato, 1.114, 0.952, -1.793, 0, 0, 0, 65 [SEP] 41, Egg, 1.126, 1.833, -1.132, 0, 270, 0, 81 [SEP] 42, SaltShaker, 1.194, 1.662, -0.337, 0, 270, 0, 68 [SEP] 43, PepperShaker, -1.467, 0.550, 2.667, 0, 0, 0, 85 [SEP] 44, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 85 [SEP] 45, ButterKnife, 1.029, 0.911, -0.729, 0, 90, 0, 60 [SEP] 46, SoapBottle, 1.194, 1.666, -0.529, 0, 270, 0, 68 [SEP] 47, Vase, 0.859, 0.912, -0.555, 0, 0, 0, 60 [SEP] 48, Bowl, 0.966, 1.405, 1.254, 0, 270, 0, 82 [SEP] 49, DishSponge, 0.915, 0.494, -0.648, 0, 270, 0, 63 [SEP] 50, Spoon, -0.753, 0.777, -0.832, 0, 180, 0, 80 [SEP] 51, Cup, 0.905, 1.132, 1.540, 0, 270, 0, 82 [SEP] 52, Mug, 0.966, 0.858, 0.967, 0, 270, 0, 82 [SEP] 53, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 54, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 55, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 56, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 57, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 58, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 59, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 60, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 61, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 62, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 63, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 64, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 65, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 66, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 67, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 68, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 69, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 70, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 71, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 72, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 73, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 74, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 75, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 76, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 77, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 78, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 79, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 80, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 81, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 82, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 83, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 84, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 85, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 86, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 87, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 88, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 89, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 90, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 91, NorthWall, , , , , , , [SEP] 92, EastWall, , , , , , , [SEP] 93, SouthWall, , , , , , , [SEP] 94, WestWall, , , , , , , ", "output": ["STEP 1: Turn left and move towards the counter area to the right of the oven. | STEP 2: Pick up the salt shaker in front of the coffee maker. | STEP 3: Turn left and move to the area that is between the sink and the drawers to the left of the oven. | STEP 4: Open the middle drawer next to the oven, place the salt shaker in the front left corner of the drawer, and then close the drawer. | END"]} +{"id": "trial_T20190918_154326_823501-5", "input": "get pepper dispenser from the counter and put it in the drawer next to the dishwasher 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, 180, 0, [SEP] 1, Potato, -0.642, 0.807, -0.400, 0, 90, 0, 80 [SEP] 2, Potato, 1.087, 1.673, 1.540, 0, 270, 0, 82 [SEP] 3, CreditCard, 0.793, 0.150, -0.650, 0, 270, 0, 62 [SEP] 4, CreditCard, -1.104, 0.930, -0.643, 0, 0, 0, 59 [SEP] 5, DishSponge, 0.754, 0.494, -0.565, 0, 270, 0, 63 [SEP] 6, DishSponge, 1.114, 0.910, -0.208, 0, 0, 0, 60 [SEP] 7, Fork, 1.029, 0.911, -0.381, 0, 0, 0, 60 [SEP] 8, Spoon, -1.104, 0.934, -0.905, 0, 0, 0, 59 [SEP] 9, Spoon, 0.859, 0.912, -0.729, 0, 0, 0, 60 [SEP] 10, Spatula, -0.624, 0.948, -1.463, 0, 0, 0, 59 [SEP] 11, Knife, -0.697, 0.803, -0.745, 0, 90, 0, 80 [SEP] 12, Knife, 0.859, 0.934, -0.381, 0, 0, 0, 60 [SEP] 13, Egg, 0.688, 0.949, -2.051, 0, 0, 0, 65 [SEP] 14, Egg, 1.087, 1.680, 1.349, 0, 270, 0, 82 [SEP] 15, Plate, 1.026, 1.138, 1.349, 0, 270, 0, 82 [SEP] 16, Plate, 0.944, 0.914, -0.034, 0, 0, 0, 60 [SEP] 17, Tomato, 0.944, 0.952, -0.208, 0, 0, 0, 60 [SEP] 18, Bowl, 0.905, 1.405, 0.967, 0, 270, 0, 82 [SEP] 19, SaltShaker, 0.956, 0.698, -0.607, 0, 270, 0, 57 [SEP] 20, PepperShaker, 0.688, 0.907, -2.136, 0, 0, 0, 65 [SEP] 21, Lettuce, 0.688, 0.988, 0.139, 0, 0, 0, 60 [SEP] 22, Lettuce, 1.026, 0.940, 1.444, 0, 270, 0, 82 [SEP] 23, Mug, -1.363, 0.549, 2.822, 0, 0, 0, 85 [SEP] 24, Apple, 1.026, 1.693, 0.967, 0, 270, 0, 82 [SEP] 25, Statue, -0.624, 0.936, 0.086, 0, 0, 0, 59 [SEP] 26, Glassbottle, -0.624, 0.934, -1.386, 0, 0, 0, 59 [SEP] 27, Bread, -1.292, 1.014, -0.380, 0, 0, 0, 59 [SEP] 28, CreditCard, -1.674, 0.551, 2.874, 0, 0, 0, 85 [SEP] 29, CellPhone, -1.041, 0.930, 0.144, 0, 0, 0, 59 [SEP] 30, Potato, 0.966, 1.673, 1.158, 0, 270, 0, 82 [SEP] 31, Knife, 0.868, 0.700, -0.600, 90, 315, 0, 57 [SEP] 32, Fork, -0.642, 0.781, -0.918, 0, 0, 0, 80 [SEP] 33, Pan, 0.848, 0.946, -1.080, 0, 0, 0, 53 [SEP] 34, Lettuce, -0.912, 0.256, 0.576, 0, 90, 0, 79 [SEP] 35, Plate, 1.101, 1.669, -2.029, 0, 270, 0, 58 [SEP] 36, Apple, 1.026, 1.185, 1.158, 0, 270, 0, 82 [SEP] 37, Pot, 1.077, 0.950, -1.504, 0, 0, 0, 55 [SEP] 38, Spatula, -0.772, 0.948, 0.009, 0, 270, 0, 59 [SEP] 39, PaperTowelRoll, 1.199, 1.015, -0.729, 0, 0, 0, 60 [SEP] 40, Tomato, 1.114, 0.952, -1.793, 0, 0, 0, 65 [SEP] 41, Egg, 1.126, 1.833, -1.132, 0, 270, 0, 81 [SEP] 42, SaltShaker, 1.194, 1.662, -0.337, 0, 270, 0, 68 [SEP] 43, PepperShaker, -1.467, 0.550, 2.667, 0, 0, 0, 85 [SEP] 44, Vase, -1.423, 0.169, 2.621, 0, 0, 0, 85 [SEP] 45, ButterKnife, 1.029, 0.911, -0.729, 0, 90, 0, 60 [SEP] 46, SoapBottle, 1.194, 1.666, -0.529, 0, 270, 0, 68 [SEP] 47, Vase, 0.859, 0.912, -0.555, 0, 0, 0, 60 [SEP] 48, Bowl, 0.966, 1.405, 1.254, 0, 270, 0, 82 [SEP] 49, DishSponge, 0.915, 0.494, -0.648, 0, 270, 0, 63 [SEP] 50, Spoon, -0.753, 0.777, -0.832, 0, 180, 0, 80 [SEP] 51, Cup, 0.905, 1.132, 1.540, 0, 270, 0, 82 [SEP] 52, Mug, 0.966, 0.858, 0.967, 0, 270, 0, 82 [SEP] 53, StoveBurner, 0.842, 0.919, -1.098, 0, 0, 0, [SEP] 54, Cabinet, 0.648, 0.474, 0.244, 0, 270, 0, [SEP] 55, StoveBurner, 1.077, 0.919, -1.504, 0, 0, 0, [SEP] 56, StoveBurner, 0.842, 0.919, -1.504, 0, 0, 0, [SEP] 57, Drawer, 0.637, 0.755, -0.649, 0, 270, 0, [SEP] 58, Cabinet, 0.949, 2.159, -2.375, 0, 270, 0, [SEP] 59, CounterTop, -1.238, 0.968, -0.643, 0, 0, 0, [SEP] 60, CounterTop, 0.931, 0.946, -0.208, 0, 0, 0, [SEP] 61, StoveBurner, 1.077, 0.919, -1.098, 0, 0, 0, [SEP] 62, Drawer, 0.637, 0.268, -0.649, 0, 270, 0, [SEP] 63, Drawer, 0.637, 0.547, -0.649, 0, 270, 0, [SEP] 64, Cabinet, 0.648, 0.475, -1.714, 0, 0, 0, [SEP] 65, CounterTop, 0.931, 0.946, -2.051, 0, 0, 0, [SEP] 66, Cabinet, 0.948, 2.439, -1.780, 0, 270, 0, [SEP] 67, Cabinet, 0.948, 2.159, -0.140, 0, 270, 0, [SEP] 68, Cabinet, 0.949, 2.159, -0.758, 0, 270, 0, [SEP] 69, Sink, -0.699, 0.927, -0.649, 0, 0, 0, [SEP] 70, LightSwitch, -2.371, 1.218, 3.049, 0, 180, 0, [SEP] 71, StoveKnob, 0.673, 0.899, -1.373, 315, 90, 180, [SEP] 72, StoveKnob, 0.673, 0.899, -1.519, 315, 90, 180, [SEP] 73, StoveKnob, 0.673, 0.899, -1.086, 315, 90, 180, [SEP] 74, StoveKnob, 0.673, 0.899, -1.237, 315, 90, 180, [SEP] 75, Toaster, 0.984, 0.900, 0.329, 0, 270, 0, [SEP] 76, Window, 0.014, 0.998, -2.640, 90, 0, 0, [SEP] 77, Window, -2.996, 0.998, -2.640, 90, 0, 0, [SEP] 78, CoffeeMachine, 0.892, 0.900, -2.132, 0, 300.130, 0, [SEP] 79, GarbageCan, -0.946, -0.036, 0.575, 0, 180, 0, [SEP] 80, SinkBasin, -0.698, 0.765, -0.647, 0, 90, 0, [SEP] 81, Microwave, 1.042, 1.680, -1.295, 0, 270, 0, [SEP] 82, Fridge, 0.966, 0.0, 1.253, 0, 0, 0, [SEP] 83, HousePlant, -1.354, 0.919, -1.540, 0, 0, 0, [SEP] 84, Shelf, -1.635, 0.172, 2.715, 0, 180, 0, [SEP] 85, Shelf, -1.635, 0.552, 2.715, 0, 180, 0, [SEP] 86, Shelf, -1.635, 0.880, 2.715, 0, 180, 0, [SEP] 87, ShelvingUnit, -1.635, 0.006, 2.715, 0, 180, 0, [SEP] 88, Chair, -1.832, 0.002, -0.034, 0, 119.999, 0, [SEP] 89, Chair, -1.854, 0.002, -0.956, 0, 67.887, 0, [SEP] 90, Faucet, -0.867, 1.161, -0.651, 0, 0, 0, [SEP] 91, NorthWall, , , , , , , [SEP] 92, EastWall, , , , , , , [SEP] 93, SouthWall, , , , , , , [SEP] 94, WestWall, , , , , , , ", "output": ["STEP 1: go the counter in front of the coffee machine | STEP 2: pick up the pepper shaker from the counter | STEP 3: turn and walk to your left, stop when you reach the sink | STEP 4: put the shaker in the bottom drawer on the right | END"]} +{"id": "trial_T20190906_213857_471360-0", "input": "Examine the tissue box 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, -1.25, 0.901, 0.75, 0, 270, 0, [SEP] 1, TissueBox, -4.184, 1.109, 4.786, 0, 90, 0, 56 [SEP] 2, TissueBox, -3.543, 1.112, 4.391, 0, 90, 0, 56 [SEP] 3, TissueBox, -4.809, 0.205, 4.523, 0, 90, 0, 59 [SEP] 4, Newspaper, -3.222, 1.117, 4.589, 0, 90, 0, 56 [SEP] 5, CellPhone, -1.117, 0.609, 3.545, 0, 0, 0, 60 [SEP] 6, CellPhone, -3.222, 1.108, 4.391, 0, 90, 0, 58 [SEP] 7, Statue, -4.184, 1.117, 4.588, 0, 90, 0, 56 [SEP] 8, Statue, -1.368, 0.598, 0.185, 0, 0, 0, 46 [SEP] 9, CreditCard, -2.085, 0.589, 4.297, 0, 0, 0, 50 [SEP] 10, Box, -3.570, 0.425, 4.459, 0, 90, 0, 54 [SEP] 11, Box, -0.787, 0.830, 3.545, 0, 0, 0, 60 [SEP] 12, Box, -1.584, 0.811, 4.470, 0, 0, 0, 50 [SEP] 13, Watch, -4.854, 0.997, 4.267, 0, 90, 0, 57 [SEP] 14, Pillow, -2.031, 0.668, 4.421, 0, 0, 0, 50 [SEP] 15, TissueBox, -4.085, 0.201, 4.528, 0, 90, 0, 53 [SEP] 16, Newspaper, -0.265, 1.107, 0.826, 0, 270, 0, 47 [SEP] 17, CreditCard, -4.505, 1.111, 4.885, 0, 90, 0, 56 [SEP] 18, KeyChain, -3.569, 0.997, 4.290, 0, 90, 0, 52 [SEP] 19, CellPhone, -0.229, 1.102, 1.009, 0, 270, 0, 47 [SEP] 20, Statue, -2.298, 0.039, 0.317, 0, 90, 0, 39 [SEP] 21, Laptop, -3.864, 1.109, 4.687, 0, 90, 0, 56 [SEP] 22, RemoteControl, -3.543, 1.113, 4.786, 0, 90, 0, 56 [SEP] 23, Vase, -5.534, 1.043, 0.239, 0, 0, 0, 38 [SEP] 24, DeskLamp, -4.649, 1.051, 0.268, 0, 0, 0, [SEP] 25, DeskLamp, -2.992, 1.107, 4.522, 0, 0, 0, [SEP] 26, FloorLamp, -0.650, 0.007, 4.431, 0, 0, 0, [SEP] 27, FloorLamp, -5.607, 0.007, 4.641, 0, 0, 0, [SEP] 28, Shelf, -5.237, 1.776, 0.070, 0, 0, 0, [SEP] 29, Shelf, -5.238, 1.968, 0.085, 0, 0, 0, [SEP] 30, Shelf, -5.242, 1.391, 0.086, 0, 0, 0, [SEP] 31, Shelf, -5.241, 1.582, 0.065, 0, 0, 0, [SEP] 32, LightSwitch, -6.002, 1.353, 3.404, 0, 90, 0, [SEP] 33, GarbageCan, -5.794, -0.033, 4.073, 0, 90, 0, [SEP] 34, Painting, -6.017, 1.802, 4.177, 90, 270, 0, [SEP] 35, HousePlant, -3.966, 1.625, 0.135, 0, 315, 0, [SEP] 36, Television, -3.355, 0.833, 0.027, 0, 0, 0, [SEP] 37, Drawer, -5.024, 0.903, 0.370, 0, 0, 0, [SEP] 38, SideTable, -5.024, 0.008, 0.267, 0, 0, 0, [SEP] 39, Safe, -2.298, 5.778, 0.268, 0, 90, 0, [SEP] 40, Shelf, -0.253, 0.781, 1.058, 0, 270, 0, [SEP] 41, Shelf, -0.283, 0.274, 1.066, 0, 270, 0, [SEP] 42, Shelf, -1.224, 1.288, 0.270, 0, 0, 0, [SEP] 43, Shelf, -1.218, 1.810, 0.275, 0, 0, 0, [SEP] 44, Shelf, -0.280, 1.810, 1.057, 0, 270, 0, [SEP] 45, Shelf, -1.218, 0.274, 0.262, 0, 0, 0, [SEP] 46, Shelf, -1.223, 0.782, 0.237, 0, 0, 0, [SEP] 47, Shelf, -0.280, 1.288, 1.055, 0, 270, 0, [SEP] 48, ShelvingUnit, -0.268, 0.004, 1.067, 0, 270, 0, [SEP] 49, ShelvingUnit, -1.218, 0.004, 0.244, 0, 0, 0, [SEP] 50, ArmChair, -2.027, 0.001, 4.422, 0, 178.692, 0, [SEP] 51, Drawer, -4.329, 1.014, 4.311, 0, 180, 0, [SEP] 52, Drawer, -3.750, 1.014, 4.311, 0, 180, 0, [SEP] 53, Cabinet, -4.049, 0.561, 4.212, 0, 180, 0, [SEP] 54, Cabinet, -4.032, 0.561, 4.212, 0, 180, 0, [SEP] 55, Cabinet, -2.884, 0.561, 4.212, 0, 180, 0, [SEP] 56, Dresser, -4.041, -0.000, 4.589, 0, 180, 0, [SEP] 57, Drawer, -4.916, 1.014, 4.311, 0, 180, 0, [SEP] 58, Drawer, -3.166, 1.014, 4.311, 0, 180, 0, [SEP] 59, Cabinet, -5.196, 0.561, 4.212, 0, 180, 0, [SEP] 60, Sofa, -0.705, -0.002, 2.753, 0, 270, 0, [SEP] 61, NorthWall, , , , , , , [SEP] 62, SouthWall, , , , , , , [SEP] 63, SouthWall, , , , , , , ", "output": ["STEP 1: Walk forward across the room then turn right and go over to the large wooden cabinet | STEP 2: Open the bottom left cabinet door and remove the tissue box from it | STEP 3: Move a few feet to the left to face the floor lamp in the corner | STEP 4: Turn on the lamp | END"]} +{"id": "trial_T20190906_213857_471360-1", "input": "View a tissue box with 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, -1.25, 0.901, 0.75, 0, 270, 0, [SEP] 1, TissueBox, -4.184, 1.109, 4.786, 0, 90, 0, 56 [SEP] 2, TissueBox, -3.543, 1.112, 4.391, 0, 90, 0, 56 [SEP] 3, TissueBox, -4.809, 0.205, 4.523, 0, 90, 0, 59 [SEP] 4, Newspaper, -3.222, 1.117, 4.589, 0, 90, 0, 56 [SEP] 5, CellPhone, -1.117, 0.609, 3.545, 0, 0, 0, 60 [SEP] 6, CellPhone, -3.222, 1.108, 4.391, 0, 90, 0, 58 [SEP] 7, Statue, -4.184, 1.117, 4.588, 0, 90, 0, 56 [SEP] 8, Statue, -1.368, 0.598, 0.185, 0, 0, 0, 46 [SEP] 9, CreditCard, -2.085, 0.589, 4.297, 0, 0, 0, 50 [SEP] 10, Box, -3.570, 0.425, 4.459, 0, 90, 0, 54 [SEP] 11, Box, -0.787, 0.830, 3.545, 0, 0, 0, 60 [SEP] 12, Box, -1.584, 0.811, 4.470, 0, 0, 0, 50 [SEP] 13, Watch, -4.854, 0.997, 4.267, 0, 90, 0, 57 [SEP] 14, Pillow, -2.031, 0.668, 4.421, 0, 0, 0, 50 [SEP] 15, TissueBox, -4.085, 0.201, 4.528, 0, 90, 0, 53 [SEP] 16, Newspaper, -0.265, 1.107, 0.826, 0, 270, 0, 47 [SEP] 17, CreditCard, -4.505, 1.111, 4.885, 0, 90, 0, 56 [SEP] 18, KeyChain, -3.569, 0.997, 4.290, 0, 90, 0, 52 [SEP] 19, CellPhone, -0.229, 1.102, 1.009, 0, 270, 0, 47 [SEP] 20, Statue, -2.298, 0.039, 0.317, 0, 90, 0, 39 [SEP] 21, Laptop, -3.864, 1.109, 4.687, 0, 90, 0, 56 [SEP] 22, RemoteControl, -3.543, 1.113, 4.786, 0, 90, 0, 56 [SEP] 23, Vase, -5.534, 1.043, 0.239, 0, 0, 0, 38 [SEP] 24, DeskLamp, -4.649, 1.051, 0.268, 0, 0, 0, [SEP] 25, DeskLamp, -2.992, 1.107, 4.522, 0, 0, 0, [SEP] 26, FloorLamp, -0.650, 0.007, 4.431, 0, 0, 0, [SEP] 27, FloorLamp, -5.607, 0.007, 4.641, 0, 0, 0, [SEP] 28, Shelf, -5.237, 1.776, 0.070, 0, 0, 0, [SEP] 29, Shelf, -5.238, 1.968, 0.085, 0, 0, 0, [SEP] 30, Shelf, -5.242, 1.391, 0.086, 0, 0, 0, [SEP] 31, Shelf, -5.241, 1.582, 0.065, 0, 0, 0, [SEP] 32, LightSwitch, -6.002, 1.353, 3.404, 0, 90, 0, [SEP] 33, GarbageCan, -5.794, -0.033, 4.073, 0, 90, 0, [SEP] 34, Painting, -6.017, 1.802, 4.177, 90, 270, 0, [SEP] 35, HousePlant, -3.966, 1.625, 0.135, 0, 315, 0, [SEP] 36, Television, -3.355, 0.833, 0.027, 0, 0, 0, [SEP] 37, Drawer, -5.024, 0.903, 0.370, 0, 0, 0, [SEP] 38, SideTable, -5.024, 0.008, 0.267, 0, 0, 0, [SEP] 39, Safe, -2.298, 5.778, 0.268, 0, 90, 0, [SEP] 40, Shelf, -0.253, 0.781, 1.058, 0, 270, 0, [SEP] 41, Shelf, -0.283, 0.274, 1.066, 0, 270, 0, [SEP] 42, Shelf, -1.224, 1.288, 0.270, 0, 0, 0, [SEP] 43, Shelf, -1.218, 1.810, 0.275, 0, 0, 0, [SEP] 44, Shelf, -0.280, 1.810, 1.057, 0, 270, 0, [SEP] 45, Shelf, -1.218, 0.274, 0.262, 0, 0, 0, [SEP] 46, Shelf, -1.223, 0.782, 0.237, 0, 0, 0, [SEP] 47, Shelf, -0.280, 1.288, 1.055, 0, 270, 0, [SEP] 48, ShelvingUnit, -0.268, 0.004, 1.067, 0, 270, 0, [SEP] 49, ShelvingUnit, -1.218, 0.004, 0.244, 0, 0, 0, [SEP] 50, ArmChair, -2.027, 0.001, 4.422, 0, 178.692, 0, [SEP] 51, Drawer, -4.329, 1.014, 4.311, 0, 180, 0, [SEP] 52, Drawer, -3.750, 1.014, 4.311, 0, 180, 0, [SEP] 53, Cabinet, -4.049, 0.561, 4.212, 0, 180, 0, [SEP] 54, Cabinet, -4.032, 0.561, 4.212, 0, 180, 0, [SEP] 55, Cabinet, -2.884, 0.561, 4.212, 0, 180, 0, [SEP] 56, Dresser, -4.041, -0.000, 4.589, 0, 180, 0, [SEP] 57, Drawer, -4.916, 1.014, 4.311, 0, 180, 0, [SEP] 58, Drawer, -3.166, 1.014, 4.311, 0, 180, 0, [SEP] 59, Cabinet, -5.196, 0.561, 4.212, 0, 180, 0, [SEP] 60, Sofa, -0.705, -0.002, 2.753, 0, 270, 0, [SEP] 61, NorthWall, , , , , , , [SEP] 62, SouthWall, , , , , , , [SEP] 63, SouthWall, , , , , , , ", "output": ["STEP 1: Walk forward and veer all the way right to the left side of the dresser on the far wall. | STEP 2: Take the tissue box out of the bottom left cabinet. | STEP 3: Turn left and look at the lamp. | STEP 4: Turn on the lamp. | END"]} +{"id": "trial_T20190906_213857_471360-2", "input": "turn on the lamp in the corner of the room while holding a box of tissues 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, TissueBox, -4.184, 1.109, 4.786, 0, 90, 0, 56 [SEP] 2, TissueBox, -3.543, 1.112, 4.391, 0, 90, 0, 56 [SEP] 3, TissueBox, -4.809, 0.205, 4.523, 0, 90, 0, 59 [SEP] 4, Newspaper, -3.222, 1.117, 4.589, 0, 90, 0, 56 [SEP] 5, CellPhone, -1.117, 0.609, 3.545, 0, 0, 0, 60 [SEP] 6, CellPhone, -3.222, 1.108, 4.391, 0, 90, 0, 58 [SEP] 7, Statue, -4.184, 1.117, 4.588, 0, 90, 0, 56 [SEP] 8, Statue, -1.368, 0.598, 0.185, 0, 0, 0, 46 [SEP] 9, CreditCard, -2.085, 0.589, 4.297, 0, 0, 0, 50 [SEP] 10, Box, -3.570, 0.425, 4.459, 0, 90, 0, 54 [SEP] 11, Box, -0.787, 0.830, 3.545, 0, 0, 0, 60 [SEP] 12, Box, -1.584, 0.811, 4.470, 0, 0, 0, 50 [SEP] 13, Watch, -4.854, 0.997, 4.267, 0, 90, 0, 57 [SEP] 14, Pillow, -2.031, 0.668, 4.421, 0, 0, 0, 50 [SEP] 15, TissueBox, -4.085, 0.201, 4.528, 0, 90, 0, 53 [SEP] 16, Newspaper, -0.265, 1.107, 0.826, 0, 270, 0, 47 [SEP] 17, CreditCard, -4.505, 1.111, 4.885, 0, 90, 0, 56 [SEP] 18, KeyChain, -3.569, 0.997, 4.290, 0, 90, 0, 52 [SEP] 19, CellPhone, -0.229, 1.102, 1.009, 0, 270, 0, 47 [SEP] 20, Statue, -2.298, 0.039, 0.317, 0, 90, 0, 39 [SEP] 21, Laptop, -3.864, 1.109, 4.687, 0, 90, 0, 56 [SEP] 22, RemoteControl, -3.543, 1.113, 4.786, 0, 90, 0, 56 [SEP] 23, Vase, -5.534, 1.043, 0.239, 0, 0, 0, 38 [SEP] 24, DeskLamp, -4.649, 1.051, 0.268, 0, 0, 0, [SEP] 25, DeskLamp, -2.992, 1.107, 4.522, 0, 0, 0, [SEP] 26, FloorLamp, -0.650, 0.007, 4.431, 0, 0, 0, [SEP] 27, FloorLamp, -5.607, 0.007, 4.641, 0, 0, 0, [SEP] 28, Shelf, -5.237, 1.776, 0.070, 0, 0, 0, [SEP] 29, Shelf, -5.238, 1.968, 0.085, 0, 0, 0, [SEP] 30, Shelf, -5.242, 1.391, 0.086, 0, 0, 0, [SEP] 31, Shelf, -5.241, 1.582, 0.065, 0, 0, 0, [SEP] 32, LightSwitch, -6.002, 1.353, 3.404, 0, 90, 0, [SEP] 33, GarbageCan, -5.794, -0.033, 4.073, 0, 90, 0, [SEP] 34, Painting, -6.017, 1.802, 4.177, 90, 270, 0, [SEP] 35, HousePlant, -3.966, 1.625, 0.135, 0, 315, 0, [SEP] 36, Television, -3.355, 0.833, 0.027, 0, 0, 0, [SEP] 37, Drawer, -5.024, 0.903, 0.370, 0, 0, 0, [SEP] 38, SideTable, -5.024, 0.008, 0.267, 0, 0, 0, [SEP] 39, Safe, -2.298, 5.778, 0.268, 0, 90, 0, [SEP] 40, Shelf, -0.253, 0.781, 1.058, 0, 270, 0, [SEP] 41, Shelf, -0.283, 0.274, 1.066, 0, 270, 0, [SEP] 42, Shelf, -1.224, 1.288, 0.270, 0, 0, 0, [SEP] 43, Shelf, -1.218, 1.810, 0.275, 0, 0, 0, [SEP] 44, Shelf, -0.280, 1.810, 1.057, 0, 270, 0, [SEP] 45, Shelf, -1.218, 0.274, 0.262, 0, 0, 0, [SEP] 46, Shelf, -1.223, 0.782, 0.237, 0, 0, 0, [SEP] 47, Shelf, -0.280, 1.288, 1.055, 0, 270, 0, [SEP] 48, ShelvingUnit, -0.268, 0.004, 1.067, 0, 270, 0, [SEP] 49, ShelvingUnit, -1.218, 0.004, 0.244, 0, 0, 0, [SEP] 50, ArmChair, -2.027, 0.001, 4.422, 0, 178.692, 0, [SEP] 51, Drawer, -4.329, 1.014, 4.311, 0, 180, 0, [SEP] 52, Drawer, -3.750, 1.014, 4.311, 0, 180, 0, [SEP] 53, Cabinet, -4.049, 0.561, 4.212, 0, 180, 0, [SEP] 54, Cabinet, -4.032, 0.561, 4.212, 0, 180, 0, [SEP] 55, Cabinet, -2.884, 0.561, 4.212, 0, 180, 0, [SEP] 56, Dresser, -4.041, -0.000, 4.589, 0, 180, 0, [SEP] 57, Drawer, -4.916, 1.014, 4.311, 0, 180, 0, [SEP] 58, Drawer, -3.166, 1.014, 4.311, 0, 180, 0, [SEP] 59, Cabinet, -5.196, 0.561, 4.212, 0, 180, 0, [SEP] 60, Sofa, -0.705, -0.002, 2.753, 0, 270, 0, [SEP] 61, NorthWall, , , , , , , [SEP] 62, SouthWall, , , , , , , [SEP] 63, SouthWall, , , , , , , ", "output": ["STEP 1: walk forwards to the end of the room, then hang a right and go forwards to the other end of the room | STEP 2: open up the cabinet door and grab the box of tissues out of it | STEP 3: move left a bit and face the lamp to the left of the cabinet | STEP 4: turn on the lamp | END"]}